+ python -m lidar_slam --no-model /working/df1a0adc-bc53-4f2e-884b-e6e3b08752bf Lidar SLAM 0.0.13 ===================================================== The recording path: /working/df1a0adc-bc53-4f2e-884b-e6e3b08752bf The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.03 Using the pointcloud ICP: False The Lidar frames will be flattened: False The centerline will be flattened: False The Lidar 2D slices will be flipped: True Correction angle of Lidar frames: 0.0 Show the detected centerline?: False Display the final 3D model?: False Making 2D slices out of SLAM model?: False Drop angle of 2D slices: 45.0 The number of points in 2D slices: 360 ===================================================== Adjusted start_distance from 0.0 to 0.017628 Adjusted end_distance from 9.223372036854776e+18 to 343.987628 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.017628 meters Centerline goodness [0,1] 0.7116595594246449 Centerline is valid? [0, False] SLAMing on 0.047628000000000004 meters Centerline goodness [0,1] 0.6207635926047479 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.00 [[ 9.99996135e-01 1.64652232e-03 -2.24037966e-03 2.16707669e-02] [-1.65242791e-03 9.99995159e-01 -2.63668597e-03 -1.98302781e-03] [ 2.23602745e-03 2.64037784e-03 9.99994014e-01 -8.61351502e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.077628 meters Centerline goodness [0,1] 0.6124185730265611 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:-0.00 [[ 9.99996882e-01 1.17123530e-03 -2.20561598e-03 2.35576591e-02] [-1.17909618e-03 9.99992946e-01 -3.56610664e-03 9.53591764e-04] [ 2.20142367e-03 3.56869615e-03 9.99991209e-01 -2.93532746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.10762800000000002 meters Centerline goodness [0,1] 0.5857793743976167 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:-0.00 [[ 0.99999219 0.0033685 -0.0020664 0.02564331] [-0.00337109 0.99999354 -0.001251 0.00258846] [ 0.00206217 0.00125795 0.99999708 -0.00496218] [ 0. 0. 0. 1. ]] SLAMing on 0.137628 meters Centerline goodness [0,1] 0.701170847219786 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:-0.01 [[ 0.99999464 0.0025538 -0.0020502 0.02761348] [-0.00255865 0.99999393 -0.00236693 0.00474669] [ 0.00204414 0.00237216 0.9999951 -0.0070607 ] [ 0. 0. 0. 1. ]] SLAMing on 0.16762800000000003 meters Centerline goodness [0,1] 0.609599617233205 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.01 [[ 0.99999699 0.00104781 -0.00221666 0.03057213] [-0.00105612 0.9999924 -0.00375233 0.00552041] [ 0.00221271 0.00375466 0.9999905 -0.00958653] [ 0. 0. 0. 1. ]] SLAMing on 0.19762800000000003 meters Centerline goodness [0,1] 0.580797378481704 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.01 [[ 0.99999372 -0.00332386 -0.00122621 0.03336201] [ 0.00331495 0.99996862 -0.00719579 0.00533763] [ 0.00125008 0.00719168 0.99997336 -0.01317228] [ 0. 0. 0. 1. ]] SLAMing on 0.22762800000000002 meters Centerline goodness [0,1] 0.5522146712409588 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:-0.01 [[ 0.99999002 -0.00431431 -0.00116181 0.03470488] [ 0.00430587 0.99996502 -0.00717087 0.00355483] [ 0.00119271 0.0071658 0.99997361 -0.01363443] [ 0. 0. 0. 1. ]] SLAMing on 0.257628 meters Centerline goodness [0,1] 0.6018969832696615 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:-0.01 [[ 9.99986763e-01 -5.06213239e-03 -9.21436327e-04 3.56929137e-02] [ 5.05566031e-03 9.99963444e-01 -6.89570559e-03 1.37818193e-03] [ 9.56309618e-04 6.89095585e-03 9.99975800e-01 -1.40632123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.287628 meters Centerline goodness [0,1] 0.5879624541118023 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:-0.01 [[ 9.99983398e-01 -5.72929030e-03 -6.15207260e-04 3.65427016e-02] [ 5.72498142e-03 9.99960552e-01 -6.79106552e-03 4.69894280e-04] [ 6.54090977e-04 6.78743073e-03 9.99976751e-01 -1.45680893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.317628 meters Centerline goodness [0,1] 0.589776301607901 Centerline is valid? [False, False] Translation: X:0.05, Y:0.00, Z:-0.01 [[ 0.99996394 -0.00842648 -0.00105718 0.04718679] [ 0.00842319 0.99995977 -0.00308406 0.00118862] [ 0.00108312 0.00307505 0.99999469 -0.0143427 ] [ 0. 0. 0. 1. ]] SLAMing on 0.347628 meters Centerline goodness [0,1] 0.5774883761926797 Centerline is valid? [False, False] Translation: X:0.05, Y:0.00, Z:-0.02 [[ 0.99996108 -0.00874906 -0.00113925 0.04885806] [ 0.00874517 0.99995605 -0.00338035 0.00194272] [ 0.00116878 0.00337025 0.99999364 -0.01523172] [ 0. 0. 0. 1. ]] SLAMing on 0.377628 meters Centerline goodness [0,1] 0.5544361534884751 Centerline is valid? [False, False] Translation: X:0.05, Y:0.00, Z:-0.02 [[ 9.99983789e-01 -5.56199475e-03 -1.21904309e-03 5.05715489e-02] [ 5.56242311e-03 9.99984469e-01 3.48281422e-04 1.22260448e-03] [ 1.21708702e-03 -3.55056609e-04 9.99999196e-01 -1.56527927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.407628 meters Centerline goodness [0,1] 0.6605323328967523 Centerline is valid? [False, False] Translation: X:0.05, Y:0.00, Z:-0.02 [[ 0.99998918 -0.00436419 -0.00161302 0.05455997] [ 0.00436673 0.99998923 0.00157397 0.00143276] [ 0.00160613 -0.001581 0.99999746 -0.01817562] [ 0. 0. 0. 1. ]] SLAMing on 0.437628 meters Centerline goodness [0,1] 0.7041479820627803 Centerline is valid? [False, False] Translation: X:0.06, Y:0.00, Z:-0.02 [[ 0.99998611 -0.00491756 -0.00189903 0.06110541] [ 0.00492027 0.99998688 0.00142451 0.00372963] [ 0.001892 -0.00143383 0.99999718 -0.02237961] [ 0. 0. 0. 1. ]] SLAMing on 0.467628 meters Centerline goodness [0,1] 0.7061927743448649 Centerline is valid? [False, False] Translation: X:0.06, Y:0.00, Z:-0.02 [[ 9.99978517e-01 -6.19622970e-03 -2.13823587e-03 6.41356103e-02] [ 6.19772924e-03 9.99980552e-01 6.95386749e-04 4.57908036e-03] [ 2.13388551e-03 -7.08624017e-04 9.99997472e-01 -2.41124903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.497628 meters Centerline goodness [0,1] 0.7063098553283977 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:-0.03 [[ 9.99964848e-01 -7.98965229e-03 -2.54326551e-03 6.80534533e-02] [ 7.98952439e-03 9.99968081e-01 -6.04465071e-05 5.29643173e-03] [ 2.54366727e-03 4.01249005e-05 9.99996764e-01 -2.60357035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.527628 meters Centerline goodness [0,1] 0.6761640974413694 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:-0.03 [[ 9.99944915e-01 -1.00609034e-02 -2.99096240e-03 7.21949810e-02] [ 1.00581855e-02 9.99948990e-01 -9.22384473e-04 6.36905048e-03] [ 3.00008985e-03 8.92250009e-04 9.99995102e-01 -2.78631414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.557628 meters Centerline goodness [0,1] 0.5600458978772231 Centerline is valid? [False, False] Translation: X:0.10, Y:0.00, Z:-0.02 [[ 9.99859697e-01 -1.50193259e-02 -7.41666220e-03 1.04585416e-01] [ 1.50143055e-02 9.99887011e-01 -7.32131306e-04 4.48279726e-03] [ 7.42682031e-03 6.20672554e-04 9.99972228e-01 -2.48306085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.587628 meters Centerline goodness [0,1] 0.5110383924044799 Centerline is valid? [False, False] Translation: X:0.11, Y:0.01, Z:-0.03 [[ 0.99982139 -0.01717376 -0.00789033 0.10885496] [ 0.01716132 0.99985139 -0.00164052 0.00550487] [ 0.00791733 0.00150482 0.99996753 -0.02646348] [ 0. 0. 0. 1. ]] SLAMing on 0.6176280000000001 meters Centerline goodness [0,1] 0.4818369860785089 Centerline is valid? [False, False] Translation: X:0.11, Y:0.01, Z:-0.03 [[ 0.99979147 -0.0187222 -0.00815438 0.11205003] [ 0.01870427 0.99982248 -0.0022692 0.0061252 ] [ 0.00819542 0.0021162 0.99996418 -0.02770915] [ 0. 0. 0. 1. ]] SLAMing on 0.647628 meters Centerline goodness [0,1] 0.4569243721060755 Centerline is valid? [False, False] Translation: X:0.11, Y:0.01, Z:-0.03 [[ 0.99976811 -0.01986126 -0.00832214 0.11446913] [ 0.01984068 0.99979991 -0.00254884 0.00660681] [ 0.0083711 0.00238314 0.99996212 -0.02836348] [ 0. 0. 0. 1. ]] SLAMing on 0.677628 meters Centerline goodness [0,1] 0.4991618462991383 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:-0.02 [[ 0.99971615 -0.02057663 -0.01200916 0.14303079] [ 0.02054747 0.99978564 -0.00254663 0.00699074] [ 0.01205899 0.00229915 0.99992464 -0.02466057] [ 0. 0. 0. 1. ]] SLAMing on 0.707628 meters Centerline goodness [0,1] 0.4777039960299643 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:-0.02 [[ 0.99971312 -0.01746609 -0.0163893 0.16096493] [ 0.01740674 0.99984143 -0.00375675 0.00692978] [ 0.01645231 0.00347038 0.99985863 -0.02124373] [ 0. 0. 0. 1. ]] SLAMing on 0.7376280000000001 meters Centerline goodness [0,1] 0.40753278727332987 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:-0.02 [[ 9.99747182e-01 -1.51028467e-02 -1.66576390e-02 1.63478544e-01] [ 1.50989817e-02 9.99885940e-01 -3.57770745e-04 8.53012264e-03] [ 1.66611423e-02 1.06166908e-04 9.99861188e-01 -2.13744883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7676280000000001 meters Centerline goodness [0,1] 0.5510844748858448 Centerline is valid? [False, False] Translation: X:0.19, Y:0.02, Z:-0.03 [[ 0.99985766 -0.01293852 -0.01082886 0.18510713] [ 0.01290006 0.99991026 -0.00361434 0.01835859] [ 0.01087465 0.00347413 0.99993483 -0.02665184] [ 0. 0. 0. 1. ]] SLAMing on 0.797628 meters Centerline goodness [0,1] 0.5177070185048465 Centerline is valid? [False, False] Translation: X:0.19, Y:0.02, Z:-0.03 [[ 9.99887341e-01 -1.02044474e-02 -1.10079148e-02 1.86976481e-01] [ 1.02011784e-02 9.99947904e-01 -3.53077007e-04 2.11331900e-02] [ 1.10109443e-02 2.40743527e-04 9.99939349e-01 -2.65444591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.827628 meters Centerline goodness [0,1] 0.5582373203468345 Centerline is valid? [False, False] Translation: X:0.19, Y:0.03, Z:-0.03 [[ 0.999902 -0.00815643 -0.01137835 0.19005487] [ 0.00818203 0.99996409 0.00220556 0.02501434] [ 0.01135995 -0.00229844 0.99993283 -0.02710341] [ 0. 0. 0. 1. ]] SLAMing on 0.8576280000000001 meters Centerline goodness [0,1] 0.5907848775039802 Centerline is valid? [False, False] Translation: X:0.19, Y:0.03, Z:-0.03 [[ 0.99991491 -0.00600729 -0.01157994 0.19263918] [ 0.00606269 0.99997031 0.0047555 0.02902756] [ 0.01155103 -0.0048253 0.99992164 -0.02758626] [ 0. 0. 0. 1. ]] SLAMing on 0.8876280000000001 meters Centerline goodness [0,1] 0.5907848775039802 Centerline is valid? [False, False] Translation: X:0.19, Y:0.03, Z:-0.03 [[ 0.99991491 -0.00600729 -0.01157994 0.19263918] [ 0.00606269 0.99997031 0.0047555 0.02902756] [ 0.01155103 -0.0048253 0.99992164 -0.02758626] [ 0. 0. 0. 1. ]] SLAMing on 0.917628 meters Centerline goodness [0,1] 0.572140365862339 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:-0.03 [[ 0.99991998 -0.00406302 -0.01198019 0.19588331] [ 0.0041494 0.99996551 0.00719444 0.0332209 ] [ 0.01195055 -0.00724358 0.99990235 -0.02811017] [ 0. 0. 0. 1. ]] SLAMing on 0.947628 meters Centerline goodness [0,1] 0.6180190422054853 Centerline is valid? [False, False] Translation: X:0.20, Y:0.04, Z:-0.03 [[ 0.99990838 -0.00347563 -0.01308221 0.20353919] [ 0.00359074 0.99995495 0.00878622 0.04485366] [ 0.01305108 -0.00883239 0.99987582 -0.0292387 ] [ 0. 0. 0. 1. ]] SLAMing on 0.977628 meters Centerline goodness [0,1] 0.6196685554422817 Centerline is valid? [False, False] Translation: X:0.21, Y:0.05, Z:-0.03 [[ 0.99989808 -0.00442545 -0.01357359 0.20683726] [ 0.004529 0.9999608 0.00760823 0.05150347] [ 0.01353939 -0.00766893 0.99987893 -0.03014404] [ 0. 0. 0. 1. ]] SLAMing on 1.0076280000000002 meters Centerline goodness [0,1] 0.6127763429140108 Centerline is valid? [False, False] Translation: X:0.21, Y:0.06, Z:-0.03 [[ 0.99988693 -0.00574304 -0.01389779 0.21022249] [ 0.00583044 0.99996343 0.00625618 0.05788613] [ 0.01386135 -0.0063365 0.99988385 -0.03129992] [ 0. 0. 0. 1. ]] SLAMing on 1.037628 meters Centerline goodness [0,1] 0.6234204665338179 Centerline is valid? [False, False] Translation: X:0.22, Y:0.07, Z:-0.03 [[ 0.99984453 -0.00892915 -0.01520508 0.22061966] [ 0.00902261 0.99994076 0.00608892 0.06732814] [ 0.01514981 -0.00622517 0.99986586 -0.03196209] [ 0. 0. 0. 1. ]] SLAMing on 1.067628 meters Centerline goodness [0,1] 0.6166588894073728 Centerline is valid? [False, False] Translation: X:0.22, Y:0.07, Z:-0.03 [[ 0.99982612 -0.01061743 -0.01532949 0.22344574] [ 0.01070041 0.99992848 0.00534125 0.0703353 ] [ 0.01527168 -0.00550435 0.99986823 -0.0321666 ] [ 0. 0. 0. 1. ]] SLAMing on 1.097628 meters Centerline goodness [0,1] 0.6059246169228265 Centerline is valid? [False, False] Translation: X:0.23, Y:0.07, Z:-0.03 [[ 0.99980422 -0.01228197 -0.01551339 0.22618827] [ 0.0123573 0.99991227 0.00476946 0.07275061] [ 0.01545345 -0.00496023 0.99986828 -0.03218531] [ 0. 0. 0. 1. ]] SLAMing on 1.127628 meters Centerline goodness [0,1] 0.602372795622284 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:-0.03 [[ 0.99963591 -0.02036299 -0.01770292 0.24196219] [ 0.02046224 0.99977581 0.00544369 0.07856547] [ 0.0175881 -0.00580395 0.99982847 -0.03054869] [ 0. 0. 0. 1. ]] SLAMing on 1.157628 meters Centerline goodness [0,1] 0.635965512522239 Centerline is valid? [False, False] Translation: X:0.25, Y:0.08, Z:-0.03 [[ 0.99958475 -0.02244119 -0.0180755 0.24596327] [ 0.02253486 0.99973358 0.00499516 0.08052053] [ 0.01795859 -0.00540042 0.99982415 -0.03109404] [ 0. 0. 0. 1. ]] SLAMing on 1.1876280000000001 meters Centerline goodness [0,1] 0.6357848468370491 Centerline is valid? [False, False] Translation: X:0.25, Y:0.08, Z:-0.03 [[ 0.99952638 -0.02453246 -0.01857863 0.25010823] [ 0.0246213 0.99968641 0.00456801 0.08216374] [ 0.01846074 -0.00502328 0.99981697 -0.0314472 ] [ 0. 0. 0. 1. ]] SLAMing on 1.2176280000000002 meters Centerline goodness [0,1] 0.6084938605384702 Centerline is valid? [False, False] Translation: X:0.25, Y:0.08, Z:-0.03 [[ 0.99946546 -0.02668644 -0.01888445 0.25391744] [ 0.02676648 0.99963372 0.0039983 0.08360792] [ 0.01877083 -0.00450163 0.99981368 -0.03195898] [ 0. 0. 0. 1. ]] SLAMing on 1.2476280000000002 meters Centerline goodness [0,1] 0.6260770059235325 Centerline is valid? [False, False] Translation: X:0.26, Y:0.08, Z:-0.03 [[ 0.99940666 -0.02860269 -0.01918913 0.25731333] [ 0.02867588 0.99958246 0.00355008 0.08472966] [ 0.01907958 -0.00409824 0.99980957 -0.03217004] [ 0. 0. 0. 1. ]] SLAMing on 1.277628 meters Centerline goodness [0,1] 0.6242915160440934 Centerline is valid? [False, False] Translation: X:0.27, Y:0.09, Z:-0.03 [[ 0.99916876 -0.03484952 -0.02114961 0.26961659] [ 0.03492483 0.99938481 0.00320199 0.08952399] [ 0.02102501 -0.00393797 0.99977119 -0.03156106] [ 0. 0. 0. 1. ]] SLAMing on 1.307628 meters Centerline goodness [0,1] 0.6628051486906348 Centerline is valid? [False, False] Translation: X:0.27, Y:0.09, Z:-0.03 [[ 0.99910744 -0.03646004 -0.02133065 0.27330434] [ 0.0365101 0.99933136 0.00196222 0.09324773] [ 0.02124485 -0.00273925 0.99977055 -0.03330227] [ 0. 0. 0. 1. ]] SLAMing on 1.337628 meters Centerline goodness [0,1] 0.6689652152973884 Centerline is valid? [False, False] Translation: X:0.29, Y:0.10, Z:-0.03 [[ 0.99900975 -0.03780283 -0.0234621 0.28526507] [ 0.03794233 0.99926463 0.00552903 0.10038329] [ 0.02323584 -0.00641376 0.99970944 -0.03303161] [ 0. 0. 0. 1. ]] SLAMing on 1.367628 meters Centerline goodness [0,1] 0.6902115999391079 Centerline is valid? [False, False] Translation: X:0.29, Y:0.10, Z:-0.03 [[ 0.99908992 -0.03544215 -0.02373135 0.2882344 ] [ 0.03564669 0.99933039 0.0082519 0.10314725] [ 0.023423 -0.00909034 0.99968431 -0.03401615] [ 0. 0. 0. 1. ]] SLAMing on 1.397628 meters Centerline goodness [0,1] 0.6973360390311298 Centerline is valid? [False, False] Translation: X:0.29, Y:0.11, Z:-0.04 [[ 0.99913759 -0.03363007 -0.02435357 0.29239037] [ 0.0338859 0.99937397 0.01016962 0.10622295] [ 0.02399632 -0.0109861 0.99965168 -0.03578814] [ 0. 0. 0. 1. ]] SLAMing on 1.4276280000000001 meters Centerline goodness [0,1] 0.7071572797181768 Centerline is valid? [False, False] Translation: X:0.31, Y:0.11, Z:-0.04 [[ 0.99930939 -0.02965647 -0.02238832 0.30592405] [ 0.02971287 0.99955607 0.00219092 0.11125109] [ 0.02231341 -0.00285463 0.99974695 -0.03930793] [ 0. 0. 0. 1. ]] SLAMing on 1.4576280000000001 meters Centerline goodness [0,1] 0.7324876131898173 Centerline is valid? [False, False] Translation: X:0.31, Y:0.12, Z:-0.04 [[ 0.9993717 -0.02710105 -0.02284142 0.30951483] [ 0.02721409 0.9996188 0.00465252 0.11704232] [ 0.02270663 -0.0052712 0.99972827 -0.03994624] [ 0. 0. 0. 1. ]] SLAMing on 1.4876280000000002 meters Centerline goodness [0,1] 0.7412135808521068 Centerline is valid? [False, False] Translation: X:0.32, Y:0.12, Z:-0.04 [[ 0.99952098 -0.02321364 -0.02046812 0.3227432 ] [ 0.02315617 0.99972724 -0.00304045 0.1211972 ] [ 0.02053312 0.00256503 0.99978588 -0.04359421] [ 0. 0. 0. 1. ]] SLAMing on 1.5176280000000002 meters Centerline goodness [0,1] 0.9100452642539898 Centerline is valid? [False, False] Translation: X:0.33, Y:0.12, Z:-0.05 [[ 9.99544207e-01 -2.13624488e-02 -2.13312992e-02 3.27220885e-01] [ 2.13462422e-02 9.99771656e-01 -9.87193915e-04 1.22830018e-01] [ 2.13475172e-02 5.31400879e-04 9.99771975e-01 -4.57547178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.547628 meters Centerline goodness [0,1] 0.914557701706296 Centerline is valid? [False, False] Translation: X:0.33, Y:0.12, Z:-0.05 [[ 0.99957851 -0.01902028 -0.02193264 0.33043514] [ 0.01906357 0.99981671 0.00176641 0.12344163] [ 0.02189502 -0.00218378 0.99975789 -0.04703875] [ 0. 0. 0. 1. ]] SLAMing on 1.577628 meters Centerline goodness [0,1] 0.9207555178268252 Centerline is valid? [False, False] Translation: X:0.35, Y:0.13, Z:-0.05 [[ 0.9996739 -0.01692249 -0.01912374 0.35029499] [ 0.01686852 0.99985328 -0.00298006 0.12727011] [ 0.01917136 0.0026565 0.99981268 -0.04962448] [ 0. 0. 0. 1. ]] SLAMing on 1.607628 meters Centerline goodness [0,1] 0.9239470159249888 Centerline is valid? [False, False] Translation: X:0.35, Y:0.13, Z:-0.05 [[ 9.99714918e-01 -1.36405707e-02 -1.95963439e-02 3.52086870e-01] [ 1.36620567e-02 9.99906206e-01 9.62965611e-04 1.26527663e-01] [ 1.95813704e-02 -1.23041745e-03 9.99807509e-01 -4.96686135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.637628 meters Centerline goodness [0,1] 0.9258770997235807 Centerline is valid? [False, False] Translation: X:0.36, Y:0.13, Z:-0.05 [[ 0.99981158 -0.00943344 -0.01696499 0.36416053] [ 0.00931952 0.99993358 -0.00678173 0.12904456] [ 0.01702784 0.00662235 0.99983308 -0.05300737] [ 0. 0. 0. 1. ]] SLAMing on 1.667628 meters Centerline goodness [0,1] 0.9286943954432424 Centerline is valid? [False, False] Translation: X:0.37, Y:0.13, Z:-0.05 [[ 0.99983762 -0.00577667 -0.01706942 0.36659987] [ 0.00573554 0.99998053 -0.0024579 0.12893204] [ 0.01708329 0.0023596 0.99985129 -0.05368568] [ 0. 0. 0. 1. ]] SLAMing on 1.6976280000000001 meters Centerline goodness [0,1] 0.9299043570669501 Centerline is valid? [False, False] Translation: X:0.37, Y:0.13, Z:-0.05 [[ 0.99982214 -0.00571577 -0.01797262 0.36940483] [ 0.00566857 0.99998035 -0.00267597 0.12985695] [ 0.01798756 0.00257361 0.9998349 -0.05489244] [ 0. 0. 0. 1. ]] SLAMing on 1.7276280000000002 meters Centerline goodness [0,1] 0.9319719208679005 Centerline is valid? [False, False] Translation: X:0.37, Y:0.13, Z:-0.06 [[ 9.99820055e-01 -3.09196803e-03 -1.87162454e-02 3.72735204e-01] [ 3.10065241e-03 9.99995098e-01 4.35001010e-04 1.28740807e-01] [ 1.87148087e-02 -4.92955305e-04 9.99824741e-01 -5.65452687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7576280000000002 meters Centerline goodness [0,1] 0.9307162300102075 Centerline is valid? [False, False] Translation: X:0.37, Y:0.13, Z:-0.06 [[ 9.99808114e-01 -2.97728617e-03 -1.93615962e-02 3.74721745e-01] [ 2.98734188e-03 9.99995418e-01 4.90461637e-04 1.28865487e-01] [ 1.93600473e-02 -5.48207232e-04 9.99812426e-01 -5.72575559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7876280000000002 meters Centerline goodness [0,1] 0.9350456062764442 Centerline is valid? [False, False] Translation: X:0.38, Y:0.13, Z:-0.06 [[ 0.99980537 -0.00249732 -0.01957025 0.37787941] [ 0.00252771 0.99999564 0.00152823 0.1271448 ] [ 0.01956635 -0.0015774 0.99980732 -0.05896376] [ 0. 0. 0. 1. ]] SLAMing on 1.817628 meters Centerline goodness [0,1] 0.937707076713958 Centerline is valid? [False, False] Translation: X:0.38, Y:0.13, Z:-0.06 [[ 0.99978898 -0.00284105 -0.02034529 0.38086222] [ 0.00287116 0.99999483 0.00145058 0.1259782 ] [ 0.02034107 -0.00150869 0.99979196 -0.06032913] [ 0. 0. 0. 1. ]] SLAMing on 1.847628 meters Centerline goodness [0,1] 0.9395369602653231 Centerline is valid? [False, False] Translation: X:0.38, Y:0.12, Z:-0.06 [[ 0.99977528 -0.0029977 -0.02098561 0.38304222] [ 0.00303553 0.99999382 0.00177122 0.12430305] [ 0.02098017 -0.00183452 0.99977821 -0.06100383] [ 0. 0. 0. 1. ]] SLAMing on 1.877628 meters Centerline goodness [0,1] 0.9435148220504544 Centerline is valid? [False, False] Translation: X:0.39, Y:0.12, Z:-0.06 [[ 0.9997607 -0.00384025 -0.0215357 0.38768816] [ 0.00388965 0.9999899 0.00225271 0.12001465] [ 0.02152683 -0.00233593 0.99976554 -0.06341575] [ 0. 0. 0. 1. ]] SLAMing on 1.907628 meters Centerline goodness [0,1] 0.9447036864209053 Centerline is valid? [False, False] Translation: X:0.39, Y:0.12, Z:-0.06 [[ 0.99974365 -0.00456446 -0.02217666 0.39073086] [ 0.00461414 0.99998696 0.0021898 0.1177997 ] [ 0.02216637 -0.00229156 0.99975167 -0.06492444] [ 0. 0. 0. 1. ]] SLAMing on 1.9376280000000001 meters Centerline goodness [0,1] 0.9488979661305421 Centerline is valid? [False, False] Translation: X:0.39, Y:0.12, Z:-0.07 [[ 0.99972798 -0.005185 -0.02273923 0.39310037] [ 0.00524039 0.99998344 0.00237694 0.11515272] [ 0.02272652 -0.00249546 0.9997386 -0.06574957] [ 0. 0. 0. 1. ]] SLAMing on 1.9676280000000002 meters Centerline goodness [0,1] 0.9508834598456337 Centerline is valid? [False, True] Translation: X:0.40, Y:0.11, Z:-0.07 [[ 0.99970819 -0.00610311 -0.02337265 0.39611092] [ 0.0061568 0.99997857 0.00222619 0.11236324] [ 0.02335857 -0.00236944 0.99972434 -0.06713435] [ 0. 0. 0. 1. ]] SLAMing on 1.9976280000000002 meters Centerline goodness [0,1] 0.9552655112208832 Centerline is valid? [True, True] Translation: X:0.42, Y:0.10, Z:-0.07 [[ 9.99733347e-01 -7.34860592e-03 -2.18914066e-02 4.23168904e-01] [ 7.37220775e-03 9.99972327e-01 9.97622435e-04 1.02111273e-01] [ 2.18834697e-02 -1.15874441e-03 9.99759857e-01 -6.50558838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0276280000000004 meters Centerline goodness [0,1] 0.9578287566092444 Centerline is valid? [True, True] Translation: X:0.45, Y:0.10, Z:-0.06 [[ 9.99729523e-01 -8.47373905e-03 -2.16581711e-02 4.51662519e-01] [ 8.49700868e-03 9.99963417e-01 9.82602786e-04 9.67692040e-02] [ 2.16490525e-02 -1.16636668e-03 9.99764951e-01 -6.37697394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0576280000000002 meters Centerline goodness [0,1] 0.958067884004858 Centerline is valid? [True, True] Translation: X:0.48, Y:0.10, Z:-0.06 [[ 9.99739890e-01 -9.35318921e-03 -2.08007230e-02 4.80088578e-01] [ 9.37474481e-03 9.99955615e-01 9.39018943e-04 9.53900233e-02] [ 2.07910169e-02 -1.13377616e-03 9.99783201e-01 -6.15386879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0876280000000005 meters Centerline goodness [0,1] 0.9644413121476166 Centerline is valid? [True, True] Translation: X:0.51, Y:0.08, Z:-0.06 [[ 9.99712174e-01 -1.30156544e-02 -2.01534607e-02 5.08753495e-01] [ 1.30366082e-02 9.99914607e-01 9.08677010e-04 8.09530651e-02] [ 2.01399127e-02 -1.17114824e-03 9.99796485e-01 -6.05898982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1176280000000003 meters Centerline goodness [0,1] 0.963687748897358 Centerline is valid? [True, True] Translation: X:0.54, Y:0.08, Z:-0.06 [[ 9.99662246e-01 -1.61472285e-02 -2.03632047e-02 5.39445996e-01] [ 1.61692669e-02 9.99868847e-01 9.18072699e-04 8.15950392e-02] [ 2.03457097e-02 -1.24702071e-03 9.99792227e-01 -5.78376221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1476280000000005 meters Centerline goodness [0,1] 0.9669933729384262 Centerline is valid? [True, True] Translation: X:0.57, Y:0.06, Z:-0.06 [[ 9.99592815e-01 -2.00002993e-02 -2.03517234e-02 5.68180311e-01] [ 2.00231082e-02 9.99799096e-01 9.17561410e-04 6.30013183e-02] [ 2.03292831e-02 -1.32469255e-03 9.99792461e-01 -5.94808131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1776280000000003 meters Centerline goodness [0,1] 0.9686941928265593 Centerline is valid? [True, True] Translation: X:0.60, Y:0.06, Z:-0.06 [[ 9.99388485e-01 -2.88466126e-02 -1.97617951e-02 5.98294023e-01] [ 2.88698392e-02 9.99582782e-01 8.90992638e-04 5.80388922e-02] [ 1.97278480e-02 -1.46096763e-03 9.99804320e-01 -5.58858838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2076280000000006 meters Centerline goodness [0,1] 0.9691584350601734 Centerline is valid? [True, True] Translation: X:0.63, Y:0.05, Z:-0.05 [[ 9.99256030e-01 -3.35047299e-02 -1.91002435e-02 6.28327393e-01] [ 3.35272685e-02 9.99437432e-01 8.60934228e-04 5.32049616e-02] [ 1.90606530e-02 -1.50067271e-03 9.99817203e-01 -5.33954242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2376280000000004 meters Centerline goodness [0,1] 0.9692154700910133 Centerline is valid? [True, True] Translation: X:0.66, Y:0.05, Z:-0.05 [[ 9.99151498e-01 -3.69373083e-02 -1.82186750e-02 6.58355252e-01] [ 3.69583790e-02 9.99316468e-01 8.21093875e-04 4.62533469e-02] [ 1.81758929e-02 -1.49372987e-03 9.99833689e-01 -5.15831535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.267628 meters Centerline goodness [0,1] 0.9680361349441334 Centerline is valid? [True, True] Translation: X:0.69, Y:0.04, Z:-0.05 [[ 9.99061889e-01 -3.91585682e-02 -1.84918585e-02 6.87511633e-01] [ 3.91806488e-02 9.99231796e-01 8.33151922e-04 3.84578812e-02] [ 1.84450280e-02 -1.55689335e-03 9.99828664e-01 -5.04662479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2976280000000004 meters Centerline goodness [0,1] 0.9687006554043823 Centerline is valid? [True, True] Translation: X:0.72, Y:0.03, Z:-0.05 [[ 9.99013721e-01 -4.11068931e-02 -1.67871354e-02 7.16577270e-01] [ 4.11253462e-02 9.99153710e-01 7.55369789e-04 2.98927533e-02] [ 1.67418777e-02 -1.44500154e-03 9.99858801e-01 -4.75267966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3276280000000003 meters Centerline goodness [0,1] 0.9712759284493759 Centerline is valid? [True, True] Translation: X:0.75, Y:0.03, Z:-0.05 [[ 9.99065771e-01 -4.00737457e-02 -1.61765353e-02 7.45432982e-01] [ 4.00907288e-02 9.99195779e-01 7.26808911e-04 2.87330793e-02] [ 1.61343998e-02 -1.37465899e-03 9.99868887e-01 -4.57968103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3576280000000005 meters Centerline goodness [0,1] 0.9726169844020798 Centerline is valid? [True, True] Translation: X:0.78, Y:0.03, Z:-0.04 [[ 9.99160951e-01 -3.82616130e-02 -1.46097003e-02 7.75723420e-01] [ 3.82752632e-02 9.99267018e-01 6.55759697e-04 2.56820920e-02] [ 1.45739012e-02 -1.21439961e-03 9.99893058e-01 -4.45842670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3876280000000003 meters Centerline goodness [0,1] 0.9742080664704864 Centerline is valid? [True, True] Translation: X:0.81, Y:0.02, Z:-0.04 [[ 9.99273454e-01 -3.53036804e-02 -1.43601665e-02 8.06023056e-01] [ 3.53165620e-02 9.99375968e-01 6.44355927e-04 2.41333870e-02] [ 1.43284572e-02 -1.15103948e-03 9.99896680e-01 -4.36652391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4176280000000006 meters Centerline goodness [0,1] 0.9762800553537451 Centerline is valid? [True, True] Translation: X:0.84, Y:0.02, Z:-0.04 [[ 9.99536723e-01 -2.79164769e-02 -1.21247790e-02 8.35539645e-01] [ 2.79251186e-02 9.99609870e-01 5.43986154e-04 2.08999160e-02] [ 1.21048625e-02 -8.82320028e-04 9.99926344e-01 -4.11789805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4476280000000004 meters Centerline goodness [0,1] 0.9780827839619582 Centerline is valid? [True, True] Translation: X:0.87, Y:0.02, Z:-0.04 [[ 9.99655084e-01 -2.40086389e-02 -1.06441834e-02 8.66346226e-01] [ 2.40150779e-02 9.99711482e-01 4.77513657e-04 2.06394598e-02] [ 1.06296479e-02 -7.32969849e-04 9.99943235e-01 -4.00222473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4776280000000006 meters Centerline goodness [0,1] 0.9797864060878588 Centerline is valid? [True, True] Translation: X:0.90, Y:0.02, Z:-0.04 [[ 9.99752374e-01 -1.99121833e-02 -9.93457253e-03 8.96471415e-01] [ 1.99175907e-02 9.99801526e-01 4.45649377e-04 1.90089934e-02] [ 9.92372692e-03 -6.43411772e-04 9.99950552e-01 -3.86955418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5076280000000004 meters Centerline goodness [0,1] 0.9825842696629213 Centerline is valid? [True, True] Translation: X:0.93, Y:0.02, Z:-0.04 [[ 9.99854522e-01 -1.51039063e-02 -7.92510959e-03 9.25172273e-01] [ 1.51071956e-02 9.99885817e-01 3.55343428e-04 1.81715829e-02] [ 7.91883760e-03 -4.75017914e-04 9.99968533e-01 -3.76688294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.537628 meters Centerline goodness [0,1] 0.9833477135461605 Centerline is valid? [True, True] Translation: X:0.95, Y:0.02, Z:-0.04 [[ 9.99873483e-01 -1.39685260e-02 -7.60909529e-03 9.52991087e-01] [ 1.39715221e-02 9.99902335e-01 3.40730870e-04 1.64812536e-02] [ 7.60359264e-03 -4.46998405e-04 9.99970992e-01 -3.82027183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5676280000000005 meters Centerline goodness [0,1] 0.9847734400346058 Centerline is valid? [True, True] Translation: X:0.98, Y:0.01, Z:-0.04 [[ 9.99873095e-01 -1.39107360e-02 -7.76436231e-03 9.82294542e-01] [ 1.39138451e-02 9.99903138e-01 3.46563923e-04 1.39388657e-02] [ 7.75878928e-03 -4.54552077e-04 9.99969797e-01 -3.86105394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5976280000000003 meters Centerline goodness [0,1] 0.9847699287103046 Centerline is valid? [True, True] Translation: X:1.01, Y:0.01, Z:-0.04 [[ 9.99858047e-01 -1.51979414e-02 -7.27378610e-03 1.00976139e+00] [ 1.52006965e-02 9.99884410e-01 3.23628902e-04 9.66924259e-03] [ 7.26802683e-03 -4.34149576e-04 9.99973493e-01 -3.84903438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6276280000000005 meters Centerline goodness [0,1] 0.9856505930222491 Centerline is valid? [True, True] Translation: X:1.04, Y:0.00, Z:-0.04 [[ 9.99826228e-01 -1.74983587e-02 -6.42823554e-03 1.03888968e+00] [ 1.75005550e-02 9.99846813e-01 2.85559641e-04 4.38619387e-03] [ 6.42225399e-03 -3.98007708e-04 9.99979298e-01 -3.78254291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6576280000000003 meters Centerline goodness [0,1] 0.9853668054110302 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.00, Z:-0.04 [[ 9.99770791e-01 -2.04771137e-02 -6.24923886e-03 1.06880574e+00] [ 2.04792454e-02 9.99790240e-01 2.77307283e-04 -1.40322170e-03] [ 6.24224957e-03 -4.05223418e-04 9.99980435e-01 -3.71950265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6876280000000006 meters Centerline goodness [0,1] 0.98038917604135 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.01, Z:-0.04 [[ 9.99587904e-01 -2.79123035e-02 -6.70261507e-03 1.09769853e+00] [ 2.79149213e-02 9.99610258e-01 2.97313692e-04 -1.42555105e-02] [ 6.69170407e-03 -4.84294143e-04 9.99977493e-01 -3.54330704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7176280000000004 meters Centerline goodness [0,1] 0.971007563244371 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.02, Z:-0.03 [[ 9.99454147e-01 -3.24818076e-02 -6.02833568e-03 1.12711874e+00] [ 3.24840074e-02 9.99472220e-01 2.67327938e-04 -2.14700223e-02] [ 6.01647075e-03 -4.63006516e-04 9.99981794e-01 -3.44020198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7476280000000006 meters Centerline goodness [0,1] 0.9550936003482804 Centerline is valid? [True, True] Translation: X:1.16, Y:-0.03, Z:-0.03 [[ 9.99284619e-01 -3.74618555e-02 -5.18263019e-03 1.15757475e+00] [ 3.74635478e-02 9.99297968e-01 2.29797547e-04 -2.75711884e-02] [ 5.17038318e-03 -4.23792868e-04 9.99986544e-01 -3.40018987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7776280000000004 meters Centerline goodness [0,1] 0.9382004134479383 Centerline is valid? [True, False] Translation: X:1.16, Y:-0.03, Z:-0.03 [[ 9.99256399e-01 -3.81459657e-02 -5.61561255e-03 1.15909701e+00] [ 3.81490553e-02 9.99271961e-01 4.44045260e-04 -2.93430434e-02] [ 5.59458563e-03 -6.57945381e-04 9.99984134e-01 -3.43334037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8076280000000002 meters Centerline goodness [0,1] 0.9382004134479383 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.03, Z:-0.03 [[ 9.99256399e-01 -3.81459657e-02 -5.61561255e-03 1.15909701e+00] [ 3.81490553e-02 9.99271961e-01 4.44045260e-04 -2.93430434e-02] [ 5.59458563e-03 -6.57945381e-04 9.99984134e-01 -3.43334037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8376280000000005 meters Centerline goodness [0,1] 0.8918401114691283 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.03, Z:-0.04 [[ 0.99905408 -0.04307537 -0.00595419 1.16150146] [ 0.04305144 0.99906448 -0.00409154 -0.02971057] [ 0.00612487 0.00383133 0.9999739 -0.03597566] [ 0. 0. 0. 1. ]] SLAMing on 2.8676280000000003 meters Centerline goodness [0,1] 0.8605036520222392 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.03, Z:-0.04 [[ 0.99904223 -0.04329305 -0.00635032 1.16237151] [ 0.04327034 0.99905666 -0.00367118 -0.03144026] [ 0.00650327 0.00339288 0.9999731 -0.03576601] [ 0. 0. 0. 1. ]] SLAMing on 2.8976280000000005 meters Centerline goodness [0,1] 0.8327808069792803 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.03, Z:-0.04 [[ 0.99903249 -0.04346474 -0.0067005 1.16306966] [ 0.04344257 0.99905007 -0.00341954 -0.03248372] [ 0.00684276 0.00312514 0.9999717 -0.03554386] [ 0. 0. 0. 1. ]] SLAMing on 2.9276280000000003 meters Centerline goodness [0,1] 0.8008708904855215 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.03, Z:-0.03 [[ 9.99161144e-01 -4.03773655e-02 -6.83208611e-03 1.16340072e+00] [ 4.03843343e-02 9.99183828e-01 8.85081556e-04 -3.45911257e-02] [ 6.79077269e-03 -1.16024835e-03 9.99976269e-01 -3.49184588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9576280000000006 meters Centerline goodness [0,1] 0.7961053089643169 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.04, Z:-0.03 [[ 0.99929663 -0.03677665 -0.00733007 1.16418592] [ 0.03681517 0.99930861 0.00519125 -0.0359859 ] [ 0.00713408 -0.00545745 0.99995966 -0.03461683] [ 0. 0. 0. 1. ]] SLAMing on 2.9876280000000004 meters Centerline goodness [0,1] 0.7900969017511841 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.04, Z:-0.04 [[ 0.99938627 -0.03412316 -0.00791789 1.16617653] [ 0.0341875 0.9993823 0.00813779 -0.03589691] [ 0.00763531 -0.00840348 0.99993554 -0.03565981] [ 0. 0. 0. 1. ]] SLAMing on 3.0176280000000006 meters Centerline goodness [0,1] 0.7865107601527248 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.03, Z:-0.04 [[ 0.99936847 -0.03451652 -0.00844212 1.16796454] [ 0.03457799 0.99937572 0.00724743 -0.03348109] [ 0.00818669 -0.00753477 0.9999381 -0.03691401] [ 0. 0. 0. 1. ]] SLAMing on 3.0476280000000004 meters Centerline goodness [0,1] 0.7807929134708869 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.03, Z:-0.04 [[ 0.99945041 -0.03179334 -0.00938384 1.17084144] [ 0.03188268 0.99944619 0.00952926 -0.03074222] [ 0.00907568 -0.00982321 0.99991056 -0.03863821] [ 0. 0. 0. 1. ]] SLAMing on 3.0776280000000003 meters Centerline goodness [0,1] 0.7807929134708869 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.03, Z:-0.04 [[ 0.99945041 -0.03179334 -0.00938384 1.17084144] [ 0.03188268 0.99944619 0.00952926 -0.03074222] [ 0.00907568 -0.00982321 0.99991056 -0.03863821] [ 0. 0. 0. 1. ]] SLAMing on 3.1076280000000005 meters Centerline goodness [0,1] 0.7796347012270071 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.03, Z:-0.04 [[ 0.99944503 -0.0318032 -0.0099086 1.17208024] [ 0.03188414 0.99945859 0.00811965 -0.02586926] [ 0.00964501 -0.00843107 0.99991794 -0.03965001] [ 0. 0. 0. 1. ]] SLAMing on 3.1376280000000003 meters Centerline goodness [0,1] 0.7776703617770904 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.02, Z:-0.04 [[ 0.99943281 -0.03207808 -0.01024916 1.17313872] [ 0.03215129 0.99945808 0.00705912 -0.0229093 ] [ 0.01001716 -0.00738464 0.99992256 -0.04043147] [ 0. 0. 0. 1. ]] SLAMing on 3.1676280000000006 meters Centerline goodness [0,1] 0.7842566221974775 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.02, Z:-0.04 [[ 0.99942795 -0.03209926 -0.01064941 1.17399339] [ 0.03216545 0.99946392 0.00610348 -0.01947375] [ 0.01044778 -0.00644253 0.99992467 -0.04087367] [ 0. 0. 0. 1. ]] SLAMing on 3.1976280000000004 meters Centerline goodness [0,1] 0.7977592829705505 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.01, Z:-0.04 [[ 0.99955488 -0.02782486 -0.01076201 1.17325067] [ 0.02792223 0.99956953 0.00900552 -0.01437526] [ 0.0105068 -0.00930201 0.99990154 -0.0400927 ] [ 0. 0. 0. 1. ]] SLAMing on 3.2276280000000006 meters Centerline goodness [0,1] 0.8169972275538494 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.01, Z:-0.04 [[ 0.99968088 -0.02176164 -0.01282843 1.18032833] [ 0.02178682 0.99976097 0.00182647 -0.01031266] [ 0.01278562 -0.00210538 0.99991604 -0.03800589] [ 0. 0. 0. 1. ]] SLAMing on 3.2576280000000004 meters Centerline goodness [0,1] 0.8514232225673318 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.01, Z:-0.04 [[ 0.99975414 -0.01774937 -0.01328964 1.18081773] [ 0.01782371 0.99982604 0.0054966 -0.00919293] [ 0.01318977 -0.00573212 0.99989658 -0.03761823] [ 0. 0. 0. 1. ]] SLAMing on 3.2876280000000007 meters Centerline goodness [0,1] 0.8907734489574699 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.01, Z:-0.04 [[ 0.99983716 -0.01093043 -0.01435921 1.18840043] [ 0.01091132 0.99993948 -0.00140859 -0.00569945] [ 0.01437374 0.00125168 0.99989591 -0.03657235] [ 0. 0. 0. 1. ]] SLAMing on 3.3176280000000005 meters Centerline goodness [0,1] 0.9310957051065268 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.00, Z:-0.04 [[ 0.99991865 -0.00245163 -0.01251704 1.19766145] [ 0.00237299 0.99997738 -0.00629308 -0.00372159] [ 0.01253219 0.00626287 0.99990186 -0.03825395] [ 0. 0. 0. 1. ]] SLAMing on 3.3476280000000003 meters Centerline goodness [0,1] 0.9707581379659301 Centerline is valid? [False, True] Translation: X:1.20, Y:-0.00, Z:-0.04 [[ 0.99990355 0.00621722 -0.01241917 1.19666958] [-0.00619716 0.99997943 0.00165311 -0.00175345] [ 0.01242919 -0.00157599 0.99992151 -0.03699058] [ 0. 0. 0. 1. ]] SLAMing on 3.3776280000000005 meters Centerline goodness [0,1] 0.9791657889193175 Centerline is valid? [True, True] Translation: X:1.23, Y:0.00, Z:-0.04 [[ 9.99874627e-01 9.90060831e-03 -1.23575343e-02 1.22705170e+00] [-9.89139847e-03 9.99950754e-01 8.06179343e-04 1.01628084e-03] [ 1.23649074e-02 -6.83844974e-04 9.99923318e-01 -3.70322179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4076280000000003 meters Centerline goodness [0,1] 0.9976153294221922 Centerline is valid? [True, True] Translation: X:1.26, Y:0.02, Z:-0.04 [[ 9.99847329e-01 1.29424372e-02 -1.17393541e-02 1.25829227e+00] [-1.29343355e-02 9.99916055e-01 7.65791849e-04 2.44268313e-02] [ 1.17482799e-02 -6.13834189e-04 9.99930798e-01 -3.57267093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4376280000000006 meters Centerline goodness [0,1] 0.9981060606060606 Centerline is valid? [True, True] Translation: X:1.29, Y:0.03, Z:-0.03 [[ 9.99820224e-01 1.52830617e-02 -1.12226529e-02 1.28917024e+00] [-1.52758085e-02 9.99883050e-01 7.31742248e-04 2.63241917e-02] [ 1.12325236e-02 -5.60175603e-04 9.99936756e-01 -3.48594402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4676280000000004 meters Centerline goodness [0,1] 0.9983165337429768 Centerline is valid? [True, True] Translation: X:1.32, Y:0.03, Z:-0.03 [[ 9.99792233e-01 1.69146209e-02 -1.13748518e-02 1.32026744e+00] [-1.69072749e-02 9.99856787e-01 7.41672117e-04 2.64134716e-02] [ 1.13857679e-02 -5.49200276e-04 9.99935029e-01 -3.47947677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4976280000000006 meters Centerline goodness [0,1] 0.9984760614655209 Centerline is valid? [True, True] Translation: X:1.35, Y:0.02, Z:-0.03 [[ 9.99787356e-01 1.71971861e-02 -1.13797685e-02 1.35228172e+00] [-1.71898491e-02 9.99851968e-01 7.42249217e-04 2.30626431e-02] [ 1.13908485e-02 -5.46474880e-04 9.99934973e-01 -3.46683670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5276280000000004 meters Centerline goodness [0,1] 0.9982875264270613 Centerline is valid? [True, True] Translation: X:1.38, Y:0.02, Z:-0.04 [[ 9.99779008e-01 1.69475059e-02 -1.24385022e-02 1.38403959e+00] [-1.69386801e-02 9.99856198e-01 8.14563891e-04 1.96014740e-02] [ 1.24505183e-02 -6.03692069e-04 9.99922307e-01 -3.52149874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5576280000000007 meters Centerline goodness [0,1] 0.9982610170929296 Centerline is valid? [True, True] Translation: X:1.41, Y:0.01, Z:-0.04 [[ 9.99799573e-01 1.47168422e-02 -1.35730647e-02 1.41346235e+00] [-1.47060892e-02 9.99891462e-01 8.91704797e-04 1.40407408e-02] [ 1.35847146e-02 -6.91919374e-04 9.99907484e-01 -3.69251323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5876280000000005 meters Centerline goodness [0,1] 0.998446147296722 Centerline is valid? [True, True] Translation: X:1.44, Y:0.01, Z:-0.04 [[ 9.99806669e-01 1.33654905e-02 -1.44217728e-02 1.44406925e+00] [-1.33532104e-02 9.99910393e-01 9.47462069e-04 9.01151839e-03] [ 1.44331438e-02 -7.54701929e-04 9.99895552e-01 -3.72132946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6176280000000003 meters Centerline goodness [0,1] 0.9984238887350643 Centerline is valid? [True, True] Translation: X:1.47, Y:0.00, Z:-0.04 [[ 9.99821893e-01 1.17810731e-02 -1.47440778e-02 1.47337045e+00] [-1.17680681e-02 9.99930285e-01 9.68503307e-04 3.82993662e-03] [ 1.47544599e-02 -7.94821499e-04 9.99890831e-01 -3.72723162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6476280000000005 meters Centerline goodness [0,1] 0.9983364968329459 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.00, Z:-0.04 [[ 9.99832458e-01 1.00218323e-02 -1.53172767e-02 1.50234528e+00] [-1.00075998e-02 9.99949417e-01 1.00555051e-03 -1.86141610e-03] [ 1.53265794e-02 -8.52092861e-04 9.99882178e-01 -3.72730376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6776280000000003 meters Centerline goodness [0,1] 0.9982673055531788 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.01, Z:-0.04 [[ 9.99840739e-01 7.96681750e-03 -1.59695525e-02 1.53138977e+00] [-7.95109873e-03 9.99967841e-01 1.04754752e-03 -7.26018213e-03] [ 1.59773846e-02 -9.20405196e-04 9.99871930e-01 -3.71854168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7076280000000006 meters Centerline goodness [0,1] 0.9981335678887864 Centerline is valid? [True, True] Translation: X:1.56, Y:-0.01, Z:-0.04 [[ 9.99850563e-01 5.29859100e-03 -1.64552684e-02 1.56135065e+00] [-5.28155201e-03 9.99985471e-01 1.07875819e-03 -1.36684224e-02] [ 1.64607452e-02 -9.91687632e-04 9.99864021e-01 -3.70982881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7376280000000004 meters Centerline goodness [0,1] 0.997630740070647 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.03, Z:-0.04 [[ 9.99860467e-01 -2.41614706e-03 -1.65290571e-02 1.58953267e+00] [ 2.43438623e-03 9.99996450e-01 1.08342949e-03 -2.63574905e-02] [ 1.65263807e-02 -1.12351643e-03 9.99862799e-01 -3.69547614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7676280000000006 meters Centerline goodness [0,1] 0.9975731836796602 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.03, Z:-0.04 [[ 9.99827084e-01 -6.70662567e-03 -1.73442819e-02 1.61972160e+00] [ 6.72735149e-03 9.99976725e-01 1.13689610e-03 -3.36821530e-02] [ 1.73362534e-02 -1.25338060e-03 9.99848930e-01 -3.64763563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7976280000000004 meters Centerline goodness [0,1] 0.9938562403664546 Centerline is valid? [True, True] Translation: X:1.65, Y:-0.05, Z:-0.04 [[ 9.99695844e-01 -1.70193572e-02 -1.78482771e-02 1.64783350e+00] [ 1.70429429e-02 9.99854074e-01 1.17016980e-03 -4.92212485e-02] [ 1.78257571e-02 -1.47400106e-03 9.99840022e-01 -3.61960010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8276280000000007 meters Centerline goodness [0,1] 0.9871674967918742 Centerline is valid? [True, True] Translation: X:1.68, Y:-0.06, Z:-0.04 [[ 9.99581811e-01 -2.24847394e-02 -1.81835084e-02 1.67661794e+00] [ 2.25101206e-02 9.99745904e-01 1.19234903e-03 -5.91178435e-02] [ 1.81520784e-02 -1.60116337e-03 9.99833955e-01 -3.53562115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8576280000000005 meters Centerline goodness [0,1] 0.9708441459319188 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.07, Z:-0.03 [[ 9.99454707e-01 -2.77231377e-02 -1.79364525e-02 1.70600114e+00] [ 2.77486654e-02 9.99614240e-01 1.17587415e-03 -6.84090620e-02] [ 1.78969344e-02 -1.67294557e-03 9.99838437e-01 -3.42131665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8876280000000003 meters Centerline goodness [0,1] 0.9434215947780452 Centerline is valid? [True, False] Translation: X:1.71, Y:-0.07, Z:-0.03 [[ 0.99932656 -0.03196484 -0.01801888 1.70682237] [ 0.03192573 0.99948723 -0.00245383 -0.07044983] [ 0.01808808 0.00187691 0.99983464 -0.03463893] [ 0. 0. 0. 1. ]] SLAMing on 3.9176280000000006 meters Centerline goodness [0,1] 0.8956246590289143 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.07, Z:-0.03 [[ 9.99305610e-01 -3.26376501e-02 -1.79744588e-02 1.70710414e+00] [ 3.26128271e-02 9.99466661e-01 -1.67249216e-03 -7.46920048e-02] [ 1.80194585e-02 1.08513288e-03 9.99837048e-01 -3.43531358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9476280000000004 meters Centerline goodness [0,1] 0.827914284467333 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.08, Z:-0.04 [[ 0.99914749 -0.03722759 -0.01784349 1.70803539] [ 0.0371409 0.99929669 -0.00516555 -0.07800531] [ 0.01802324 0.00449842 0.99982745 -0.03511339] [ 0. 0. 0. 1. ]] SLAMing on 3.9776280000000006 meters Centerline goodness [0,1] 0.7937240424550069 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.08, Z:-0.03 [[ 0.99914867 -0.0372099 -0.0178144 1.70787643] [ 0.03713692 0.99930046 -0.00441004 -0.08032573] [ 0.01796603 0.00374471 0.99983159 -0.03465678] [ 0. 0. 0. 1. ]] SLAMing on 4.007628 meters Centerline goodness [0,1] 0.7780043859649123 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.08, Z:-0.03 [[ 0.99915178 -0.03709455 -0.0178807 1.70769332] [ 0.0370341 0.99930715 -0.00370069 -0.08227212] [ 0.01800558 0.00303535 0.99983328 -0.03398803] [ 0. 0. 0. 1. ]] SLAMing on 4.037628000000001 meters Centerline goodness [0,1] 0.7594933910967685 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.09, Z:-0.03 [[ 9.99179665e-01 -3.64378238e-02 -1.76714962e-02 1.70631204e+00] [ 3.64046945e-02 9.99334723e-01 -2.19291378e-03 -8.56601475e-02] [ 1.77396447e-02 1.54778944e-03 9.99841442e-01 -3.22989136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.067628000000001 meters Centerline goodness [0,1] 0.7607912476516743 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.09, Z:-0.03 [[ 0.99932288 -0.03232006 -0.01758375 1.7054727 ] [ 0.03237644 0.99947145 0.00293117 -0.0887682 ] [ 0.01747972 -0.00349849 0.9998411 -0.03105786] [ 0. 0. 0. 1. ]] SLAMing on 4.097628 meters Centerline goodness [0,1] 0.7675026007658425 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.09, Z:-0.03 [[ 0.99932313 -0.03210296 -0.01796314 1.70637155] [ 0.03215882 0.99947876 0.00282995 -0.08811684] [ 0.01786292 -0.00340571 0.99983464 -0.03152465] [ 0. 0. 0. 1. ]] SLAMing on 4.1276280000000005 meters Centerline goodness [0,1] 0.7672160808455242 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.09, Z:-0.03 [[ 0.99932791 -0.03172272 -0.01836837 1.70727711] [ 0.03177831 0.99949118 0.00274235 -0.08707883] [ 0.01827203 -0.00332422 0.99982753 -0.03202935] [ 0. 0. 0. 1. ]] SLAMing on 4.157628000000001 meters Centerline goodness [0,1] 0.7746485080876195 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.09, Z:-0.03 [[ 0.99933091 -0.03138508 -0.01878042 1.70813739] [ 0.03143768 0.99950256 0.00251213 -0.08581644] [ 0.01869223 -0.00310086 0.99982048 -0.03249387] [ 0. 0. 0. 1. ]] SLAMing on 4.187628 meters Centerline goodness [0,1] 0.7805709227705244 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.09, Z:-0.03 [[ 0.99946191 -0.02677827 -0.0189423 1.70753393] [ 0.02692577 0.99960873 0.0075752 -0.08792167] [ 0.01873203 -0.00808116 0.99979188 -0.03131671] [ 0. 0. 0. 1. ]] SLAMing on 4.217628 meters Centerline goodness [0,1] 0.8074160829116301 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.09, Z:-0.03 [[ 9.99615952e-01 -1.90796780e-02 -2.00976153e-02 1.71609994e+00] [ 1.90950776e-02 9.99817507e-01 5.74601676e-04 -8.55782952e-02] [ 2.00829844e-02 -9.58146527e-04 9.99797857e-01 -3.15746438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.247628000000001 meters Centerline goodness [0,1] 0.8478577096006348 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.08, Z:-0.03 [[ 0.99966548 -0.01251996 -0.02263156 1.72585433] [ 0.01239268 0.99990665 -0.00575522 -0.08489115] [ 0.0227015 0.00547283 0.99972731 -0.03143347] [ 0. 0. 0. 1. ]] SLAMing on 4.277628000000001 meters Centerline goodness [0,1] 0.8655855776241079 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.09, Z:-0.03 [[ 9.99709867e-01 -7.88383882e-03 -2.27602184e-02 1.72541159e+00] [ 7.86878713e-03 9.99968759e-01 -7.50800397e-04 -8.67461221e-02] [ 2.27654266e-02 5.71487251e-04 9.99740671e-01 -3.04077042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.307628 meters Centerline goodness [0,1] 0.9178391792781015 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.09, Z:-0.03 [[ 0.99973689 -0.00257161 -0.02279317 1.72458565] [ 0.00267199 0.99998686 0.00437464 -0.08779379] [ 0.02278162 -0.00443439 0.99973063 -0.02940138] [ 0. 0. 0. 1. ]] SLAMing on 4.3376280000000005 meters Centerline goodness [0,1] 0.9417348971011286 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.09, Z:-0.03 [[ 0.99973379 -0.00216434 -0.02297116 1.72486687] [ 0.00225918 0.99998903 0.00410348 -0.08643433] [ 0.02296202 -0.00415428 0.99972771 -0.02967181] [ 0. 0. 0. 1. ]] SLAMing on 4.367628000000001 meters Centerline goodness [0,1] 0.960161215315455 Centerline is valid? [False, True] Translation: X:1.72, Y:-0.09, Z:-0.03 [[ 9.99734725e-01 -1.59936379e-03 -2.29765258e-02 1.72452139e+00] [ 1.69496811e-03 9.99989985e-01 4.14208428e-03 -8.54838713e-02] [ 2.29696709e-02 -4.17992997e-03 9.99727424e-01 -2.93965762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.397628000000001 meters Centerline goodness [0,1] 0.9999556983054602 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.06, Z:-0.03 [[ 9.99740631e-01 9.22212649e-04 -2.27556714e-02 1.75655751e+00] [-8.87027160e-04 9.99998396e-01 1.55627476e-03 -6.29265772e-02] [ 2.27570701e-02 -1.53568621e-03 9.99739845e-01 -2.76433896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.427628 meters Centerline goodness [0,1] 0.9807658255865427 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.09, Z:-0.03 [[ 9.99720098e-01 5.16632910e-03 -2.30875385e-02 1.78428593e+00] [-5.13124572e-03 9.99985589e-01 1.57856458e-03 -8.71619934e-02] [ 2.30953612e-02 -1.45965491e-03 9.99732201e-01 -2.94567970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.457628000000001 meters Centerline goodness [0,1] 0.999977817213842 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.07, Z:-0.03 [[ 9.99714892e-01 6.21381720e-03 -2.30547756e-02 1.81416729e+00] [-6.17912912e-03 9.99979668e-01 1.57552856e-03 -6.72274754e-02] [ 2.30640969e-02 -1.43262093e-03 9.99732962e-01 -2.62464554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.487628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.07, Z:-0.02 [[ 9.99719179e-01 6.37957543e-03 -2.28224614e-02 1.84343103e+00] [-6.34565751e-03 9.99978652e-01 1.55827748e-03 -6.96299213e-02] [ 2.28319154e-02 -1.41301636e-03 9.99738319e-01 -2.49806796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.07, Z:-0.02 [[ 9.99741446e-01 6.13248424e-03 -2.18959573e-02 1.87233289e+00] [-6.10123119e-03 9.99980271e-01 1.49386318e-03 -7.33251137e-02] [ 2.19046865e-02 -1.35988464e-03 9.99759139e-01 -2.37021510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5476280000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.08, Z:-0.02 [[ 9.99786851e-01 4.68352591e-03 -2.01076330e-02 1.90064384e+00] [-4.65690327e-03 9.99988217e-01 1.37062722e-03 -7.91491652e-02] [ 2.01138154e-02 -1.27669577e-03 9.99796882e-01 -2.19689250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.577628000000001 meters Centerline goodness [0,1] 0.9999331833671129 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.08, Z:-0.02 [[ 9.99792505e-01 3.66928940e-03 -2.00370390e-02 1.92816728e+00] [-3.64267762e-03 9.99992435e-01 1.36446563e-03 -8.40267937e-02] [ 2.00418940e-02 -1.29119404e-03 9.99798307e-01 -2.13336473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.607628000000001 meters Centerline goodness [0,1] 0.9999332205502627 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.09, Z:-0.02 [[ 9.99798804e-01 2.42051006e-03 -1.99121215e-02 1.95742178e+00] [-2.39401004e-03 9.99996217e-01 1.35457808e-03 -8.83617986e-02] [ 1.99153249e-02 -1.30663573e-03 9.99800816e-01 -2.11565342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.637628 meters Centerline goodness [0,1] 0.999731867542566 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.10, Z:-0.02 [[ 9.99776705e-01 6.91579114e-04 -2.11201581e-02 1.98520988e+00] [-6.61399963e-04 9.99998750e-01 1.43587813e-03 -9.62143275e-02] [ 2.11211248e-02 -1.42158864e-03 9.99775913e-01 -2.20387767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6676280000000006 meters Centerline goodness [0,1] 0.9994617627270689 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.10, Z:-0.02 [[ 9.99733863e-01 -7.33612168e-04 -2.30578794e-02 2.01410801e+00] [ 7.69928910e-04 9.99998477e-01 1.56618706e-03 -1.01143555e-01] [ 2.30566953e-02 -1.58352317e-03 9.99732905e-01 -2.44884604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.697628000000001 meters Centerline goodness [0,1] 0.9994617627270689 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.10, Z:-0.02 [[ 9.99733644e-01 -9.83412065e-04 -2.30580561e-02 2.04171340e+00] [ 1.01973508e-03 9.99998258e-01 1.56358010e-03 -1.02913813e-01] [ 2.30564783e-02 -1.58667674e-03 9.99732905e-01 -2.40580920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.727628 meters Centerline goodness [0,1] 0.9993486512588999 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.11, Z:-0.02 [[ 9.99745338e-01 -1.04773353e-03 -2.25424436e-02 2.07066728e+00] [ 1.08234556e-03 9.99998254e-01 1.52327028e-03 -1.07075630e-01] [ 2.25408083e-02 -1.54728107e-03 9.99744726e-01 -2.21419951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.10, Z:-0.02 [[ 9.99715580e-01 -1.83862626e-03 -2.37777105e-02 2.10041222e+00] [ 1.87726015e-03 9.99996954e-01 1.60257482e-03 -9.67625185e-02] [ 2.37746916e-02 -1.64675596e-03 9.99715986e-01 -2.08275687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.787628000000001 meters Centerline goodness [0,1] 0.9998419436416185 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.10, Z:-0.02 [[ 9.99674183e-01 -3.05377317e-03 -2.53417073e-02 2.12971395e+00] [ 3.09800348e-03 9.99993745e-01 1.70627947e-03 -9.51999106e-02] [ 2.53363382e-02 -1.78423223e-03 9.99677391e-01 -2.25726470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.817628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.10, Z:-0.02 [[ 9.99664197e-01 -3.17231805e-03 -2.57182613e-02 2.15687703e+00] [ 3.21786577e-03 9.99993326e-01 1.72983389e-03 -1.01658305e-01] [ 2.57126021e-02 -1.81201092e-03 9.99667734e-01 -2.13234633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.847628 meters Centerline goodness [0,1] 0.9998416110419731 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.11, Z:-0.02 [[ 9.99616101e-01 -4.88934318e-03 -2.72716762e-02 2.18478907e+00] [ 4.94112915e-03 9.99986115e-01 1.83182586e-03 -1.07820639e-01] [ 2.72623411e-02 -1.96587550e-03 9.99626380e-01 -2.38187841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8776280000000005 meters Centerline goodness [0,1] 0.9998634190758025 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.12, Z:-0.02 [[ 9.99569087e-01 -7.95813372e-03 -2.82543667e-02 2.21355906e+00] [ 8.01489392e-03 9.99966082e-01 1.89621660e-03 -1.18666817e-01] [ 2.82383181e-02 -2.12185524e-03 9.99598967e-01 -2.36957871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.907628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.12, Z:-0.02 [[ 9.99577807e-01 -9.32276808e-03 -2.75189826e-02 2.24302144e+00] [ 9.37710476e-03 9.99954330e-01 1.84612559e-03 -1.22375082e-01] [ 2.75005148e-02 -2.10339455e-03 9.99619576e-01 -2.08508352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.937628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.13, Z:-0.02 [[ 9.99559671e-01 -1.14356604e-02 -2.73804572e-02 2.27139208e+00] [ 1.14902069e-02 9.99932300e-01 1.83565997e-03 -1.29063848e-01] [ 2.73576115e-02 -2.14945879e-03 9.99623400e-01 -1.98294471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.967628 meters Centerline goodness [0,1] 0.999954149472719 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.14, Z:-0.02 [[ 9.99536378e-01 -1.41153155e-02 -2.69775133e-02 2.30019532e+00] [ 1.41692111e-02 9.99897978e-01 1.80767267e-03 -1.37155249e-01] [ 2.69492451e-02 -2.18908467e-03 9.99634406e-01 -1.96308768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.997628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.14, Z:-0.02 [[ 9.99518599e-01 -1.69713165e-02 -2.59720121e-02 2.33013818e+00] [ 1.70222148e-02 9.99853598e-01 1.73988873e-03 -1.37252917e-01] [ 2.59386816e-02 -2.18115231e-03 9.99661156e-01 -1.61328127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.027628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.15, Z:-0.01 [[ 9.99498195e-01 -1.97147829e-02 -2.47928595e-02 2.35883451e+00] [ 1.97619859e-02 9.99803334e-01 1.66029831e-03 -1.46199797e-01] [ 2.47552512e-02 -2.14942131e-03 9.99691231e-01 -1.48551334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.057628 meters Centerline goodness [0,1] 0.9999769664862375 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.15, Z:-0.01 [[ 9.99531082e-01 -2.11034529e-02 -2.21869468e-02 2.38836681e+00] [ 2.11415753e-02 9.99775389e-01 1.48505284e-03 -1.46330259e-01] [ 2.21506237e-02 -1.95342348e-03 9.99752736e-01 -1.09423115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0876280000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.15, Z:-0.01 [[ 9.99579293e-01 -1.99244787e-02 -2.10773080e-02 2.41735310e+00] [ 1.99586027e-02 9.99799813e-01 1.40985114e-03 -1.46619465e-01] [ 2.10449980e-02 -1.82993162e-03 9.99776855e-01 -9.93825813e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.117628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.15, Z:-0.01 [[ 9.99619991e-01 -1.83017293e-02 -2.06135715e-02 2.44649449e+00] [ 1.83339992e-02 9.99830969e-01 1.37755613e-03 -1.50505257e-01] [ 2.05848755e-02 -1.75496185e-03 9.99786569e-01 -9.00757217e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.147628000000001 meters Centerline goodness [0,1] 0.999861903885104 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.16, Z:-0.01 [[ 9.99616530e-01 -1.69788245e-02 -2.18749231e-02 2.47424871e+00] [ 1.70148258e-02 9.99854170e-01 1.46069406e-03 -1.56112520e-01] [ 2.18469322e-02 -1.83233193e-03 9.99759648e-01 -1.05397036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.177628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.15, Z:-0.01 [[ 9.99691220e-01 -9.90542707e-03 -2.27891792e-02 2.50482367e+00] [ 9.94264198e-03 9.99949415e-01 1.52027816e-03 -1.53311992e-01] [ 2.27729674e-02 -1.74639337e-03 9.99739137e-01 -9.30563249e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.207628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.15, Z:-0.01 [[ 9.99707031e-01 -6.07091452e-03 -2.34306764e-02 2.53542264e+00] [ 6.10920534e-03 9.99980117e-01 1.56298157e-03 -1.50299213e-01] [ 2.34207218e-02 -1.70566648e-03 9.99724242e-01 -9.25289487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.237628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.15, Z:-0.01 [[ 9.99714917e-01 5.08830877e-04 -2.38710214e-02 2.56499013e+00] [-4.70958520e-04 9.99998622e-01 1.59213620e-03 -1.48788339e-01] [ 2.38717986e-02 -1.58044005e-03 9.99713779e-01 -9.86110993e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.15, Z:-0.01 [[ 9.99722639e-01 2.78465848e-03 -2.33857114e-02 2.59504675e+00] [-2.74894114e-03 9.99995006e-01 1.55932304e-03 -1.48791308e-01] [ 2.33899368e-02 -1.49460459e-03 9.99725301e-01 -8.99885421e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2976280000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.15, Z:-0.01 [[ 9.99740060e-01 3.89971227e-03 -2.24634285e-02 2.62358307e+00] [-3.86705467e-03 9.99991402e-01 1.49706769e-03 -1.50051762e-01] [ 2.24690735e-02 -1.40981124e-03 9.99746544e-01 -7.52396563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.327628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.15, Z:-0.01 [[ 9.99754131e-01 4.22646165e-03 -2.17672650e-02 2.65207648e+00] [-4.19590758e-03 9.99990147e-01 1.44915182e-03 -1.52108386e-01] [ 2.17731753e-02 -1.35746209e-03 9.99762015e-01 -5.77746552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.357628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.16, Z:-0.00 [[ 9.99758851e-01 4.39022645e-03 -2.15166474e-02 2.67931499e+00] [-4.36044500e-03 9.99989470e-01 1.43083326e-03 -1.57107914e-01] [ 2.15227025e-02 -1.33666606e-03 9.99767466e-01 -4.80287286e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.16, Z:-0.01 [[ 9.99736294e-01 4.74470354e-03 -2.24684495e-02 2.70794633e+00] [-4.71236090e-03 9.99987783e-01 1.49219730e-03 -1.60927840e-01] [ 2.24752551e-02 -1.38592435e-03 9.99746439e-01 -5.18463844e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4176280000000006 meters Centerline goodness [0,1] 0.9998624358033749 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.16, Z:-0.01 [[ 9.99716822e-01 3.94921558e-03 -2.34665825e-02 2.73655726e+00] [-3.91375652e-03 9.99991129e-01 1.55678053e-03 -1.61165327e-01] [ 2.34725224e-02 -1.46449719e-03 9.99723410e-01 -7.83576041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.447628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.16, Z:-0.01 [[ 9.99713092e-01 4.83683703e-03 -2.34592933e-02 2.76427630e+00] [-4.80168595e-03 9.99987264e-01 1.55448502e-03 -1.64914733e-01] [ 2.34665133e-02 -1.44139486e-03 9.99723584e-01 -6.09587848e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.477628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.17, Z:-0.01 [[ 9.99708825e-01 4.98298651e-03 -2.36100501e-02 2.79263095e+00] [-4.94746880e-03 9.99986540e-01 1.56252217e-03 -1.67800854e-01] [ 2.36175183e-02 -1.44525722e-03 9.99720023e-01 -6.26047352e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.17, Z:-0.01 [[ 9.99707118e-01 5.28975330e-03 -2.36155953e-02 2.82167944e+00] [-5.25434325e-03 9.99984977e-01 1.56123470e-03 -1.70816969e-01] [ 2.36234990e-02 -1.43669300e-03 9.99719894e-01 -6.21433686e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.537628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.17, Z:-0.00 [[ 9.99710296e-01 6.32743406e-03 -2.32225791e-02 2.85034637e+00] [-6.29350960e-03 9.99979020e-01 1.53363518e-03 -1.72666673e-01] [ 2.32317959e-02 -1.38703936e-03 9.99729143e-01 -4.60910259e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.567628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.18, Z:-0.00 [[ 9.99714506e-01 8.05421201e-03 -2.24952637e-02 2.87859542e+00] [-8.02285077e-03 9.99966715e-01 1.48402935e-03 -1.75963961e-01] [ 2.25064676e-02 -1.30312953e-03 9.99745848e-01 -3.09521227e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.597628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.18, Z:-0.00 [[ 9.99717345e-01 9.62427373e-03 -2.17394387e-02 2.90780844e+00] [-9.59538533e-03 9.99952937e-01 1.43277091e-03 -1.78056157e-01] [ 2.17522050e-02 -1.22376764e-03 9.99762644e-01 -2.27821356e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6276280000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.18, Z:-0.00 [[ 9.99702966e-01 1.10463777e-02 -2.17245706e-02 2.93649327e+00] [-1.10178909e-02 9.99938278e-01 1.43053335e-03 -1.79674384e-01] [ 2.17390320e-02 -1.19074948e-03 9.99762970e-01 -1.78054994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.657628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.18, Z:-0.00 [[ 9.99648162e-01 1.54920884e-02 -2.15301625e-02 2.96691889e+00] [-1.54651625e-02 9.99879404e-01 1.41656635e-03 -1.79270038e-01] [ 2.15495117e-02 -1.08310049e-03 9.99767196e-01 -1.93643075e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.687628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.18, Z:-0.00 [[ 9.99607033e-01 1.80179760e-02 -2.14739991e-02 2.99553712e+00] [-1.79917827e-02 9.99837137e-01 1.41235975e-03 -1.80763615e-01] [ 2.14959496e-02 -1.02544922e-03 9.99768409e-01 -2.02263273e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.717628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.18, Z:-0.00 [[ 9.99554612e-01 2.03084965e-02 -2.18664519e-02 3.02631895e+00] [-2.02819018e-02 9.99793268e-01 1.43734276e-03 -1.81001349e-01] [ 2.18911217e-02 -9.93209357e-04 9.99759867e-01 -1.54382613e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.747628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.18, Z:-0.00 [[ 9.99449228e-01 2.37122682e-02 -2.32157265e-02 3.05729391e+00] [-2.36832025e-02 9.99718349e-01 1.52617012e-03 -1.82533496e-01] [ 2.32453767e-02 -9.75506796e-04 9.99729314e-01 -2.06133382e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.777628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.18, Z:-0.00 [[ 9.99409291e-01 2.45684961e-02 -2.40303734e-02 3.08802741e+00] [-2.45375476e-02 9.99697657e-01 1.58195623e-03 -1.84937775e-01] [ 2.40619743e-02 -9.91375326e-04 9.99709977e-01 -1.89508369e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.807628 meters Centerline goodness [0,1] 0.9998851234922458 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.18, Z:-0.00 [[ 9.99356919e-01 2.76644098e-02 -2.28129059e-02 3.11949899e+00] [-2.76372405e-02 9.99616885e-01 1.50544675e-03 -1.83684740e-01] [ 2.28458133e-02 -8.73992857e-04 9.99738618e-01 -2.56601535e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8376280000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.19, Z:0.00 [[ 9.99337169e-01 2.89054795e-02 -2.21290791e-02 3.15060862e+00] [-2.88801739e-02 9.99581811e-01 1.46234431e-03 -1.86419682e-01] [ 2.21620948e-02 -8.22283371e-04 9.99754052e-01 1.93082888e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.867628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.19, Z:0.00 [[ 9.99337382e-01 2.85703265e-02 -2.25506774e-02 3.18304716e+00] [-2.85438421e-02 9.99591423e-01 1.49551522e-03 -1.88384060e-01] [ 2.25841911e-02 -8.50841290e-04 9.99744583e-01 1.14489831e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.897628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.19, Z:0.00 [[ 9.99364738e-01 2.79066568e-02 -2.21661467e-02 3.21386331e+00] [-2.78807882e-02 9.99610167e-01 1.47527940e-03 -1.93982691e-01] [ 2.21986757e-02 -8.56332574e-04 9.99753212e-01 9.86177644e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.927628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.20, Z:0.00 [[ 9.99386583e-01 2.69698572e-02 -2.23401959e-02 3.24618296e+00] [-2.69432311e-02 9.99635852e-01 1.49204001e-03 -1.97086333e-01] [ 2.23723009e-02 -8.89207709e-04 9.99749313e-01 1.13878360e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.957628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.20, Z:0.00 [[ 9.99403181e-01 2.57771350e-02 -2.29961249e-02 3.27698673e+00] [-2.57484812e-02 9.99667265e-01 1.54130382e-03 -2.01810693e-01] [ 2.30282037e-02 -9.48268647e-04 9.99734366e-01 1.11128155e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.987628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.20, Z:0.00 [[ 9.99419807e-01 2.49381197e-02 -2.31978323e-02 3.30862376e+00] [-2.49086146e-02 9.99688515e-01 1.56001523e-03 -2.01104773e-01] [ 2.32295104e-02 -9.81284253e-04 9.99729677e-01 1.68826203e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.017628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.20, Z:0.00 [[ 9.99401699e-01 2.57892094e-02 -2.30469323e-02 3.34103528e+00] [-2.57601890e-02 9.99666941e-01 1.55523811e-03 -2.01481499e-01] [ 2.30793647e-02 -9.60614272e-04 9.99733174e-01 2.34497462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0476280000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.20, Z:0.00 [[ 9.99377583e-01 2.70059427e-02 -2.26963835e-02 3.37286689e+00] [-2.69779851e-02 9.99634846e-01 1.53715383e-03 -2.01321927e-01] [ 2.27296081e-02 -9.23894379e-04 9.99741222e-01 3.54857624e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.077628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.21, Z:0.00 [[ 9.99315567e-01 2.90361219e-02 -2.29194681e-02 3.40361108e+00] [-2.90080156e-02 9.99577965e-01 1.55789312e-03 -2.07222898e-01] [ 2.29550305e-02 -8.91978556e-04 9.99736101e-01 3.53314409e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.107628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.21, Z:0.00 [[ 9.99294275e-01 2.96266645e-02 -2.30913986e-02 3.43560591e+00] [-2.95981669e-02 9.99560637e-01 1.57499911e-03 -2.08462443e-01] [ 2.31279151e-02 -8.90424528e-04 9.99732117e-01 3.83676358e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.21, Z:0.00 [[ 9.99267089e-01 3.01335059e-02 -2.36063053e-02 3.46874266e+00] [-3.01037209e-02 9.99545474e-01 1.61617560e-03 -2.09403552e-01] [ 2.36442766e-02 -9.04353458e-04 9.99720026e-01 4.19130564e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1676280000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.21, Z:0.00 [[ 9.99261127e-01 3.04907120e-02 -2.33990656e-02 3.50204127e+00] [-3.04613932e-02 9.99534650e-01 1.60848476e-03 -2.11362717e-01] [ 2.34372206e-02 -8.94528155e-04 9.99724910e-01 4.60341036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.197628000000001 meters Centerline goodness [0,1] 0.9998622241612896 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.21, Z:0.00 [[ 9.99280079e-01 3.04611154e-02 -2.26151371e-02 3.53511839e+00] [-3.04335801e-02 9.99535573e-01 1.56081692e-03 -2.11671142e-01] [ 2.26521783e-02 -8.71433665e-04 9.99743027e-01 3.49362059e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.227628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.21, Z:0.01 [[ 9.99265334e-01 3.16798549e-02 -2.15680165e-02 3.56690700e+00] [-3.16549706e-02 9.99497739e-01 1.49427770e-03 -2.13897701e-01] [ 2.16045222e-02 -8.10444978e-04 9.99766267e-01 6.64226279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.22, Z:0.01 [[ 9.99248918e-01 3.26621958e-02 -2.08513919e-02 3.59742135e+00] [-3.26390481e-02 9.99466153e-01 1.44957522e-03 -2.16740267e-01] [ 2.08876068e-02 -7.67916886e-04 9.99781535e-01 7.36113273e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.287628000000001 meters Centerline goodness [0,1] 0.9999309789485793 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.22, Z:0.01 [[ 9.99236497e-01 3.30508502e-02 -2.08342071e-02 3.62994649e+00] [-3.30277195e-02 9.99453379e-01 1.45343760e-03 -2.18972298e-01] [ 2.08708560e-02 -7.64221555e-04 9.99781888e-01 6.67169253e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.317628000000001 meters Centerline goodness [0,1] 0.9999079761658269 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.22, Z:0.01 [[ 9.99184307e-01 3.43607890e-02 -2.12145445e-02 3.66230300e+00] [-3.43369756e-02 9.99409208e-01 1.48585414e-03 -2.21989494e-01] [ 2.12530662e-02 -7.56198845e-04 9.99773842e-01 6.30495607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.347628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.22, Z:0.01 [[ 9.99130219e-01 3.60752835e-02 -2.09136195e-02 3.69457146e+00] [-3.60524081e-02 9.99348820e-01 1.46993249e-03 -2.22207270e-01] [ 2.09530292e-02 -7.14667621e-04 9.99780206e-01 8.65512588e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3776280000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.22, Z:0.01 [[ 9.99055158e-01 3.83493871e-02 -2.04479035e-02 3.72544074e+00] [-3.83278927e-02 9.99264176e-01 1.44219339e-03 -2.23765593e-01] [ 2.04881647e-02 -6.57105693e-04 9.99789880e-01 8.43829358e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.407628000000001 meters Centerline goodness [0,1] 0.9998165852763831 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.22, Z:0.01 [[ 9.98913900e-01 4.16825623e-02 -2.08226989e-02 3.75738478e+00] [-4.16609130e-02 9.99130722e-01 1.47259834e-03 -2.22944591e-01] [ 2.08659799e-02 -6.03506303e-04 9.99782100e-01 5.29507048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.437628000000001 meters Centerline goodness [0,1] 0.9998627190774722 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.22, Z:0.01 [[ 9.98822738e-01 4.35311130e-02 -2.14051360e-02 3.78925781e+00] [-4.35086103e-02 9.99051902e-01 1.51608560e-03 -2.24146771e-01] [ 2.14508387e-02 -5.82993054e-04 9.99769734e-01 5.51600452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.467628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.23, Z:0.01 [[ 9.98735062e-01 4.51738512e-02 -2.20816255e-02 3.82150767e+00] [-4.51501817e-02 9.98978978e-01 1.56954703e-03 -2.26898878e-01] [ 2.21299822e-02 -5.70572245e-04 9.99754939e-01 7.46176327e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.497628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.23, Z:0.01 [[ 9.98704783e-01 4.47587886e-02 -2.41952094e-02 3.85255245e+00] [-4.47301001e-02 9.98997617e-01 1.72589288e-03 -2.33255291e-01] [ 2.42482054e-02 -6.41403339e-04 9.99705763e-01 5.97709175e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.527628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.24, Z:0.01 [[ 9.98736578e-01 4.42817666e-02 -2.37565222e-02 3.88452101e+00] [-4.42538445e-02 9.99018872e-01 1.70005081e-03 -2.35182056e-01] [ 2.38084952e-02 -6.46585493e-04 9.99716329e-01 7.05716632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.557628000000001 meters Centerline goodness [0,1] 0.999861910241657 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.24, Z:0.01 [[ 9.98811062e-01 4.26190584e-02 -2.36659530e-02 3.91509772e+00] [-4.25907489e-02 9.99091157e-01 1.69919791e-03 -2.39618255e-01] [ 2.37168626e-02 -6.89227005e-04 9.99718478e-01 5.46980959e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5876280000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.24, Z:0.01 [[ 9.98874324e-01 4.22339800e-02 -2.15957540e-02 3.94733203e+00] [-4.22102114e-02 9.99107541e-01 1.55546806e-03 -2.42417221e-01] [ 2.16421743e-02 -6.42155769e-04 9.99765574e-01 1.01757637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.617628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.24, Z:0.01 [[ 9.98862465e-01 4.25137422e-02 -2.15953168e-02 3.97963908e+00] [-4.24899083e-02 9.99095676e-01 1.56151720e-03 -2.44821289e-01] [ 2.16421736e-02 -6.42157886e-04 9.99765575e-01 1.06822666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.647628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.25, Z:0.01 [[ 9.99005448e-01 4.09064606e-02 -1.77419564e-02 4.01058076e+00] [-4.08900484e-02 9.99162823e-01 1.28698066e-03 -2.51823347e-01] [ 1.77797491e-02 -5.60231238e-04 9.99841771e-01 1.40367859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.677628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.25, Z:0.02 [[ 9.99035419e-01 4.05504927e-02 -1.68490385e-02 4.04232770e+00] [-4.05355786e-02 9.99177344e-01 1.22587657e-03 -2.52663914e-01] [ 1.68848875e-02 -5.41708585e-04 9.99857293e-01 1.59288952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.707628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.26, Z:0.02 [[ 9.99031243e-01 4.10034090e-02 -1.59780126e-02 4.07353914e+00] [-4.09899962e-02 9.99158876e-01 1.16618110e-03 -2.56059529e-01] [ 1.60123905e-02 -5.10112677e-04 9.99871663e-01 1.66932997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.737628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.26, Z:0.02 [[ 9.98984776e-01 4.21202552e-02 -1.59781722e-02 4.10502754e+00] [-4.21069487e-02 9.99112426e-01 1.16844396e-03 -2.58396867e-01] [ 1.60132055e-02 -4.94465649e-04 9.99871658e-01 1.66297418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.767628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.26, Z:0.02 [[ 9.98779103e-01 4.63908107e-02 -1.69763446e-02 4.13716479e+00] [-4.63763364e-02 9.98923262e-01 1.24551365e-03 -2.57178191e-01] [ 1.70158459e-02 -4.56692334e-04 9.99855116e-01 1.57540228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7976280000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.26, Z:0.02 [[ 9.98766287e-01 4.66659594e-02 -1.69762306e-02 4.16946683e+00] [-4.66514985e-02 9.98910448e-01 1.24706573e-03 -2.59625926e-01] [ 1.70159296e-02 -4.53560611e-04 9.99855116e-01 1.62589713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.827628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.26, Z:0.01 [[ 9.98520499e-01 5.10846447e-02 -1.86325615e-02 4.19963333e+00] [-5.10678983e-02 9.98694239e-01 1.37377959e-03 -2.59782413e-01] [ 1.86784108e-02 -4.20221327e-04 9.99825455e-01 1.47460362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.857628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.26, Z:0.01 [[ 9.98375353e-01 5.36372266e-02 -1.92276507e-02 4.23165751e+00] [-5.36198175e-02 9.98560413e-01 1.42019273e-03 -2.60622058e-01] [ 1.92761460e-02 -3.86902296e-04 9.99814123e-01 1.44741188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.26, Z:0.01 [[ 9.98262749e-01 5.53945858e-02 -2.00729586e-02 4.26423548e+00] [-5.53758812e-02 9.98464472e-01 1.48689341e-03 -2.62333574e-01] [ 2.01245018e-02 -3.72752534e-04 9.99797412e-01 1.46915783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9176280000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.26, Z:0.01 [[ 9.98145789e-01 5.73004472e-02 -2.05339587e-02 4.29610558e+00] [-5.72812242e-02 9.98356920e-01 1.52359046e-03 -2.63945318e-01] [ 2.05875222e-02 -3.44555107e-04 9.99787995e-01 1.48841981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.947628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.26, Z:0.01 [[ 9.97971021e-01 5.99298310e-02 -2.15001601e-02 4.32749966e+00] [-5.99092543e-02 9.98202544e-01 1.60045906e-03 -2.64991812e-01] [ 2.15574298e-02 -3.09153202e-04 9.99767564e-01 1.49844965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.977628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.27, Z:0.02 [[ 9.97912422e-01 6.09694398e-02 -2.12961259e-02 4.35904091e+00] [-6.09493875e-02 9.98139591e-01 1.58999941e-03 -2.67009132e-01] [ 2.13534477e-02 -2.88694330e-04 9.99771947e-01 1.61403672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.27, Z:0.02 [[ 9.97911337e-01 6.11543827e-02 -2.08111642e-02 4.39113579e+00] [-6.11351809e-02 9.98128279e-01 1.55823319e-03 -2.70414077e-01] [ 2.08675043e-02 -2.82684279e-04 9.99782210e-01 1.71858710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.037628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.27, Z:0.02 [[ 9.97928454e-01 6.10448896e-02 -2.03057013e-02 4.42362402e+00] [-6.10265076e-02 9.98134982e-01 1.52426633e-03 -2.72209467e-01] [ 2.03608795e-02 -2.81922707e-04 9.99792656e-01 1.85345114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.067628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.46, Y:-0.28, Z:0.02 [[ 9.97958793e-01 6.06877661e-02 -1.98806941e-02 4.45529969e+00] [-6.06699667e-02 9.98156757e-01 1.49778938e-03 -2.77145164e-01] [ 1.99349467e-02 -2.88571028e-04 9.99801238e-01 1.89103689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.097628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.28, Z:0.02 [[ 9.97954761e-01 6.13962009e-02 -1.77989359e-02 4.48757250e+00] [-6.13819722e-02 9.98113442e-01 1.34513754e-03 -2.77650210e-01] [ 1.78479435e-02 -2.49852621e-04 9.99840682e-01 2.14765805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1276280000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.28, Z:0.02 [[ 9.97879511e-01 6.27490930e-02 -1.72925397e-02 4.51975650e+00] [-6.27357953e-02 9.98029309e-01 1.31091864e-03 -2.78839860e-01] [ 1.73407204e-02 -2.23277622e-04 9.99849613e-01 2.28997302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.157628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.28, Z:0.02 [[ 9.97768641e-01 6.46795334e-02 -1.65619038e-02 4.55156499e+00] [-6.46675372e-02 9.97906069e-01 1.25940695e-03 -2.79454190e-01] [ 1.66086821e-02 -1.85579236e-04 9.99862049e-01 2.41066012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.187628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.28, Z:0.03 [[ 9.97707251e-01 6.56082897e-02 -1.66070264e-02 4.58348592e+00] [-6.55962881e-02 9.97845440e-01 1.26696087e-03 -2.81544607e-01] [ 1.66543687e-02 -1.74696761e-04 9.99861291e-01 2.50878809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.217628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.28, Z:0.03 [[ 9.97610554e-01 6.70536426e-02 -1.66430878e-02 4.61572815e+00] [-6.70417172e-02 9.97749360e-01 1.27406676e-03 -2.82129655e-01] [ 1.66910610e-02 -1.55241262e-04 9.99860682e-01 2.61804113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.247628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.29, Z:0.03 [[ 9.97564434e-01 6.77206434e-02 -1.67067266e-02 4.64735200e+00] [-6.77086496e-02 9.97704311e-01 1.28314172e-03 -2.85422584e-01] [ 1.67552684e-02 -1.48826642e-04 9.99859610e-01 2.61002114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.277628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.29, Z:0.03 [[ 9.97608347e-01 6.67874076e-02 -1.78053029e-02 4.67901774e+00] [-6.67735473e-02 9.97767212e-01 1.37247698e-03 -2.87557148e-01] [ 1.78572116e-02 -1.80271258e-04 9.99840531e-01 2.55703951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.307628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.29, Z:0.03 [[ 9.97678043e-01 6.55207692e-02 -1.85890194e-02 4.71001778e+00] [-6.55053531e-02 9.97851182e-01 1.43765108e-03 -2.91620724e-01] [ 1.86432710e-02 -2.16632636e-04 9.99826176e-01 2.52985516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3376280000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.30, Z:0.03 [[ 9.97871516e-01 6.21712075e-02 -1.96768417e-02 4.74167680e+00] [-6.21531877e-02 9.98065454e-01 1.52660565e-03 -2.97300359e-01] [ 1.97336869e-02 -3.00377864e-04 9.99805227e-01 2.52990483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.367628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.30, Z:0.03 [[ 9.97927241e-01 6.11708427e-02 -1.99837540e-02 4.77368459e+00] [-6.11519554e-02 9.98127256e-01 1.55542915e-03 -3.00257861e-01] [ 2.00414765e-02 -3.30159482e-04 9.99799095e-01 2.57900806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.397628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.30, Z:0.02 [[ 9.97958130e-01 6.02845247e-02 -2.11032237e-02 4.80488549e+00] [-6.02631506e-02 9.98181164e-01 1.64789605e-03 -3.04975838e-01] [ 2.11641831e-02 -3.72784515e-04 9.99775944e-01 2.48805729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.427628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.31, Z:0.02 [[ 9.97984202e-01 5.97060781e-02 -2.15108512e-02 4.83699422e+00] [-5.96836270e-02 9.98215922e-01 1.68477729e-03 -3.06157775e-01] [ 2.15730656e-02 -3.97535495e-04 9.99767195e-01 2.48818037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.457628000000001 meters Centerline goodness [0,1] 0.9998392393725742 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.31, Z:0.02 [[ 9.98073498e-01 5.68013309e-02 -2.49580035e-02 4.86938225e+00] [-5.67700728e-02 9.98385356e-01 1.95976190e-03 -3.09081807e-01] [ 2.50290223e-02 -5.39118732e-04 9.99686580e-01 2.11288422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.487628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.31, Z:0.02 [[ 9.98051934e-01 5.78852109e-02 -2.32731556e-02 4.90050314e+00] [-5.78582612e-02 9.98323130e-01 1.83024039e-03 -3.10289198e-01] [ 2.33400734e-02 -4.80130646e-04 9.99727468e-01 2.42395800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.517628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.93, Y:-0.31, Z:0.03 [[ 9.98112683e-01 5.67398761e-02 -2.34874254e-02 4.93249918e+00] [-5.67119805e-02 9.98388862e-01 1.85262114e-03 -3.12266024e-01] [ 2.35547014e-02 -5.17106246e-04 9.99722416e-01 2.51152890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5476280000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.96, Y:-0.32, Z:0.03 [[ 9.98218551e-01 5.48976994e-02 -2.33659231e-02 4.96316004e+00] [-5.48694736e-02 9.98491826e-01 1.84789376e-03 -3.18198148e-01] [ 2.34321283e-02 -5.62525931e-04 9.99725272e-01 2.56741663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.577628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.99, Y:-0.32, Z:0.03 [[ 9.98500652e-01 5.02237163e-02 -2.17721398e-02 4.99447271e+00] [-5.01980281e-02 9.98737794e-01 1.72513107e-03 -3.22344438e-01] [ 2.18313014e-02 -6.29626016e-04 9.99761470e-01 2.87398100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.607628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.32, Z:0.03 [[ 9.98650448e-01 4.77147425e-02 -2.05082101e-02 5.02605288e+00] [-4.76913313e-02 9.98860792e-01 1.62940627e-03 -3.24077920e-01] [ 2.05625936e-02 -6.49143460e-04 9.99788357e-01 3.06140158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.637628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.06, Y:-0.33, Z:0.03 [[ 9.98793357e-01 4.52480884e-02 -1.90903049e-02 5.05650211e+00] [-4.52272733e-02 9.98975566e-01 1.52090678e-03 -3.29317154e-01] [ 1.91395663e-02 -6.55669155e-04 9.99816607e-01 3.20511767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6676280000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.33, Z:0.03 [[ 9.99019024e-01 4.02513353e-02 -1.84612975e-02 5.08748209e+00] [-4.02309527e-02 9.99189320e-01 1.47428486e-03 -3.31910365e-01] [ 1.85056732e-02 -7.30123032e-04 9.99828489e-01 3.42275533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.697628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.34, Z:0.03 [[ 9.99090237e-01 3.85645198e-02 -1.82064892e-02 5.11793655e+00] [-3.85444098e-02 9.99255830e-01 1.45430356e-03 -3.36859251e-01] [ 1.82490250e-02 -7.51222112e-04 9.99833190e-01 3.49447569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.727628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.34, Z:0.03 [[ 9.99177510e-01 3.55001228e-02 -1.95970675e-02 5.14874284e+00] [-3.54762193e-02 9.99369294e-01 1.56616472e-03 -3.38536916e-01] [ 1.96403066e-02 -8.69646698e-04 9.99806732e-01 3.45834926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.34, Z:0.03 [[ 9.99228115e-01 3.33310689e-02 -2.07897712e-02 5.18114383e+00] [-3.33036743e-02 9.99443896e-01 1.66263106e-03 -3.39370283e-01] [ 2.08336272e-02 -9.68971935e-04 9.99782487e-01 3.47750666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.787628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.34, Z:0.03 [[ 9.99306683e-01 3.05332596e-02 -2.13042868e-02 5.21237527e+00] [-3.05038289e-02 9.99533196e-01 1.70512152e-03 -3.42814982e-01] [ 2.13464048e-02 -1.05407702e-03 9.99771584e-01 3.48700926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.817628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.35, Z:0.04 [[ 9.99382007e-01 2.75425002e-02 -2.18406720e-02 5.24261364e+00] [-2.75108414e-02 9.99619976e-01 1.74873219e-03 -3.47544819e-01] [ 2.18805365e-02 -1.14679622e-03 9.99759935e-01 3.54800895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.847628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.35, Z:0.04 [[ 9.99452626e-01 2.46502881e-02 -2.20637917e-02 5.27396733e+00] [-2.46172651e-02 9.99695387e-01 1.76710675e-03 -3.50635875e-01] [ 2.21006305e-02 -1.22298928e-03 9.99755003e-01 3.61525045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8776280000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.35, Z:0.04 [[ 9.99512744e-01 2.19926866e-02 -2.21494241e-02 5.30514725e+00] [-2.19587388e-02 9.99757303e-01 1.77475344e-03 -3.53596804e-01] [ 2.21830801e-02 -1.28751527e-03 9.99753096e-01 3.67066022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.907628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.36, Z:0.04 [[ 9.99594555e-01 1.84576287e-02 -2.16804457e-02 5.33511645e+00] [-1.84242611e-02 9.99828749e-01 1.73782493e-03 -3.58856739e-01] [ 2.17088090e-02 -1.33767415e-03 9.99763441e-01 3.80447511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.937628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.36, Z:0.04 [[ 9.99622180e-01 1.78349566e-02 -2.09143966e-02 5.36585865e+00] [-1.78037645e-02 9.99840095e-01 1.67668533e-03 -3.58854576e-01] [ 2.09409558e-02 -1.30369685e-03 9.99779864e-01 3.97445921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.967628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.36, Z:0.04 [[ 9.99623294e-01 1.78442208e-02 -2.08531565e-02 5.39551324e+00] [-1.78132150e-02 9.99839935e-01 1.67168183e-03 -3.62296044e-01] [ 2.08796485e-02 -1.29959034e-03 9.99781152e-01 4.09078324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.997628000000001 meters Centerline goodness [0,1] 0.9998404158307496 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.36, Z:0.04 [[ 9.99618051e-01 1.91451977e-02 -1.99302213e-02 5.42608745e+00] [-1.91171391e-02 9.99815975e-01 1.59743404e-03 -3.60996730e-01] [ 1.99571369e-02 -1.21581509e-03 9.99800097e-01 4.01440597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.027628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.36, Z:0.04 [[ 9.99601014e-01 2.11516828e-02 -1.87194747e-02 5.45738851e+00] [-2.11272786e-02 9.99775668e-01 1.50050495e-03 -3.60578474e-01] [ 1.87470135e-02 -1.10441471e-03 9.99823649e-01 4.32113864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.057628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.36, Z:0.04 [[ 9.99551354e-01 2.28986237e-02 -1.93065692e-02 5.48924133e+00] [-2.28729725e-02 9.99737180e-01 1.54842990e-03 -3.60845475e-01] [ 1.93369520e-02 -1.10613657e-03 9.99812412e-01 4.35855095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.087628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.36, Z:0.04 [[ 9.99492459e-01 2.47961623e-02 -1.99993853e-02 5.52089119e+00] [-2.47689869e-02 9.99691913e-01 1.60541228e-03 -3.58926392e-01] [ 2.00330318e-02 -1.10923295e-03 9.99798703e-01 4.35381934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.117628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.36, Z:0.04 [[ 9.99434068e-01 2.67001997e-02 -2.04607873e-02 5.55126077e+00] [-2.66721398e-02 9.99642885e-01 1.64311652e-03 -3.61387422e-01] [ 2.04973520e-02 -1.09645365e-03 9.99789306e-01 4.31149016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.147628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.36, Z:0.04 [[ 9.99300122e-01 3.07673528e-02 -2.12752624e-02 5.58286961e+00] [-3.07379248e-02 9.99526017e-01 1.70891593e-03 -3.57904876e-01] [ 2.13177572e-02 -1.05376248e-03 9.99772195e-01 4.29147108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.177628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.36, Z:0.04 [[ 9.99224227e-01 3.31515020e-02 -2.12584687e-02 5.61345498e+00] [-3.31226483e-02 9.99449835e-01 1.70804987e-03 -3.59264665e-01] [ 2.13033974e-02 -1.00258803e-03 9.99772554e-01 4.30462717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.207628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.36, Z:0.04 [[ 9.99146082e-01 3.53222741e-02 -2.14346342e-02 5.64504483e+00] [-3.52934219e-02 9.99375508e-01 1.72297601e-03 -3.59263915e-01] [ 2.14821078e-02 -9.65003144e-04 9.99768767e-01 4.34656852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.237628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.36, Z:0.04 [[ 9.99077128e-01 3.73405538e-02 -2.12267538e-02 5.67605124e+00] [-3.73126972e-02 9.99302181e-01 1.70702021e-03 -3.61022683e-01] [ 2.12756825e-02 -9.13417410e-04 9.99773230e-01 4.39468294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.36, Z:0.04 [[ 9.98923130e-01 4.14074277e-02 -2.09285873e-02 5.70530973e+00] [-4.13812298e-02 9.99142012e-01 1.68349225e-03 -3.62335132e-01] [ 2.09803399e-02 -8.15628672e-04 9.99779556e-01 4.43138969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.297628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.36, Z:0.04 [[ 9.98817997e-01 4.38264839e-02 -2.10201686e-02 5.73773525e+00] [-4.38005682e-02 9.99038862e-01 1.69193526e-03 -3.62890887e-01] [ 2.10741169e-02 -7.69240058e-04 9.99777620e-01 4.45420523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.36, Z:0.04 [[ 9.98695931e-01 4.64198992e-02 -2.12516043e-02 5.76986829e+00] [-4.63938831e-02 9.98921750e-01 1.71585634e-03 -3.62216950e-01] [ 2.13083397e-02 -7.27674302e-04 9.99772687e-01 4.48796868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.36, Z:0.04 [[ 9.98396780e-01 5.20904439e-02 -2.21462120e-02 5.79996456e+00] [-5.20634936e-02 9.98642169e-01 1.79215696e-03 -3.63558501e-01] [ 2.22094954e-02 -6.36274574e-04 9.99753136e-01 4.43052642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.387628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.36, Z:0.04 [[ 9.98240479e-01 5.51211774e-02 -2.18540841e-02 5.83214463e+00] [-5.50956243e-02 9.98479514e-01 1.77010089e-03 -3.63418993e-01] [ 2.19184253e-02 -5.62921955e-04 9.99759604e-01 4.46946400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.37, Z:0.04 [[ 9.98062915e-01 5.79367351e-02 -2.26661106e-02 5.86327438e+00] [-5.79098440e-02 9.98320118e-01 1.84154303e-03 -3.65629303e-01] [ 2.27347272e-02 -5.25384879e-04 9.99741395e-01 4.43900015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.447628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.37, Z:0.04 [[ 9.97914436e-01 6.04609690e-02 -2.26108357e-02 5.89401721e+00] [-6.04347528e-02 9.98170451e-01 1.84161321e-03 -3.67954448e-01] [ 2.26808138e-02 -4.71292142e-04 9.99742646e-01 4.40485593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.477628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.37, Z:0.05 [[ 9.97774020e-01 6.28907867e-02 -2.21755408e-02 5.92586232e+00] [-6.28660862e-02 9.98020330e-01 1.80993020e-03 -3.69636744e-01] [ 2.22454685e-02 -4.11811865e-04 9.99752454e-01 4.50368067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.37, Z:0.05 [[ 9.97756364e-01 6.31704406e-02 -2.21750775e-02 5.95814408e+00] [-6.31456833e-02 9.98002668e-01 1.81559220e-03 -3.72348893e-01] [ 2.22454783e-02 -4.11258254e-04 9.99752454e-01 4.55429199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.537628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.37, Z:0.05 [[ 9.97571071e-01 6.61955911e-02 -2.16818393e-02 5.99064653e+00] [-6.61725321e-02 9.97806608e-01 1.78003932e-03 -3.74605684e-01] [ 2.17521133e-02 -3.40973523e-04 9.99763337e-01 4.69680823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.567628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.38, Z:0.05 [[ 9.97480944e-01 6.75431433e-02 -2.16723184e-02 6.02290509e+00] [-6.75203586e-02 9.97716305e-01 1.78219608e-03 -3.77483116e-01] [ 2.17432005e-02 -3.14383917e-04 9.99763539e-01 4.78031081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.597628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.38, Z:0.05 [[ 9.97334165e-01 6.97267343e-02 -2.15115200e-02 6.05414014e+00] [-6.97046781e-02 9.97566093e-01 1.77435231e-03 -3.82570887e-01] [ 2.15828827e-02 -2.70168606e-04 9.99767026e-01 4.83499990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.627628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.39, Z:0.05 [[ 9.97259282e-01 7.09223094e-02 -2.10701317e-02 6.08665781e+00] [-7.09013251e-02 9.97481813e-01 1.74223642e-03 -3.85128837e-01] [ 2.11406366e-02 -2.43561181e-04 9.99776482e-01 4.99054441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.657628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.39, Z:0.05 [[ 9.97197123e-01 7.18830502e-02 -2.07539188e-02 6.11743502e+00] [-7.18628457e-02 9.97413043e-01 1.71865552e-03 -3.88691388e-01] [ 2.08237715e-02 -2.22402671e-04 9.99783137e-01 5.05499401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.39, Z:0.05 [[ 9.97156483e-01 7.26264854e-02 -2.01082557e-02 6.14993883e+00] [-7.26075740e-02 9.97359189e-01 1.66993290e-03 -3.92608527e-01] [ 2.01764350e-02 -2.05172757e-04 9.99796414e-01 5.12831419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.717628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.40, Z:0.05 [[ 9.97095461e-01 7.33228039e-02 -2.06011585e-02 6.18291603e+00] [-7.33029808e-02 9.97308240e-01 1.71675362e-03 -3.97866292e-01] [ 2.06715823e-02 -2.01640921e-04 9.99786300e-01 5.07146160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.40, Z:0.05 [[ 9.97100174e-01 7.32363786e-02 -2.06803131e-02 6.21571744e+00] [-7.32162638e-02 9.97314589e-01 1.72915009e-03 -4.02325361e-01] [ 2.07514146e-02 -2.10000594e-04 9.99784644e-01 5.04595047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.777628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.41, Z:0.05 [[ 9.97114849e-01 7.29241825e-02 -2.10723014e-02 6.24864472e+00] [-7.29031019e-02 9.97337462e-01 1.76789343e-03 -4.07410824e-01] [ 2.11451178e-02 -2.26556656e-04 9.99776391e-01 5.05580338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.807628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.41, Z:0.05 [[ 9.97117041e-01 7.27389312e-02 -2.16021782e-02 6.28086582e+00] [-7.27165998e-02 9.97350986e-01 1.81851402e-03 -4.12740246e-01] [ 2.16772305e-02 -2.42434367e-04 9.99764992e-01 5.11878972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.837628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.42, Z:0.05 [[ 9.97178604e-01 7.18542052e-02 -2.17210763e-02 6.31187298e+00] [-7.18312897e-02 9.97415110e-01 1.83438286e-03 -4.19355890e-01] [ 2.17967378e-02 -2.68954412e-04 9.99762387e-01 5.17161838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.867628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.43, Z:0.05 [[ 9.97338201e-01 6.95991343e-02 -2.17364456e-02 6.34358843e+00] [-6.95755400e-02 9.97574988e-01 1.84076051e-03 -4.28648195e-01] [ 2.18118498e-02 -3.23535838e-04 9.99762041e-01 5.36939560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.897628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.43, Z:0.06 [[ 9.97312984e-01 7.03993446e-02 -2.02668447e-02 6.37525889e+00] [-7.03789025e-02 9.97518846e-01 1.72102754e-03 -4.31308497e-01] [ 2.03377187e-02 -2.90044829e-04 9.99793125e-01 5.56346125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.927628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.43, Z:0.06 [[ 9.97266811e-01 7.12771806e-02 -1.94543496e-02 6.40746282e+00] [-7.12584205e-02 9.97456512e-01 1.65670607e-03 -4.34101352e-01] [ 1.95229530e-02 -2.65891754e-04 9.99809374e-01 5.67842937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.957628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.44, Z:0.06 [[ 9.97043738e-01 7.45345346e-02 -1.86651689e-02 6.43820644e+00] [-7.45177535e-02 9.97218413e-01 1.59392078e-03 -4.35813965e-01] [ 1.87320523e-02 -1.98322270e-04 9.99824520e-01 5.78847695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.987628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.44, Z:0.06 [[ 9.96886485e-01 7.66249555e-02 -1.85997969e-02 6.47020673e+00] [-7.66085753e-02 9.97059973e-01 1.59263592e-03 -4.37194159e-01] [ 1.86671487e-02 -1.62773286e-04 9.99825740e-01 5.86773838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.44, Z:0.06 [[ 9.96736957e-01 7.86076934e-02 -1.83376481e-02 6.50193814e+00] [-7.85920253e-02 9.96905619e-01 1.57463778e-03 -4.38631322e-01] [ 1.84046831e-02 -1.28306761e-04 9.99830611e-01 5.87182046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.047628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.44, Z:0.06 [[ 9.96628236e-01 7.98207300e-02 -1.89949927e-02 6.53341603e+00] [-7.98040452e-02 9.96809228e-01 1.63598287e-03 -4.42318268e-01] [ 1.90649693e-02 -1.14589470e-04 9.99818240e-01 5.86040182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.44, Z:0.06 [[ 9.96629069e-01 7.97094972e-02 -1.94137986e-02 6.56630589e+00] [-7.96919441e-02 9.96818128e-01 1.67735113e-03 -4.44769030e-01] [ 1.94857272e-02 -1.24573542e-04 9.99810127e-01 5.86977862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.60, Y:-0.45, Z:0.06 [[ 9.96674331e-01 7.90758189e-02 -1.96797723e-02 6.59866954e+00] [-7.90575462e-02 9.96868594e-01 1.70598741e-03 -4.47798360e-01] [ 1.97530493e-02 -1.44479346e-04 9.99804879e-01 5.87021723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.137628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.45, Z:0.06 [[ 9.96741137e-01 7.81197936e-02 -2.01097673e-02 6.63080441e+00] [-7.81004024e-02 9.96943964e-01 1.74903754e-03 -4.51314154e-01] [ 2.01849455e-02 -1.72756749e-04 9.99796248e-01 5.89966594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.66, Y:-0.46, Z:0.06 [[ 9.97000495e-01 7.46175915e-02 -2.05482099e-02 6.66152682e+00] [-7.45964907e-02 9.97212189e-01 1.79254861e-03 -4.56620446e-01] [ 2.06246810e-02 -2.54347502e-04 9.99787256e-01 5.99058941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.197628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.69, Y:-0.46, Z:0.06 [[ 9.97075147e-01 7.35915099e-02 -2.06262191e-02 6.69202589e+00] [-7.35699313e-02 9.97288429e-01 1.80407651e-03 -4.60408612e-01] [ 2.07030544e-02 -2.81330325e-04 9.99785629e-01 6.04371267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.227628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.46, Z:0.06 [[ 9.97171520e-01 7.23933081e-02 -2.02032072e-02 6.72427526e+00] [-7.23722662e-02 9.97376116e-01 1.77169082e-03 -4.62075770e-01] [ 2.02784548e-02 -3.04527742e-04 9.99794325e-01 6.15355286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.47, Z:0.06 [[ 9.97213321e-01 7.17808297e-02 -2.03249978e-02 6.75513170e+00] [-7.17593132e-02 9.97420377e-01 1.78692003e-03 -4.65719974e-01] [ 2.04008336e-02 -3.23432566e-04 9.99791829e-01 6.23032822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.287628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.47, Z:0.06 [[ 9.97294135e-01 7.07445703e-02 -1.99903517e-02 6.78750129e+00] [-7.07234843e-02 9.97494405e-01 1.76069750e-03 -4.67969503e-01] [ 2.00648238e-02 -3.42145969e-04 9.99798623e-01 6.30014016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.317628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.47, Z:0.06 [[ 9.97336082e-01 7.01064749e-02 -2.01450263e-02 6.81929617e+00] [-7.00848292e-02 9.97539448e-01 1.77936653e-03 -4.70478051e-01] [ 2.02202035e-02 -3.62765715e-04 9.99795485e-01 6.34505558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.347628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.47, Z:0.06 [[ 9.97390310e-01 6.93948075e-02 -1.99231244e-02 6.85095101e+00] [-6.93733950e-02 9.97589203e-01 1.76472205e-03 -4.73337464e-01] [ 1.99975563e-02 -3.77981893e-04 9.99799957e-01 6.34552314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.377628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.48, Z:0.06 [[ 9.97416723e-01 6.90413061e-02 -1.98287227e-02 6.88251035e+00] [-6.90199256e-02 9.97613726e-01 1.76141686e-03 -4.77117113e-01] [ 1.99030165e-02 -3.88289667e-04 9.99801840e-01 6.36398103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.407628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.48, Z:0.06 [[ 9.97430171e-01 6.88553857e-02 -1.97987311e-02 6.91548372e+00] [-6.88339266e-02 9.97626573e-01 1.76411515e-03 -4.80663904e-01] [ 1.98732091e-02 -3.96757274e-04 9.99802430e-01 6.43966763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.48, Z:0.07 [[ 9.97488536e-01 6.80729055e-02 -1.95627107e-02 6.94691154e+00] [-6.80517021e-02 9.97680264e-01 1.74830661e-03 -4.83364175e-01] [ 1.96363427e-02 -4.12640042e-04 9.99807103e-01 6.52149523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.467628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.49, Z:0.07 [[ 9.97517334e-01 6.77775944e-02 -1.91145388e-02 6.97910639e+00] [-6.77572116e-02 9.97700369e-01 1.71272106e-03 -4.86741186e-01] [ 1.91866665e-02 -4.13321095e-04 9.99815834e-01 6.60977028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.01, Y:-0.49, Z:0.07 [[ 9.97533928e-01 6.76753577e-02 -1.86039844e-02 7.01201975e+00] [-6.76559395e-02 9.97707311e-01 1.67190289e-03 -4.89971319e-01] [ 1.86744779e-02 -4.09109810e-04 9.99825533e-01 6.73632166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.527628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.04, Y:-0.49, Z:0.07 [[ 9.97484135e-01 6.84433838e-02 -1.84635878e-02 7.04390095e+00] [-6.84242942e-02 9.97654923e-01 1.66440820e-03 -4.93104668e-01] [ 1.85342070e-02 -3.96862813e-04 9.99828148e-01 6.78551664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.557628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.50, Z:0.07 [[ 9.97453262e-01 6.88943564e-02 -1.84542092e-02 7.07525124e+00] [-6.88752847e-02 9.97623884e-01 1.66780304e-03 -4.97162009e-01] [ 1.85252621e-02 -3.92516671e-04 9.99828316e-01 6.80315874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.587628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.50, Z:0.07 [[ 9.97402905e-01 6.94337857e-02 -1.91414598e-02 7.10806230e+00] [-6.94133038e-02 9.97586482e-01 1.73315831e-03 -4.99144654e-01] [ 1.92156013e-02 -3.99985168e-04 9.99815283e-01 6.86628845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.617628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.50, Z:0.07 [[ 9.97400150e-01 6.95119619e-02 -1.90007194e-02 7.14077029e+00] [-6.94916931e-02 9.97581038e-01 1.72571664e-03 -5.03082059e-01] [ 1.90747153e-02 -4.00837879e-04 9.99817981e-01 6.94436162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.647628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.51, Z:0.07 [[ 9.97414990e-01 6.93678168e-02 -1.87468166e-02 7.17355548e+00] [-6.93479633e-02 9.97591070e-01 1.70783389e-03 -5.06959540e-01] [ 1.88201255e-02 -4.03365573e-04 9.99822804e-01 7.00741826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.677628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.51, Z:0.07 [[ 9.97455314e-01 6.87222829e-02 -1.89774871e-02 7.20536022e+00] [-6.87017218e-02 9.97635738e-01 1.73404988e-03 -5.10364076e-01] [ 1.90517872e-02 -4.25851234e-04 9.99818408e-01 7.04861368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.707628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.24, Y:-0.51, Z:0.07 [[ 9.97491761e-01 6.82037058e-02 -1.89325376e-02 7.23690737e+00] [-6.81830613e-02 9.97671319e-01 1.73453960e-03 -5.13225019e-01] [ 1.90067518e-02 -4.39310591e-04 9.99819259e-01 7.08969679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.737628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.52, Z:0.07 [[ 9.97642883e-01 6.58224312e-02 -1.93929368e-02 7.26762096e+00] [-6.58002280e-02 9.97831226e-01 1.78147613e-03 -5.18230515e-01] [ 1.94681390e-02 -5.01217320e-04 9.99810352e-01 7.05805855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.30, Y:-0.52, Z:0.07 [[ 9.97619483e-01 6.61177486e-02 -1.95910583e-02 7.29989234e+00] [-6.60950565e-02 9.97811700e-01 1.80424170e-03 -5.20759414e-01] [ 1.96674795e-02 -5.05074573e-04 9.99806449e-01 7.13506302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.797628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.52, Z:0.07 [[ 9.97612260e-01 6.62919152e-02 -1.93690474e-02 7.33295826e+00] [-6.62696708e-02 9.97800146e-01 1.78876149e-03 -5.22262230e-01] [ 1.94450188e-02 -5.00909998e-04 9.99810802e-01 7.15376074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.36, Y:-0.52, Z:0.07 [[ 9.97612868e-01 6.59548633e-02 -2.04578069e-02 7.36490136e+00] [-6.59298601e-02 9.97822460e-01 1.89497904e-03 -5.23825831e-01] [ 2.05382423e-02 -5.41675134e-04 9.99788921e-01 7.18005985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.857628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.53, Z:0.07 [[ 9.97773673e-01 6.31076641e-02 -2.15666569e-02 7.39511138e+00] [-6.30791090e-02 9.98006521e-01 2.00244556e-03 -5.31348604e-01] [ 2.16500339e-02 -6.37581965e-04 9.99765407e-01 7.12355573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.887628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.53, Z:0.07 [[ 9.97852107e-01 6.19195512e-02 -2.13808836e-02 7.42744676e+00] [-6.18911420e-02 9.98080925e-01 1.98852614e-03 -5.30703462e-01] [ 2.14629807e-02 -6.60967692e-04 9.99769425e-01 7.28483407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.53, Z:0.07 [[ 9.98049921e-01 5.87441785e-02 -2.11063315e-02 7.45905250e+00] [-5.87156965e-02 9.98272807e-01 1.96716974e-03 -5.34957533e-01] [ 2.11854366e-02 -7.24060644e-04 9.99775301e-01 7.43229482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.947628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.54, Z:0.08 [[ 9.98146531e-01 5.72205700e-02 -2.07197590e-02 7.49043406e+00] [-5.71927466e-02 9.98361283e-01 1.93342105e-03 -5.37895918e-01] [ 2.07964366e-02 -7.44817588e-04 9.99783453e-01 7.53979629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.977628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.54, Z:0.08 [[ 9.98256879e-01 5.53911263e-02 -2.03721844e-02 7.52197489e+00] [-5.53637536e-02 9.98464433e-01 1.90561871e-03 -5.40642924e-01] [ 2.04464559e-02 -7.74416394e-04 9.99790649e-01 7.65600390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.54, Z:0.08 [[ 9.98275500e-01 5.48954244e-02 -2.07970853e-02 7.55316028e+00] [-5.48666894e-02 9.98491784e-01 1.95020103e-03 -5.43956803e-01] [ 2.08727760e-02 -8.05770685e-04 9.99781815e-01 7.67935289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.037628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.59, Y:-0.55, Z:0.08 [[ 9.98274470e-01 5.49392308e-02 -2.07307590e-02 7.58613148e+00] [-5.49105842e-02 9.98489374e-01 1.94898238e-03 -5.45947556e-01] [ 2.08065181e-02 -8.07281269e-04 9.99783195e-01 7.73126894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.067628000000001 meters Centerline goodness [0,1] 0.9999543451959733 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.55, Z:0.08 [[ 9.98251672e-01 5.52250317e-02 -2.10664290e-02 7.61758946e+00] [-5.51953878e-02 9.98473597e-01 1.98647007e-03 -5.50186425e-01] [ 2.11439760e-02 -8.20227355e-04 9.99776105e-01 7.71389546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.097628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.65, Y:-0.55, Z:0.08 [[ 9.98216947e-01 5.58217320e-02 -2.11390808e-02 7.64960974e+00] [-5.57918999e-02 9.98440418e-01 1.99882898e-03 -5.50414935e-01] [ 2.12176908e-02 -8.15875482e-04 9.99774547e-01 7.78269617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.127628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.55, Z:0.08 [[ 9.98082430e-01 5.79128840e-02 -2.18531801e-02 7.68038554e+00] [-5.78813828e-02 9.98321318e-01 2.07180174e-03 -5.52262606e-01] [ 2.19364796e-02 -8.02936625e-04 9.99759044e-01 7.75502479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.157628 meters Centerline goodness [0,1] 0.9999771725979866 Centerline is valid? [True, True] Translation: X:7.71, Y:-0.56, Z:0.08 [[ 9.97969042e-01 5.96161057e-02 -2.24434955e-02 7.71176837e+00] [-5.95831889e-02 9.98221064e-01 2.13311306e-03 -5.55637145e-01] [ 2.25307379e-02 -7.91525767e-04 9.99745837e-01 7.74669476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.56, Z:0.08 [[ 9.97850839e-01 6.16482405e-02 -2.22080407e-02 7.74353512e+00] [-6.16163941e-02 9.98097662e-01 2.11608818e-03 -5.57090378e-01] [ 2.22962466e-02 -7.43160985e-04 9.99751132e-01 7.79604639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.217628000000001 meters Centerline goodness [0,1] 0.9999772302928185 Centerline is valid? [True, True] Translation: X:7.77, Y:-0.56, Z:0.08 [[ 9.97713819e-01 6.39534218e-02 -2.18425169e-02 7.77448810e+00] [-6.39230557e-02 9.97952649e-01 2.08632790e-03 -5.59317804e-01] [ 2.19312254e-02 -6.85317755e-04 9.99759247e-01 7.89463533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.56, Z:0.08 [[ 9.97528578e-01 6.74520659e-02 -1.96711748e-02 7.80656537e+00] [-6.74280500e-02 9.97722364e-01 1.88233847e-03 -5.57946770e-01] [ 1.97533386e-02 -5.51297457e-04 9.99804732e-01 8.18549306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.277628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.56, Z:0.08 [[ 9.97434701e-01 6.91481884e-02 -1.85079733e-02 7.83832465e+00] [-6.91271862e-02 9.97606280e-01 1.77289603e-03 -5.60766259e-01] [ 1.85862629e-02 -4.88943909e-04 9.99827141e-01 8.31249396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.307628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.56, Z:0.08 [[ 9.97298548e-01 7.14560206e-02 -1.70189256e-02 7.87009276e+00] [-7.14385309e-02 9.97443665e-01 1.63418172e-03 -5.61382047e-01] [ 1.70921916e-02 -4.13960016e-04 9.99853832e-01 8.36327345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.337628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.90, Y:-0.56, Z:0.08 [[ 9.97201887e-01 7.29077499e-02 -1.65183961e-02 7.90067636e+00] [-7.28914060e-02 9.97338616e-01 1.59015327e-03 -5.64392065e-01] [ 1.65903688e-02 -3.81654722e-04 9.99862298e-01 8.37035972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.367628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.93, Y:-0.57, Z:0.08 [[ 9.97073837e-01 7.45379870e-02 -1.69662273e-02 7.93319169e+00] [-7.45209154e-02 9.97218107e-01 1.63709157e-03 -5.67039636e-01] [ 1.70410546e-02 -3.67962380e-04 9.99854723e-01 8.39037680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.397628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.97, Y:-0.57, Z:0.08 [[ 9.96880539e-01 7.70029229e-02 -1.73130369e-02 7.96550522e+00] [-7.69854855e-02 9.97030811e-01 1.67240296e-03 -5.69836291e-01] [ 1.73904111e-02 -3.34333415e-04 9.99848719e-01 8.40876345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.427628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.00, Y:-0.57, Z:0.08 [[ 9.96858995e-01 7.72814173e-02 -1.73126215e-02 7.99773927e+00] [-7.72639475e-02 9.97009263e-01 1.67669226e-03 -5.73029794e-01] [ 1.73904212e-02 -3.33784276e-04 9.99848719e-01 8.45937410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.457628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.03, Y:-0.57, Z:0.09 [[ 9.96488031e-01 8.18409532e-02 -1.77105142e-02 8.03008775e+00] [-8.18233013e-02 9.96645367e-01 1.72024649e-03 -5.74144825e-01] [ 1.77918885e-02 -2.65072305e-04 9.99841677e-01 8.50091843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.487628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.06, Y:-0.58, Z:0.09 [[ 9.96348691e-01 8.35146677e-02 -1.77365688e-02 8.06272205e+00] [-8.34971567e-02 9.96506519e-01 1.72682903e-03 -5.76005279e-01] [ 1.78188220e-02 -2.39570784e-04 9.99841203e-01 8.51245656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.58, Z:0.09 [[ 9.96249744e-01 8.47508950e-02 -1.74279378e-02 8.09321867e+00] [-8.47341453e-02 9.96402147e-01 1.69860287e-03 -5.79435925e-01] [ 1.75091927e-02 -2.15491258e-04 9.99846679e-01 8.53864950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.547628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.58, Z:0.09 [[ 9.96234875e-01 8.50157850e-02 -1.69820434e-02 8.12623529e+00] [-8.49998529e-02 9.96379583e-01 1.65907247e-03 -5.83760627e-01] [ 1.70616086e-02 -2.09354663e-04 9.99854418e-01 8.60104794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.59, Z:0.09 [[ 9.96206585e-01 8.52769110e-02 -1.73288435e-02 8.15796546e+00] [-8.52602736e-02 9.96357267e-01 1.69797573e-03 -5.88324141e-01] [ 1.74105173e-02 -2.14072664e-04 9.99848403e-01 8.62818904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.607628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.19, Y:-0.59, Z:0.09 [[ 9.96180457e-01 8.54372793e-02 -1.80268787e-02 8.19054780e+00] [-8.54192099e-02 9.96343525e-01 1.77138019e-03 -5.92584529e-01] [ 1.81123058e-02 -2.24772582e-04 9.99835933e-01 8.60490235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.637628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.60, Z:0.09 [[ 9.96121599e-01 8.58149992e-02 -1.94305347e-02 8.22301510e+00] [-8.57939644e-02 9.96311060e-01 1.91511953e-03 -5.96925107e-01] [ 1.95232026e-02 -2.40669332e-04 9.99809375e-01 8.50568012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.60, Z:0.08 [[ 9.95672888e-01 9.05068536e-02 -2.10715564e-02 8.25562572e+00] [-9.04830352e-02 9.95895819e-01 2.08299933e-03 -5.96881440e-01] [ 2.11736006e-02 -1.67367579e-04 9.99775800e-01 8.45379982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.697628000000002 meters Centerline goodness [0,1] 0.9998400438736804 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.60, Z:0.08 [[ 9.95492337e-01 9.22130362e-02 -2.21757242e-02 8.28833611e+00] [-9.21869455e-02 9.95739291e-01 2.19814416e-03 -5.99791078e-01] [ 2.22839374e-02 -1.43923388e-04 9.99751672e-01 8.17754136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.727628000000001 meters Centerline goodness [0,1] 0.9998171428571428 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.60, Z:0.08 [[ 9.95263104e-01 9.45431552e-02 -2.26483108e-02 8.32089488e+00] [-9.45163936e-02 9.95520759e-01 2.25157408e-03 -6.02687805e-01] [ 2.27597345e-02 -1.00271949e-04 9.99740959e-01 8.22520629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.757628 meters Centerline goodness [0,1] 0.9998169797076251 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.61, Z:0.08 [[ 9.95146956e-01 9.58415910e-02 -2.22918273e-02 8.35329670e+00] [-9.58158485e-02 9.95396596e-01 2.22249331e-03 -6.06158845e-01] [ 2.24022163e-02 -7.57971018e-05 9.99749036e-01 8.27479560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.787628000000002 meters Centerline goodness [0,1] 0.9998857142857143 Centerline is valid? [True, True] Translation: X:8.39, Y:-0.61, Z:0.08 [[ 9.95172170e-01 9.58184223e-02 -2.12410354e-02 8.38593305e+00] [-9.57949188e-02 9.95398826e-01 2.12361948e-03 -6.09947972e-01] [ 2.13467836e-02 -7.85837407e-05 9.99772128e-01 8.42609594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.817628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.42, Y:-0.61, Z:0.09 [[ 9.95172337e-01 9.60882621e-02 -1.99766403e-02 8.41722399e+00] [-9.60674204e-02 9.95372815e-01 2.00257312e-03 -6.14004871e-01] [ 2.00766285e-02 -7.38010641e-05 9.99798441e-01 8.74356345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.847628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.45, Y:-0.62, Z:0.09 [[ 9.95152649e-01 9.65006900e-02 -1.89426144e-02 8.44974493e+00] [-9.64819319e-02 9.95332915e-01 1.90380173e-03 -6.17180317e-01] [ 1.90379258e-02 -6.69532930e-05 9.99818760e-01 8.93807856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.877628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.48, Y:-0.62, Z:0.09 [[ 9.95061321e-01 9.75265883e-02 -1.84806050e-02 8.48214895e+00] [-9.75088165e-02 9.95232918e-01 1.86246247e-03 -6.21106162e-01] [ 1.85741461e-02 -5.12424419e-05 9.99827484e-01 9.10242019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.907628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.62, Z:0.09 [[ 9.94996657e-01 9.82748699e-02 -1.79917617e-02 8.51515079e+00] [-9.82580583e-02 9.95159308e-01 1.81816782e-03 -6.24112161e-01] [ 1.80833493e-02 -4.12353390e-05 9.99836482e-01 9.20351762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.937628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.63, Z:0.09 [[ 9.94966479e-01 9.86976601e-02 -1.73342975e-02 8.54720121e+00] [-9.86820353e-02 9.95117466e-01 1.75653022e-03 -6.27350954e-01] [ 1.74230276e-02 -3.71049373e-05 9.99848207e-01 9.26009872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.967628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.63, Z:0.09 [[ 9.95003779e-01 9.84269723e-02 -1.67215477e-02 8.57915630e+00] [-9.84123214e-02 9.95144276e-01 1.69878594e-03 -6.30623799e-01] [ 1.68075588e-02 -4.46921006e-05 9.99858742e-01 9.34842373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.63, Z:0.09 [[ 9.95057353e-01 9.79342799e-02 -1.64238251e-02 8.61151537e+00] [-9.79200080e-02 9.95192883e-01 1.67284021e-03 -6.33758559e-01] [ 1.65087022e-02 -5.63508673e-05 9.99863721e-01 9.37326727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.027628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.64, Z:0.09 [[ 9.95308546e-01 9.52178046e-02 -1.71600584e-02 8.64209211e+00] [-9.52017381e-02 9.95456457e-01 1.75260451e-03 -6.37937585e-01] [ 1.72489701e-02 -1.10714858e-04 9.99851219e-01 9.31611335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.057628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.64, Z:0.09 [[ 9.95282505e-01 9.54896687e-02 -1.71598015e-02 8.67430492e+00] [-9.54735994e-02 9.95430415e-01 1.75511652e-03 -6.41315322e-01] [ 1.72489838e-02 -1.08528748e-04 9.99851219e-01 9.36663998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.087628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.71, Y:-0.64, Z:0.09 [[ 9.95392854e-01 9.41885581e-02 -1.79327187e-02 8.70598034e+00] [-9.41707059e-02 9.95554366e-01 1.83924313e-03 -6.44836206e-01] [ 1.80262320e-02 -1.42032692e-04 9.99837504e-01 9.34422846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.117628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.65, Z:0.09 [[ 9.95575546e-01 9.20636752e-02 -1.88045851e-02 8.73783258e+00] [-9.20435740e-02 9.95753103e-01 1.93351005e-03 -6.48765620e-01] [ 1.89027300e-02 -1.94114106e-04 9.99821309e-01 9.36209068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.147628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.66, Z:0.09 [[ 9.96061877e-01 8.65577714e-02 -1.91960806e-02 8.76882535e+00] [-8.65357090e-02 9.96246785e-01 1.97856622e-03 -6.55161199e-01] [ 1.92952939e-02 -3.09627936e-04 9.99813781e-01 9.42595226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.177628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.66, Z:0.10 [[ 9.96387759e-01 8.26284161e-02 -1.95953940e-02 8.79919974e+00] [-8.26045762e-02 9.96580346e-01 2.02430609e-03 -6.61459411e-01] [ 1.96956498e-02 -3.98324594e-04 9.99805943e-01 9.53946165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.207628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.67, Z:0.10 [[ 9.96689719e-01 7.90997842e-02 -1.87837173e-02 8.83060771e+00] [-7.90771738e-02 9.96866600e-01 1.94460323e-03 -6.65725204e-01] [ 1.88786781e-02 -4.52802770e-04 9.99821679e-01 9.67008711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.237628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.86, Y:-0.67, Z:0.10 [[ 9.97096253e-01 7.40275612e-02 -1.78600824e-02 8.86179730e+00] [-7.40062446e-02 9.97256058e-01 1.85243536e-03 -6.69619135e-01] [ 1.79482067e-02 -5.25298729e-04 9.99838780e-01 9.76717542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.89, Y:-0.68, Z:0.10 [[ 9.97882154e-01 6.30957304e-02 -1.58156989e-02 8.89202781e+00] [-6.30776349e-02 9.98007274e-01 1.64089093e-03 -6.76815883e-01] [ 1.58877157e-02 -6.39798900e-04 9.99873578e-01 9.82107687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.297628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.92, Y:-0.68, Z:0.10 [[ 9.98183618e-01 5.84460006e-02 -1.46126905e-02 8.92148422e+00] [-5.84300537e-02 9.98290353e-01 1.51622990e-03 -6.82106900e-01] [ 1.46763255e-02 -6.59655559e-04 9.99892079e-01 9.88327702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.327628 meters Centerline goodness [0,1] 0.9999771187991946 Centerline is valid? [True, True] Translation: X:8.95, Y:-0.69, Z:0.10 [[ 9.98429863e-01 5.41025027e-02 -1.45164700e-02 8.95215326e+00] [-5.40863073e-02 9.98535128e-01 1.50622877e-03 -6.86269513e-01] [ 1.45766959e-02 -7.18721535e-04 9.99893496e-01 9.88965794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.357628000000002 meters Centerline goodness [0,1] 0.9999770673760492 Centerline is valid? [True, True] Translation: X:8.98, Y:-0.69, Z:0.10 [[ 9.98591497e-01 5.09076882e-02 -1.49475249e-02 8.98275808e+00] [-5.08901555e-02 9.98703052e-01 1.55122807e-03 -6.90507305e-01] [ 1.50071082e-02 -7.88361298e-04 9.99887076e-01 9.95586576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.387628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.70, Z:0.10 [[ 9.98783568e-01 4.64350409e-02 -1.65882585e-02 9.01274843e+00] [-4.64128271e-02 9.98920860e-01 1.72181265e-03 -6.95419882e-01] [ 1.66503098e-02 -9.49810207e-04 9.99860923e-01 9.90632342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.417628 meters Centerline goodness [0,1] 0.999977111467155 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.70, Z:0.10 [[ 9.98810161e-01 4.55797039e-02 -1.73422156e-02 9.04449091e+00] [-4.55552865e-02 9.98960196e-01 1.80062719e-03 -6.97087219e-01] [ 1.74062551e-02 -1.00845514e-03 9.99847991e-01 9.83312278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.447628000000002 meters Centerline goodness [0,1] 0.9999771850973056 Centerline is valid? [True, True] Translation: X:9.08, Y:-0.70, Z:0.10 [[ 9.98814142e-01 4.52055139e-02 -1.80768117e-02 9.07614041e+00] [-4.51788379e-02 9.98977143e-01 1.88157822e-03 -6.99259705e-01] [ 1.81433794e-02 -1.06265759e-03 9.99834831e-01 9.79546252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.477628000000001 meters Centerline goodness [0,1] 0.9999087632863465 Centerline is valid? [True, True] Translation: X:9.11, Y:-0.70, Z:0.10 [[ 9.98799197e-01 4.57563371e-02 -1.75077699e-02 9.10683983e+00] [-4.57313247e-02 9.98952106e-01 1.82656040e-03 -7.00220026e-01] [ 1.75730003e-02 -1.02371355e-03 9.99845059e-01 9.75607149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.507628 meters Centerline goodness [0,1] 0.9999545630097463 Centerline is valid? [True, True] Translation: X:9.14, Y:-0.70, Z:0.10 [[ 9.98770320e-01 4.66314222e-02 -1.68332796e-02 9.13909931e+00] [-4.66083602e-02 9.98911689e-01 1.75995627e-03 -7.01424164e-01] [ 1.68970290e-02 -9.73220527e-04 9.99856761e-01 9.77176240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.537628000000002 meters Centerline goodness [0,1] 0.9998183139534884 Centerline is valid? [True, True] Translation: X:9.17, Y:-0.71, Z:0.10 [[ 9.98706126e-01 4.80811353e-02 -1.65613563e-02 9.17049784e+00] [-4.80589440e-02 9.98842994e-01 1.73556749e-03 -7.05441459e-01] [ 1.66256428e-02 -9.37400587e-04 9.99861345e-01 9.82107164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.567628000000001 meters Centerline goodness [0,1] 0.9999546618910525 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.71, Z:0.10 [[ 9.98634335e-01 4.95366566e-02 -1.66007598e-02 9.20310696e+00] [-4.95144947e-02 9.98771883e-01 1.74361504e-03 -7.05982233e-01] [ 1.66667450e-02 -9.19255611e-04 9.99860678e-01 9.93474500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.597628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.71, Z:0.10 [[ 9.98426473e-01 5.35912533e-02 -1.65092708e-02 9.23347294e+00] [-5.35698649e-02 9.98562596e-01 1.73536818e-03 -7.07834569e-01] [ 1.65785409e-02 -8.48238120e-04 9.99862207e-01 1.00473901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.627628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.27, Y:-0.71, Z:0.10 [[ 9.98294354e-01 5.60501344e-02 -1.63329320e-02 9.26527438e+00] [-5.60295277e-02 9.98427636e-01 1.71689686e-03 -7.08770872e-01] [ 1.64034830e-02 -7.98841977e-04 9.99865135e-01 1.01129540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.657628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.30, Y:-0.71, Z:0.10 [[ 9.98167991e-01 5.84775070e-02 -1.55255807e-02 9.29671593e+00] [-5.84591629e-02 9.98288465e-01 1.63314778e-03 -7.08162286e-01] [ 1.55945105e-02 -7.22543386e-04 9.99878137e-01 1.01455111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.687628000000002 meters Centerline goodness [0,1] 0.999864532297758 Centerline is valid? [True, True] Translation: X:9.33, Y:-0.71, Z:0.10 [[ 9.98033213e-01 6.07805267e-02 -1.53438533e-02 9.32699768e+00] [-6.07628726e-02 9.98150924e-01 1.61457990e-03 -7.09945116e-01] [ 1.54136164e-02 -6.79067759e-04 9.99880973e-01 9.93158741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.717628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.36, Y:-0.71, Z:0.10 [[ 9.97623768e-01 6.74984140e-02 -1.38123572e-02 9.35790398e+00] [-6.74847476e-02 9.97719247e-01 1.45367073e-03 -7.07595123e-01] [ 1.38789750e-02 -5.18093040e-04 9.99903548e-01 1.01564203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.39, Y:-0.71, Z:0.10 [[ 9.97453910e-01 7.00720805e-02 -1.32514153e-02 9.38922878e+00] [-7.00597288e-02 9.97541823e-01 1.39460602e-03 -7.08718142e-01] [ 1.33165639e-02 -4.62664668e-04 9.99911224e-01 1.02408960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.777628000000002 meters Centerline goodness [0,1] 0.9999102756779794 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.71, Z:0.10 [[ 9.97321900e-01 7.19279622e-02 -1.32436998e-02 9.42011453e+00] [-7.19157852e-02 9.97409734e-01 1.39403031e-03 -7.11918126e-01] [ 1.33096649e-02 -4.37865884e-04 9.99911327e-01 1.01874150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.807628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.71, Z:0.10 [[ 9.97167162e-01 7.41466305e-02 -1.26462867e-02 9.45254370e+00] [-7.41356821e-02 9.97247273e-01 1.33298978e-03 -7.14037702e-01] [ 1.27103117e-02 -3.91672542e-04 9.99919144e-01 1.04362133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.837628 meters Centerline goodness [0,1] 0.9998878848353028 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.72, Z:0.10 [[ 9.97016359e-01 7.59360503e-02 -1.38598433e-02 9.48426207e+00] [-7.59230571e-02 9.97112607e-01 1.46200211e-03 -7.16708483e-01] [ 1.39308432e-02 -4.05358350e-04 9.99902879e-01 1.03238361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.867628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.72, Z:0.11 [[ 9.96934692e-01 7.70592331e-02 -1.35312325e-02 9.51512500e+00] [-7.70469074e-02 9.97026443e-01 1.43062704e-03 -7.20280070e-01] [ 1.36012397e-02 -3.83702109e-04 9.99907425e-01 1.05364147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.897628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.72, Z:0.11 [[ 9.96918608e-01 7.72001864e-02 -1.39075364e-02 9.54761797e+00] [-7.71871348e-02 9.97015534e-01 1.47359895e-03 -7.23145866e-01] [ 1.39797919e-02 -3.95575330e-04 9.99902200e-01 1.05113591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.927628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.73, Z:0.11 [[ 9.97070061e-01 7.52600847e-02 -1.36825569e-02 9.57807819e+00] [-7.52472167e-02 9.97163850e-01 1.45359068e-03 -7.28486579e-01] [ 1.37531484e-02 -4.19757424e-04 9.99905333e-01 1.05628662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.957628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.61, Y:-0.73, Z:0.11 [[ 9.97199404e-01 7.35884513e-02 -1.33449462e-02 9.60852895e+00] [-7.35760220e-02 9.97288600e-01 1.42062800e-03 -7.34726727e-01] [ 1.34133045e-02 -4.34781344e-04 9.99909943e-01 1.06994477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.987628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.64, Y:-0.74, Z:0.11 [[ 9.97515720e-01 6.91030015e-02 -1.36807459e-02 9.63907325e+00] [-6.90894697e-02 9.97609400e-01 1.45983794e-03 -7.42788006e-01] [ 1.37489199e-02 -5.11015815e-04 9.99905349e-01 1.07530646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.017628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.67, Y:-0.75, Z:0.11 [[ 9.97656242e-01 6.68313427e-02 -1.46831240e-02 9.67005175e+00] [-6.68155037e-02 9.97764117e-01 1.56718645e-03 -7.48813774e-01] [ 1.47550314e-02 -5.82453020e-04 9.99890969e-01 1.06837625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.047628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.70, Y:-0.75, Z:0.11 [[ 9.97777525e-01 6.47804301e-02 -1.56046693e-02 9.70145628e+00] [-6.47622332e-02 9.97899327e-01 1.66917049e-03 -7.53935020e-01] [ 1.56800185e-02 -6.54867569e-04 9.99876847e-01 1.06238353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.76, Z:0.11 [[ 9.97880521e-01 6.29191822e-02 -1.66025050e-02 9.73168796e+00] [-6.28982647e-02 9.98018357e-01 1.77959336e-03 -7.60825152e-01] [ 1.66815753e-02 -7.31552800e-04 9.99860585e-01 1.05948887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.107628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.76, Y:-0.76, Z:0.11 [[ 9.97933942e-01 6.18846311e-02 -1.72667098e-02 9.76363325e+00] [-6.18618345e-02 9.98083005e-01 1.85178188e-03 -7.62131927e-01] [ 1.73482065e-02 -7.79805646e-04 9.99849204e-01 1.06624372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.137628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.78, Z:0.11 [[ 9.97931040e-01 6.17347538e-02 -1.79571412e-02 9.79292451e+00] [-6.17099922e-02 9.98092256e-01 1.93031555e-03 -7.76144521e-01] [ 1.80420511e-02 -8.18186759e-04 9.99836894e-01 1.06930686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.167628 meters Centerline goodness [0,1] 0.9998184953262547 Centerline is valid? [True, True] Translation: X:9.83, Y:-0.77, Z:0.10 [[ 9.97873137e-01 6.22057116e-02 -1.94846673e-02 9.82647306e+00] [-6.21765606e-02 9.98062959e-01 2.09893093e-03 -7.71885167e-01] [ 1.95774902e-02 -8.82977192e-04 9.99807953e-01 1.04379503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.197628000000002 meters Centerline goodness [0,1] 0.9998636518577434 Centerline is valid? [True, True] Translation: X:9.86, Y:-0.77, Z:0.10 [[ 9.97741885e-01 6.40963861e-02 -2.00694755e-02 9.85858433e+00] [-6.40657256e-02 9.97943327e-01 2.16761992e-03 -7.74857632e-01] [ 2.01671357e-02 -8.76959677e-04 9.99796238e-01 1.04712789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.227628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.78, Z:0.11 [[ 9.97547511e-01 6.70306313e-02 -2.01459060e-02 9.88992305e+00] [-6.70002520e-02 9.97750577e-01 2.17991924e-03 -7.77844975e-01] [ 2.02467107e-02 -8.24792235e-04 9.99794674e-01 1.07180050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.257628 meters Centerline goodness [0,1] 0.9998179915366064 Centerline is valid? [True, True] Translation: X:9.92, Y:-0.78, Z:0.10 [[ 9.97407024e-01 6.86992674e-02 -2.14391810e-02 9.92072534e+00] [-6.86652041e-02 9.97637058e-01 2.32182524e-03 -7.83361152e-01] [ 2.15480291e-02 -8.43679062e-04 9.99767458e-01 1.04534581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.287628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.79, Z:0.11 [[ 9.96982385e-01 7.46815213e-02 -2.11847873e-02 9.95139306e+00] [-7.46495318e-02 9.97207184e-01 2.29793685e-03 -7.85356964e-01] [ 2.12972355e-02 -7.09568108e-04 9.99772936e-01 1.08381672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.317628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.79, Z:0.11 [[ 9.96961479e-01 7.49601484e-02 -2.11845737e-02 9.98359847e+00] [-7.49281799e-02 9.97186281e-01 2.29990367e-03 -7.88920219e-01] [ 2.12973674e-02 -7.05593806e-04 9.99772936e-01 1.08886356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.347628000000002 meters Centerline goodness [0,1] 0.9998630793455193 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.79, Z:0.11 [[ 9.96790849e-01 7.69704780e-02 -2.19897637e-02 1.00154321e+01] [-7.69363848e-02 9.97033131e-01 2.39349426e-03 -7.91938650e-01] [ 2.21087513e-02 -6.94000261e-04 9.99755331e-01 1.08176404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.377628000000001 meters Centerline goodness [0,1] 0.9999771653003905 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.80, Z:0.11 [[ 9.96566286e-01 8.00569007e-02 -2.11312479e-02 1.00459187e+01] [-8.00260275e-02 9.96790112e-01 2.30397805e-03 -7.95504084e-01] [ 2.12478683e-02 -6.05017023e-04 9.99774055e-01 1.10379904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.407628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.08, Y:-0.80, Z:0.11 [[ 9.96356252e-01 8.29016096e-02 -2.00385179e-02 1.00770427e+01] [-8.28743904e-02 9.96557602e-01 2.18640237e-03 -7.99524174e-01] [ 2.01507936e-02 -5.17755722e-04 9.99796818e-01 1.11637402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.437628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.80, Z:0.11 [[ 9.95898324e-01 8.86060104e-02 -1.83167302e-02 1.01074519e+01] [-8.85841672e-02 9.96066683e-01 2.00206288e-03 -8.01550140e-01] [ 1.84220795e-02 -3.71278780e-04 9.99830230e-01 1.12590445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.467628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.14, Y:-0.80, Z:0.11 [[ 9.95602842e-01 9.20141373e-02 -1.75607389e-02 1.01396802e+01] [-9.19945538e-02 9.95757656e-01 1.92147276e-03 -8.04185595e-01] [ 1.76630429e-02 -2.97531396e-04 9.99843952e-01 1.13654722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.497628 meters Centerline goodness [0,1] 0.9998172514619883 Centerline is valid? [True, True] Translation: X:10.17, Y:-0.81, Z:0.11 [[ 9.95354623e-01 9.45308565e-02 -1.82507901e-02 1.01713150e+01] [-9.45100431e-02 9.95521896e-01 2.00151253e-03 -8.07813598e-01] [ 1.83582659e-02 -2.67331793e-04 9.99831437e-01 1.12103607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.527628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.20, Y:-0.81, Z:0.12 [[ 9.94577446e-01 1.02616675e-01 -1.68973922e-02 1.02035493e+01] [-1.02599936e-01 9.94720969e-01 1.85687337e-03 -8.08662444e-01] [ 1.69987365e-02 -1.13133011e-04 9.99855505e-01 1.16993917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.557628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.24, Y:-0.81, Z:0.12 [[ 9.94138464e-01 1.06760504e-01 -1.70560829e-02 1.02356098e+01] [-1.06743985e-01 9.94284764e-01 1.87860721e-03 -8.10160430e-01] [ 1.71591645e-02 -4.69614306e-05 9.99852770e-01 1.17171864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.587628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.27, Y:-0.81, Z:0.12 [[ 9.93713383e-01 1.10513205e-01 -1.79037531e-02 1.02685769e+01] [-1.10495525e-01 9.93874656e-01 1.97675296e-03 -8.12113997e-01] [ 1.80125438e-02 1.39587343e-05 9.99837761e-01 1.16831287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.617628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.81, Z:0.12 [[ 9.92938033e-01 1.17084607e-01 -1.91117000e-02 1.03001745e+01] [-1.17065576e-01 9.93121934e-01 2.11535097e-03 -8.11631481e-01] [ 1.92279235e-02 1.36909730e-04 9.99815117e-01 1.15431657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.647628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.33, Y:-0.81, Z:0.12 [[ 9.92593847e-01 1.19797070e-01 -2.01523488e-02 1.03323870e+01] [-1.19776401e-01 9.92798380e-01 2.23391389e-03 -8.14180374e-01] [ 2.02748355e-02 1.96406612e-04 9.99794425e-01 1.15454781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.677628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.36, Y:-0.82, Z:0.12 [[ 9.92343763e-01 1.21737569e-01 -2.08283350e-02 1.03646466e+01] [-1.21715804e-01 9.92562294e-01 2.31421463e-03 -8.16799034e-01] [ 2.09551468e-02 2.38641085e-04 9.99780388e-01 1.15711515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.707628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.82, Z:0.12 [[ 9.92171694e-01 1.23003393e-01 -2.15753292e-02 1.03963209e+01] [-1.22980218e-01 9.92406214e-01 2.40276061e-03 -8.19016799e-01] [ 2.17070385e-02 2.69387621e-04 9.99764338e-01 1.15841884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.737628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.82, Z:0.12 [[ 9.92148259e-01 1.22969017e-01 -2.28134592e-02 1.04286304e+01] [-1.22942973e-01 9.92410471e-01 2.54601527e-03 -8.22045547e-01] [ 2.29533968e-02 2.78729889e-04 9.99736497e-01 1.15615347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.767628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.83, Z:0.11 [[ 9.92440706e-01 1.20257450e-01 -2.44865342e-02 1.04594790e+01] [-1.20226516e-01 9.92742713e-01 2.73694344e-03 -8.25960426e-01] [ 2.46379662e-02 2.27676625e-04 9.99696413e-01 1.13734978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.797628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.83, Z:0.11 [[ 9.92633172e-01 1.18577325e-01 -2.48757602e-02 1.04902585e+01] [-1.18544764e-01 9.92944804e-01 2.78476763e-03 -8.30470470e-01] [ 2.50304671e-02 1.84638402e-04 9.99686672e-01 1.14282806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.83, Z:0.12 [[ 9.92704823e-01 1.18086372e-01 -2.43463160e-02 1.05212497e+01] [-1.18054903e-01 9.93003314e-01 2.73088650e-03 -8.34216206e-01] [ 2.44984530e-02 1.63237775e-04 9.99699855e-01 1.15305763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.857628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.55, Y:-0.84, Z:0.12 [[ 9.92851444e-01 1.16993189e-01 -2.36347835e-02 1.05531399e+01] [-1.16963095e-01 9.93132709e-01 2.65647595e-03 -8.39737463e-01] [ 2.37832661e-02 1.26911431e-04 9.99717130e-01 1.17563737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.887628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.85, Z:0.12 [[ 9.93240135e-01 1.14000619e-01 -2.18607567e-02 1.05836039e+01] [-1.13974037e-01 9.93480678e-01 2.46215268e-03 -8.45535414e-01] [ 2.19989263e-02 4.60498207e-05 9.99757993e-01 1.19662859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.61, Y:-0.85, Z:0.12 [[ 9.93480337e-01 1.12100509e-01 -2.07435832e-02 1.06145783e+01] [-1.12076066e-01 9.93696873e-01 2.34088143e-03 -8.49443196e-01] [ 2.08752478e-02 -7.60480275e-07 9.99782088e-01 1.20163155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.947628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.85, Z:0.12 [[ 9.93751983e-01 1.09797373e-01 -2.00382709e-02 1.06475143e+01] [-1.09774002e-01 9.93953990e-01 2.26586833e-03 -8.54120212e-01] [ 2.01659057e-02 -5.20299465e-05 9.99796646e-01 1.20548777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.977628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.68, Y:-0.86, Z:0.12 [[ 9.93975210e-01 1.07711870e-01 -2.02838656e-02 1.06790679e+01] [-1.07687373e-01 9.94182148e-01 2.29932031e-03 -8.59327808e-01] [ 2.04135211e-02 -1.01151181e-04 9.99791617e-01 1.20265921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.71, Y:-0.86, Z:0.12 [[ 9.94034897e-01 1.07257888e-01 -1.97577419e-02 1.07116683e+01] [-1.07234454e-01 9.94231227e-01 2.24481958e-03 -8.62244261e-01] [ 1.98845386e-02 -1.12718343e-04 9.99802277e-01 1.21041231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.037628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.74, Y:-0.87, Z:0.12 [[ 9.94312114e-01 1.04460003e-01 -2.07732448e-02 1.07428216e+01] [-1.04433368e-01 9.94529072e-01 2.36590630e-03 -8.67603211e-01] [ 2.09067384e-02 -1.83029380e-04 9.99781414e-01 1.21766415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.067628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.87, Z:0.12 [[ 9.94552038e-01 1.02001969e-01 -2.14904887e-02 1.07739860e+01] [-1.01972780e-01 9.94784166e-01 2.45258515e-03 -8.73566870e-01] [ 2.16285664e-02 -2.47778676e-04 9.99766044e-01 1.22290341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.097628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.88, Z:0.12 [[ 9.94810882e-01 9.93107466e-02 -2.21061984e-02 1.08057120e+01] [-9.92790806e-02 9.95056417e-01 2.52806614e-03 -8.79061656e-01] [ 2.22479787e-02 -3.20264655e-04 9.99752432e-01 1.22969942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.127628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.88, Z:0.12 [[ 9.95348901e-01 9.37808087e-02 -2.20391849e-02 1.08365851e+01] [-9.37478630e-02 9.95592768e-01 2.52561353e-03 -8.84504137e-01] [ 2.21789072e-02 -4.47740163e-04 9.99753918e-01 1.21936488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.157628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.89, Z:0.12 [[ 9.95602364e-01 9.10135073e-02 -2.21917725e-02 1.08682914e+01] [-9.09793034e-02 9.95849523e-01 2.54816627e-03 -8.89396876e-01] [ 2.23315837e-02 -5.17968355e-04 9.99750485e-01 1.21954334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.187628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.90, Y:-0.89, Z:0.12 [[ 9.95866351e-01 8.79968240e-02 -2.25115302e-02 1.09003741e+01] [-8.79607620e-02 9.96120576e-01 2.58906519e-03 -8.94790047e-01] [ 2.26520280e-02 -5.98231553e-04 9.99743231e-01 1.22219928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.217628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.93, Y:-0.90, Z:0.12 [[ 9.96158968e-01 8.47437403e-02 -2.20410666e-02 1.09322339e+01] [-8.47083419e-02 9.96402561e-01 2.53642120e-03 -9.00203770e-01] [ 2.21767210e-02 -6.59616520e-04 9.99753849e-01 1.22534023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.91, Z:0.12 [[ 9.96638627e-01 7.90734029e-02 -2.14206541e-02 1.09627236e+01] [-7.90386368e-02 9.96868503e-01 2.46614208e-03 -9.07869885e-01] [ 2.15485816e-02 -7.64793156e-04 9.99767510e-01 1.24339107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.277628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.99, Y:-0.91, Z:0.13 [[ 9.96783640e-01 7.74706856e-02 -2.05101821e-02 1.09928318e+01] [-7.74384564e-02 9.96994336e-01 2.36215513e-03 -9.13263373e-01] [ 2.06315331e-02 -7.66280747e-04 9.99786854e-01 1.25742269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.307628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.92, Z:0.13 [[ 9.96896827e-01 7.60340732e-02 -2.03847011e-02 1.10240127e+01] [-7.60018790e-02 9.97104904e-01 2.35054921e-03 -9.18201107e-01] [ 2.05044072e-02 -7.93979468e-04 9.99789447e-01 1.27076220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.337628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.92, Z:0.13 [[ 9.96974665e-01 7.50434643e-02 -2.02483295e-02 1.10542922e+01] [-7.50114170e-02 9.97179933e-01 2.33867629e-03 -9.23271418e-01] [ 2.03667302e-02 -8.12745123e-04 9.99792246e-01 1.28158190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.367628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.09, Y:-0.93, Z:0.13 [[ 9.97013358e-01 7.47269437e-02 -1.94999474e-02 1.10858393e+01] [-7.46971098e-02 9.97203719e-01 2.25487082e-03 -9.26716469e-01] [ 1.96139197e-02 -7.91546613e-04 9.99807315e-01 1.29239891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.397628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.93, Z:0.13 [[ 9.96936258e-01 7.58299241e-02 -1.91812434e-02 1.11178385e+01] [-7.58011779e-02 9.97120475e-01 2.22234716e-03 -9.26705299e-01] [ 1.92945309e-02 -7.61577617e-04 9.99813553e-01 1.30130404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.427628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.15, Y:-0.92, Z:0.13 [[ 9.96769051e-01 7.81726841e-02 -1.84523985e-02 1.11498899e+01] [-7.81464149e-02 9.96939593e-01 2.14151219e-03 -9.22789279e-01] [ 1.85633344e-02 -6.92604285e-04 9.99827447e-01 1.31202596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.457628000000001 meters Centerline goodness [0,1] 0.9997952591109696 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.93, Z:0.13 [[ 9.96671620e-01 7.92445513e-02 -1.91306587e-02 1.11808258e+01] [-7.92164850e-02 9.96854961e-01 2.22165163e-03 -9.25648035e-01] [ 1.92465458e-02 -6.98793594e-04 9.99814524e-01 1.28142840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.487628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.93, Z:0.13 [[ 9.96453760e-01 8.19688044e-02 -1.90005046e-02 1.12128232e+01] [-8.19415284e-02 9.96634686e-01 2.21097563e-03 -9.26176448e-01] [ 1.91177930e-02 -6.46204598e-04 9.99817029e-01 1.31354471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.517628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.93, Z:0.13 [[ 9.96263219e-01 8.40948608e-02 -1.96889101e-02 1.12434537e+01] [-8.40658867e-02 9.96457553e-01 2.29613065e-03 -9.29787319e-01] [ 1.98122560e-02 -6.32384817e-04 9.99803518e-01 1.31027781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.547628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.28, Y:-0.93, Z:0.13 [[ 9.96046585e-01 8.64606875e-02 -2.03899530e-02 1.12756125e+01] [-8.64300062e-02 9.96255076e-01 2.38285476e-03 -9.33070430e-01] [ 2.05196174e-02 -6.11130582e-04 9.99789264e-01 1.31254579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.577628 meters Centerline goodness [0,1] 0.9998183881952327 Centerline is valid? [True, True] Translation: X:11.31, Y:-0.94, Z:0.13 [[ 9.95892813e-01 8.79185996e-02 -2.16292788e-02 1.13076835e+01] [-8.78842965e-02 9.96127468e-01 2.53327064e-03 -9.35867636e-01] [ 2.17682403e-02 -6.21992068e-04 9.99762850e-01 1.29129166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.607628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.34, Y:-0.94, Z:0.13 [[ 9.95436614e-01 9.29125159e-02 -2.17534200e-02 1.13382953e+01] [-9.28789192e-02 9.95674141e-01 2.55190262e-03 -9.37949520e-01] [ 2.18964215e-02 -5.19823168e-04 9.99760109e-01 1.32323957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.637628000000001 meters Centerline goodness [0,1] 0.9998185282642228 Centerline is valid? [True, True] Translation: X:11.37, Y:-0.94, Z:0.13 [[ 9.95315983e-01 9.39575489e-02 -2.27612186e-02 1.13707758e+01] [-9.39209845e-02 9.95576068e-01 2.67253263e-03 -9.39787604e-01] [ 2.29116291e-02 -5.22258388e-04 9.99737358e-01 1.29914238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.40, Y:-0.94, Z:0.13 [[ 9.95070275e-01 9.68279799e-02 -2.14357350e-02 1.14029377e+01] [-9.67961049e-02 9.95301037e-01 2.52205355e-03 -9.42232121e-01] [ 2.15792146e-02 -4.34724866e-04 9.99767047e-01 1.33175409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.697628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.44, Y:-0.94, Z:0.13 [[ 9.94960351e-01 9.80782056e-02 -2.08462265e-02 1.14351038e+01] [-9.80482261e-02 9.95178629e-01 2.45784200e-03 -9.44796967e-01] [ 2.09867798e-02 -4.01519810e-04 9.99779673e-01 1.33650780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.727628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.47, Y:-0.95, Z:0.13 [[ 9.94937012e-01 9.87293641e-02 -1.87844147e-02 1.14654016e+01] [-9.87050567e-02 9.95114259e-01 2.21905953e-03 -9.49477160e-01] [ 1.89117252e-02 -3.53707741e-04 9.99821095e-01 1.34854555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.95, Z:0.14 [[ 9.94975375e-01 9.85032978e-02 -1.79193802e-02 1.14981807e+01] [-9.84810663e-02 9.95136664e-01 2.12101952e-03 -9.54932655e-01] [ 1.80411597e-02 -3.45642516e-04 9.99837185e-01 1.36140965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.787628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.96, Z:0.14 [[ 9.95071171e-01 9.75835268e-02 -1.76300808e-02 1.15293835e+01] [-9.75617768e-02 9.95227273e-01 2.09163603e-03 -9.60245188e-01] [ 1.77500465e-02 -3.61304700e-04 9.99842390e-01 1.37419879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.817628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.97, Z:0.14 [[ 9.95234761e-01 9.58647169e-02 -1.78249001e-02 1.15598268e+01] [-9.58421322e-02 9.95394292e-01 2.11897295e-03 -9.69353634e-01] [ 1.79459386e-02 -4.00499099e-04 9.99838878e-01 1.38803216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.847628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.97, Z:0.14 [[ 9.95300392e-01 9.51334889e-02 -1.80762012e-02 1.15918663e+01] [-9.51100925e-02 9.95464435e-01 2.15158486e-03 -9.73199696e-01] [ 1.81989032e-02 -4.22244091e-04 9.99834297e-01 1.39232110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.877628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.98, Z:0.14 [[ 9.95355665e-01 9.44777464e-02 -1.84676977e-02 1.16236030e+01] [-9.44531243e-02 9.95526873e-01 2.20293436e-03 -9.78376479e-01] [ 1.85932176e-02 -4.48371450e-04 9.99827031e-01 1.38993442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.907628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.98, Z:0.14 [[ 9.95244175e-01 9.56781904e-02 -1.82952404e-02 1.16557144e+01] [-9.56541444e-02 9.95412227e-01 2.18693916e-03 -9.81757068e-01] [ 1.84205483e-02 -4.26522892e-04 9.99830236e-01 1.39547357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.937628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.69, Y:-0.98, Z:0.14 [[ 9.94919165e-01 9.89300280e-02 -1.86736396e-02 1.16874135e+01] [-9.89054598e-02 9.95094320e-01 2.23692551e-03 -9.82855937e-01] [ 1.88033318e-02 -3.78635151e-04 9.99823130e-01 1.38684084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.967628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.99, Z:0.14 [[ 9.94836078e-01 9.95412169e-02 -1.98172839e-02 1.17196829e+01] [-9.95135615e-02 9.95033361e-01 2.37926281e-03 -9.86273709e-01] [ 1.99556933e-02 -3.94887983e-04 9.99800787e-01 1.38391794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.75, Y:-0.99, Z:0.14 [[ 9.94646654e-01 1.01399509e-01 -1.99041197e-02 1.17511101e+01] [-1.01371869e-01 9.94845720e-01 2.39530176e-03 -9.89347954e-01] [ 2.00444108e-02 -3.64761057e-04 9.99799024e-01 1.38751629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.027628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.99, Z:0.14 [[ 9.94533076e-01 1.02506921e-01 -1.99070721e-02 1.17832817e+01] [-1.02479395e-01 9.94732230e-01 2.40065140e-03 -9.91699107e-01] [ 2.00482896e-02 -3.47462505e-04 9.99798952e-01 1.38758158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.057628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.81, Y:-1.00, Z:0.14 [[ 9.94415537e-01 1.03267690e-01 -2.17605899e-02 1.18144363e+01] [-1.03234851e-01 9.94653532e-01 2.63009062e-03 -9.97407998e-01] [ 2.19158510e-02 -3.68951717e-04 9.99759751e-01 1.38271223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.087628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.85, Y:-1.00, Z:0.14 [[ 9.94378934e-01 1.03604541e-01 -2.18319776e-02 1.18474843e+01] [-1.03571437e-01 9.94618501e-01 2.64466547e-03 -1.00098258e+00] [ 2.19884882e-02 -3.68630334e-04 9.99758156e-01 1.38971267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.117628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.88, Y:-1.01, Z:0.14 [[ 9.94409174e-01 1.03384889e-01 -2.14932600e-02 1.18793341e+01] [-1.03352626e-01 9.94641355e-01 2.60952582e-03 -1.00533550e+00] [ 2.16478708e-02 -3.73551565e-04 9.99765588e-01 1.39347754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.147628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.91, Y:-1.01, Z:0.14 [[ 9.94482579e-01 1.02538358e-01 -2.21423875e-02 1.19113545e+01] [-1.02503776e-01 9.94728967e-01 2.69416591e-03 -1.01000575e+00] [ 2.23019296e-02 -4.09622726e-04 9.99751197e-01 1.39711150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.177628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.94, Y:-1.01, Z:0.14 [[ 9.94630368e-01 1.01271794e-01 -2.13179316e-02 1.19417437e+01] [-1.01239342e-01 9.94858704e-01 2.59880970e-03 -1.01410338e+00] [ 2.14715159e-02 -4.26641683e-04 9.99769369e-01 1.39885954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.207628000000001 meters Centerline goodness [0,1] 0.9998177468960018 Centerline is valid? [True, True] Translation: X:11.97, Y:-1.02, Z:0.14 [[ 9.94796672e-01 9.95204790e-02 -2.18003732e-02 1.19732686e+01] [-9.94860099e-02 9.95035398e-01 2.66270412e-03 -1.01844920e+00] [ 2.19571367e-02 -4.80017051e-04 9.99758798e-01 1.37116847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.237628 meters Centerline goodness [0,1] 0.9998177468960018 Centerline is valid? [True, True] Translation: X:12.01, Y:-1.02, Z:0.14 [[ 9.94769776e-01 9.97891009e-02 -2.17997177e-02 1.20054158e+01] [-9.97545789e-02 9.95008495e-01 2.66806196e-03 -1.02246692e+00] [ 2.19571478e-02 -4.79485744e-04 9.99758798e-01 1.37622994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.267628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.04, Y:-1.03, Z:0.14 [[ 9.94807109e-01 9.95936171e-02 -2.09744291e-02 1.20380476e+01] [-9.95614986e-02 9.95028085e-01 2.57263191e-03 -1.02817320e+00] [ 2.11263638e-02 -4.71026918e-04 9.99776703e-01 1.40668297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.297628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.07, Y:-1.03, Z:0.14 [[ 9.94969952e-01 9.80230376e-02 -2.06465098e-02 1.20698105e+01] [-9.79914661e-02 9.95184019e-01 2.53777811e-03 -1.03453468e+00] [ 2.07958374e-02 -5.01831195e-04 9.99783617e-01 1.42268992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.10, Y:-1.04, Z:0.14 [[ 9.95007731e-01 9.77495825e-02 -2.01155225e-02 1.21024448e+01] [-9.77194608e-02 9.95210917e-01 2.47732672e-03 -1.03941724e+00] [ 2.02613453e-02 -4.99281229e-04 9.99794593e-01 1.43589475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.357628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.13, Y:-1.04, Z:0.14 [[ 9.95073203e-01 9.71604316e-02 -1.97274266e-02 1.21326943e+01] [-9.71312459e-02 9.95268604e-01 2.43453879e-03 -1.04461488e+00] [ 1.98706292e-02 -5.06394779e-04 9.99802431e-01 1.44227034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.387628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.16, Y:-1.05, Z:0.14 [[ 9.95122922e-01 9.66414078e-02 -1.97688757e-02 1.21646787e+01] [-9.66119102e-02 9.95319128e-01 2.44401075e-03 -1.04903668e+00] [ 1.99125327e-02 -5.22182276e-04 9.99801589e-01 1.44571431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.20, Y:-1.05, Z:0.15 [[ 9.95117462e-01 9.66419898e-02 -2.00390038e-02 1.21977483e+01] [-9.66115819e-02 9.95319065e-01 2.48229379e-03 -1.05130778e+00] [ 2.01850963e-02 -5.34174044e-04 9.99796117e-01 1.45164466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.447628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.23, Y:-1.06, Z:0.14 [[ 9.95048950e-01 9.74918938e-02 -1.93110962e-02 1.22281060e+01] [-9.74637194e-02 9.95236192e-01 2.39704166e-03 -1.05565063e+00] [ 1.94527940e-02 -5.03042520e-04 9.99810650e-01 1.44896318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.477628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.26, Y:-1.05, Z:0.14 [[ 9.94898267e-01 9.89697904e-02 -1.95555431e-02 1.22609622e+01] [-9.89410955e-02 9.95090320e-01 2.43184197e-03 -1.05485169e+00] [ 1.97002105e-02 -4.84588501e-04 9.99805815e-01 1.44350030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.507628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.29, Y:-1.06, Z:0.14 [[ 9.94777763e-01 1.00083362e-01 -2.00130797e-02 1.22928985e+01] [-1.00053432e-01 9.94978940e-01 2.49380741e-03 -1.05793022e+00] [ 2.01621814e-02 -4.78406857e-04 9.99796608e-01 1.44779735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.537628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.32, Y:-1.06, Z:0.15 [[ 9.94591360e-01 1.01929409e-01 -1.99605051e-02 1.23235209e+01] [-1.01899908e-01 9.94791535e-01 2.49221103e-03 -1.06122393e+00] [ 2.01105711e-02 -4.44757925e-04 9.99797663e-01 1.45423917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.567628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.36, Y:-1.06, Z:0.15 [[ 9.94255650e-01 1.05251904e-01 -1.94355058e-02 1.23558610e+01] [-1.05224479e-01 9.94445523e-01 2.43118001e-03 -1.06284359e+00] [ 1.95834381e-02 -3.72123485e-04 9.99808157e-01 1.46144788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.597628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.39, Y:-1.07, Z:0.15 [[ 9.94118939e-01 1.06589342e-01 -1.91375949e-02 1.23871091e+01] [-1.06562908e-01 9.94303069e-01 2.39869123e-03 -1.06707048e+00] [ 1.92842443e-02 -3.45226620e-04 9.99813982e-01 1.46176102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.627628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.42, Y:-1.07, Z:0.15 [[ 9.94010575e-01 1.07632857e-01 -1.89247165e-02 1.24173396e+01] [-1.07607108e-01 9.94190657e-01 2.37664952e-03 -1.07301514e+00] [ 1.90705819e-02 -3.25980746e-04 9.99818087e-01 1.46513353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.657628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.45, Y:-1.08, Z:0.15 [[ 9.93902701e-01 1.08654529e-01 -1.87513880e-02 1.24496974e+01] [-1.08629349e-01 9.94079523e-01 2.35923732e-03 -1.07520313e+00] [ 1.88967126e-02 -3.07901273e-04 9.99821394e-01 1.47991110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.687628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.48, Y:-1.08, Z:0.15 [[ 9.93596903e-01 1.11502153e-01 -1.82335787e-02 1.24817775e+01] [-1.11478741e-01 9.93764161e-01 2.29858128e-03 -1.07809538e+00] [ 1.83761738e-02 -2.51206856e-04 9.99831112e-01 1.48747320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.717628000000001 meters Centerline goodness [0,1] 0.9998863145449172 Centerline is valid? [True, True] Translation: X:12.51, Y:-1.08, Z:0.15 [[ 9.93440667e-01 1.12688312e-01 -1.94161197e-02 1.25126404e+01] [-1.12661900e-01 9.93630355e-01 2.45234297e-03 -1.08054892e+00] [ 1.95687963e-02 -2.48800309e-04 9.99808482e-01 1.46748919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.54, Y:-1.08, Z:0.15 [[ 9.93231103e-01 1.14651437e-01 -1.86286034e-02 1.25447949e+01] [-1.14627415e-01 9.93405761e-01 2.35577757e-03 -1.08277285e+00] [ 1.87758553e-02 -2.04482905e-04 9.99823697e-01 1.48096274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.777628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.58, Y:-1.09, Z:0.15 [[ 9.93090672e-01 1.15717730e-01 -1.95019158e-02 1.25772744e+01] [-1.15691503e-01 9.93282119e-01 2.47151984e-03 -1.08617303e+00] [ 1.96569029e-02 -1.98237350e-04 9.99806765e-01 1.47815343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.807628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.61, Y:-1.09, Z:0.15 [[ 9.92970773e-01 1.16701546e-01 -1.97432046e-02 1.26086949e+01] [-1.16674746e-01 9.93167012e-01 2.50784710e-03 -1.08983944e+00] [ 1.99009691e-02 -1.86685497e-04 9.99801939e-01 1.48101087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.837628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.64, Y:-1.09, Z:0.15 [[ 9.92930281e-01 1.17172634e-01 -1.89745016e-02 1.26409492e+01] [-1.17147870e-01 9.93111546e-01 2.41526916e-03 -1.09363857e+00] [ 1.91268001e-02 -1.75371442e-04 9.99817051e-01 1.48687086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.867628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.67, Y:-1.10, Z:0.15 [[ 9.92972199e-01 1.16835283e-01 -1.88607809e-02 1.26739394e+01] [-1.16810650e-01 9.93151289e-01 2.40622515e-03 -1.09803248e+00] [ 1.90127409e-02 -1.86174590e-04 9.99819224e-01 1.49333839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.897628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.70, Y:-1.10, Z:0.15 [[ 9.93105531e-01 1.15715842e-01 -1.87416265e-02 1.27049895e+01] [-1.15691222e-01 9.93282336e-01 2.39622458e-03 -1.10303568e+00] [ 1.88930077e-02 -2.11462217e-04 9.99821489e-01 1.49528675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.927628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.74, Y:-1.11, Z:0.15 [[ 9.93215181e-01 1.14861384e-01 -1.81787197e-02 1.27370483e+01] [-1.14838000e-01 9.93381504e-01 2.32851831e-03 -1.10781525e+00] [ 1.83258607e-02 -2.25111926e-04 9.99832042e-01 1.50906037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.957628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.77, Y:-1.11, Z:0.15 [[ 9.93567632e-01 1.11971939e-01 -1.69010376e-02 1.27690522e+01] [-1.11951232e-01 9.93711334e-01 2.16934523e-03 -1.11289852e+00] [ 1.70376585e-02 -2.63299212e-04 9.99854814e-01 1.52610212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.987628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.80, Y:-1.12, Z:0.15 [[ 9.93858018e-01 1.09446049e-01 -1.63646450e-02 1.28005670e+01] [-1.09426227e-01 9.93992692e-01 2.10453744e-03 -1.11809410e+00] [ 1.64966708e-02 -3.00890053e-04 9.99863875e-01 1.53356759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.017628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.83, Y:-1.13, Z:0.15 [[ 9.94226962e-01 1.06078778e-01 -1.61257653e-02 1.28311740e+01] [-1.06059022e-01 9.94357665e-01 2.07780490e-03 -1.12604833e+00] [ 1.62551893e-02 -3.55526754e-04 9.99867812e-01 1.53459062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.047628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.86, Y:-1.13, Z:0.15 [[ 9.95015689e-01 9.85833046e-02 -1.50036668e-02 1.28621356e+01] [-9.85653230e-02 9.95128702e-01 1.93506855e-03 -1.12928326e+00] [ 1.51213450e-02 -4.46582302e-04 9.99885566e-01 1.53068206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.89, Y:-1.14, Z:0.15 [[ 9.95412865e-01 9.45797216e-02 -1.44188692e-02 1.28920130e+01] [-9.45626910e-02 9.95517171e-01 1.85989930e-03 -1.13539204e+00] [ 1.45301407e-02 -4.87880610e-04 9.99894313e-01 1.54085037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.107628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.92, Y:-1.14, Z:0.16 [[ 9.95779335e-01 9.06816981e-02 -1.41543582e-02 1.29228765e+01] [-9.06648901e-02 9.95879784e-01 1.82600908e-03 -1.14141370e+00] [ 1.42616248e-02 -5.34998772e-04 9.99898155e-01 1.55273637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.137628000000001 meters Centerline goodness [0,1] 0.9998632727935647 Centerline is valid? [True, True] Translation: X:12.95, Y:-1.15, Z:0.15 [[ 9.96170788e-01 8.61906370e-02 -1.46606450e-02 1.29533984e+01] [-8.61721108e-02 9.96278469e-01 1.89188650e-03 -1.14704067e+00] [ 1.47691479e-02 -6.21303341e-04 9.99890737e-01 1.54152095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.98, Y:-1.15, Z:0.16 [[ 9.96641800e-01 8.07172012e-02 -1.37788346e-02 1.29821205e+01] [-8.07003117e-02 9.96736825e-01 1.77829774e-03 -1.15284953e+00] [ 1.38774110e-02 -6.60369619e-04 9.99903486e-01 1.56804907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.197628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.01, Y:-1.16, Z:0.16 [[ 9.96856626e-01 7.79685491e-02 -1.40631781e-02 1.30131227e+01] [-7.79506751e-02 9.96955564e-01 1.81550897e-03 -1.15517568e+00] [ 1.41619163e-02 -7.13567915e-04 9.99899460e-01 1.57002804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.227628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.04, Y:-1.16, Z:0.16 [[ 9.96983370e-01 7.61706410e-02 -1.49061249e-02 1.30436842e+01] [-7.61503569e-02 9.97094489e-01 1.92450336e-03 -1.16038671e+00] [ 1.50094056e-02 -7.83591121e-04 9.99887045e-01 1.56738699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.257628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.08, Y:-1.16, Z:0.16 [[ 9.97092736e-01 7.46913140e-02 -1.50758951e-02 1.30757822e+01] [-7.46703413e-02 9.97206366e-01 1.95006510e-03 -1.16385325e+00] [ 1.51794315e-02 -8.18673513e-04 9.99884451e-01 1.55812351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.287628000000002 meters Centerline goodness [0,1] 0.9998184706149308 Centerline is valid? [True, True] Translation: X:13.11, Y:-1.17, Z:0.15 [[ 9.97199538e-01 7.30530809e-02 -1.60102719e-02 1.31075327e+01] [-7.30291959e-02 9.97327650e-01 2.07223581e-03 -1.16577953e+00] [ 1.61188701e-02 -8.97215306e-04 9.99869680e-01 1.53529902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.317628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.14, Y:-1.17, Z:0.16 [[ 9.97135364e-01 7.41684990e-02 -1.48357221e-02 1.31397963e+01] [-7.41480658e-02 9.97245388e-01 1.92339842e-03 -1.16862581e+00] [ 1.49375111e-02 -8.17848481e-04 9.99888095e-01 1.56634167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.347628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.17, Y:-1.17, Z:0.16 [[ 9.97078123e-01 7.49723509e-02 -1.46411212e-02 1.31721006e+01] [-7.49524830e-02 9.97185293e-01 1.90180315e-03 -1.17094871e+00] [ 1.47424934e-02 -7.98857924e-04 9.99891004e-01 1.57656271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.377628000000001 meters Centerline goodness [0,1] 0.9998195800726191 Centerline is valid? [True, True] Translation: X:13.20, Y:-1.17, Z:0.16 [[ 9.96904294e-01 7.70405545e-02 -1.57029465e-02 1.32029025e+01] [-7.70178899e-02 9.97027616e-01 2.04390106e-03 -1.17122023e+00] [ 1.58137346e-02 -8.28165935e-04 9.99874612e-01 1.55356261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.407628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.23, Y:-1.17, Z:0.16 [[ 9.96674473e-01 8.00672831e-02 -1.51401859e-02 1.32341519e+01] [-8.00465583e-02 9.96789177e-01 1.97091077e-03 -1.17256276e+00] [ 1.52493789e-02 -7.52436678e-04 9.99883438e-01 1.57508272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.437628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.27, Y:-1.17, Z:0.16 [[ 9.96503526e-01 8.21941913e-02 -1.49946056e-02 1.32656399e+01] [-8.21740953e-02 9.96616077e-01 1.95249021e-03 -1.17249347e+00] [ 1.51043483e-02 -7.13495234e-04 9.99885668e-01 1.57238237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.467628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.30, Y:-1.17, Z:0.16 [[ 9.96254188e-01 8.51403648e-02 -1.51232041e-02 1.32972427e+01] [-8.51202529e-02 9.96368738e-01 1.96978307e-03 -1.17429330e+00] [ 1.52359958e-02 -6.75113674e-04 9.99883698e-01 1.57300400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.33, Y:-1.17, Z:0.16 [[ 9.95790373e-01 9.04681369e-02 -1.47325712e-02 1.33282890e+01] [-9.04496205e-02 9.95899182e-01 1.91970253e-03 -1.17357127e+00] [ 1.48458276e-02 -5.79065819e-04 9.99889627e-01 1.57664868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.527628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.36, Y:-1.18, Z:0.16 [[ 9.95568016e-01 9.28760600e-02 -1.47771211e-02 1.33590301e+01] [-9.28576944e-02 9.95677528e-01 1.92563131e-03 -1.17653992e+00] [ 1.48920925e-02 -5.44927545e-04 9.99888958e-01 1.58268640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.557628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.39, Y:-1.18, Z:0.16 [[ 9.95371585e-01 9.49796488e-02 -1.46381011e-02 1.33918093e+01] [-9.49618035e-02 9.95479083e-01 1.91095824e-03 -1.17699701e+00] [ 1.47534256e-02 -5.12053052e-04 9.99891031e-01 1.58710445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.587628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.42, Y:-1.18, Z:0.16 [[ 9.95240433e-01 9.63385371e-02 -1.46753638e-02 1.34235420e+01] [-9.63207305e-02 9.95348503e-01 1.91703117e-03 -1.17968456e+00] [ 1.47917854e-02 -4.94365171e-04 9.99890473e-01 1.59006857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.617628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.46, Y:-1.18, Z:0.16 [[ 9.95125700e-01 9.74576666e-02 -1.50613539e-02 1.34558552e+01] [-9.74389797e-02 9.95239549e-01 1.97135446e-03 -1.18235792e+00] [ 1.51817787e-02 -4.94182529e-04 9.99884628e-01 1.58882456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.647628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.49, Y:-1.19, Z:0.16 [[ 9.95099738e-01 9.76961594e-02 -1.52306216e-02 1.34888792e+01] [-9.76770183e-02 9.95216163e-01 1.99739430e-03 -1.18595551e+00] [ 1.53528986e-02 -4.99924840e-04 9.99882012e-01 1.59039305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.677628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.52, Y:-1.19, Z:0.16 [[ 9.95090535e-01 9.76890283e-02 -1.58644346e-02 1.35198370e+01] [-9.76681824e-02 9.95216849e-01 2.08536060e-03 -1.19234014e+00] [ 1.59922694e-02 -5.25672112e-04 9.99871977e-01 1.59187886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.707628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.55, Y:-1.20, Z:0.16 [[ 9.95108038e-01 9.74906682e-02 -1.59863145e-02 1.35515288e+01] [-9.74694044e-02 9.95236294e-01 2.10577257e-03 -1.19713750e+00] [ 1.61154536e-02 -5.37294655e-04 9.99869993e-01 1.59662455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.737628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.58, Y:-1.20, Z:0.16 [[ 9.95271524e-01 9.58386824e-02 -1.57968541e-02 1.35817455e+01] [-9.58176510e-02 9.95396721e-01 2.08463727e-03 -1.20318978e+00] [ 1.59239257e-02 -5.61162658e-04 9.99873049e-01 1.60052199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.767628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.61, Y:-1.21, Z:0.16 [[ 9.95340758e-01 9.52640021e-02 -1.48843902e-02 1.36141310e+01] [-9.52452605e-02 9.95451898e-01 1.96460266e-03 -1.20590245e+00] [ 1.50038504e-02 -5.37781475e-04 9.99887291e-01 1.60465009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.797628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.65, Y:-1.21, Z:0.16 [[ 9.95343833e-01 9.52429277e-02 -1.48134862e-02 1.36469831e+01] [-9.52243064e-02 9.95453914e-01 1.95896198e-03 -1.21044024e+00] [ 1.49327201e-02 -5.39236779e-04 9.99888355e-01 1.60308720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.827628 meters Centerline goodness [0,1] 0.9999327505043712 Centerline is valid? [True, True] Translation: X:13.68, Y:-1.22, Z:0.16 [[ 9.95333557e-01 9.52809210e-02 -1.52530619e-02 1.36797848e+01] [-9.52611126e-02 9.95450267e-01 2.02163410e-03 -1.21529856e+00] [ 1.53762877e-02 -5.59176613e-04 9.99881622e-01 1.59154265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.857628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.71, Y:-1.22, Z:0.16 [[ 9.95214697e-01 9.66037141e-02 -1.46775157e-02 1.37113992e+01] [-9.65854556e-02 9.95322787e-01 1.94944567e-03 -1.21916309e+00] [ 1.47971896e-02 -5.22482431e-04 9.99890379e-01 1.60983205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.887628000000001 meters Centerline goodness [0,1] 0.9998203256597418 Centerline is valid? [True, True] Translation: X:13.74, Y:-1.23, Z:0.16 [[ 9.95067850e-01 9.78554759e-02 -1.62566550e-02 1.37413370e+01] [-9.78331691e-02 9.95200477e-01 2.16372858e-03 -1.22725887e+00] [ 1.63903635e-02 -5.62616665e-04 9.99865511e-01 1.59414324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.917628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.77, Y:-1.23, Z:0.16 [[ 9.94865886e-01 9.99996610e-02 -1.55542879e-02 1.37730571e+01] [-9.99794471e-02 9.94987342e-01 2.07373853e-03 -1.23221233e+00] [ 1.56836927e-02 -5.07982616e-04 9.99876874e-01 1.62360467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.947628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.80, Y:-1.23, Z:0.16 [[ 9.94737140e-01 1.01198079e-01 -1.60302971e-02 1.38046068e+01] [-1.01176698e-01 9.94866167e-01 2.14127906e-03 -1.23484700e+00] [ 1.61646936e-02 -5.08117275e-04 9.99869214e-01 1.62547421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.977628000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.84, Y:-1.24, Z:0.16 [[ 9.94424141e-01 1.04093929e-01 -1.68843724e-02 1.38357089e+01] [-1.04070549e-01 9.94567350e-01 2.25986705e-03 -1.23964063e+00] [ 1.70278840e-02 -4.90100441e-04 9.99854895e-01 1.60991994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.87, Y:-1.24, Z:0.16 [[ 9.94252268e-01 1.05564969e-01 -1.78455872e-02 1.38681783e+01] [-1.05539010e-01 9.94412285e-01 2.39284776e-03 -1.24337139e+00] [ 1.79984720e-02 -4.95688714e-04 9.99837892e-01 1.60342846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.037627999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.90, Y:-1.25, Z:0.16 [[ 9.94065899e-01 1.07209334e-01 -1.84159303e-02 1.38990203e+01] [-1.07181932e-01 9.94236353e-01 2.47144602e-03 -1.24928222e+00] [ 1.85747494e-02 -4.82925230e-04 9.99827358e-01 1.59760739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.93, Y:-1.25, Z:0.16 [[ 9.93850622e-01 1.09042266e-01 -1.92542363e-02 1.39309499e+01] [-1.09012564e-01 9.94037001e-01 2.58864155e-03 -1.25359782e+00] [ 1.94216946e-02 -4.73769342e-04 9.99811269e-01 1.60106162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.097628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.96, Y:-1.26, Z:0.16 [[ 9.93819968e-01 1.09321412e-01 -1.92535817e-02 1.39630499e+01] [-1.09291669e-01 9.94006340e-01 2.59350213e-03 -1.25799091e+00] [ 1.94217076e-02 -4.73218136e-04 9.99811269e-01 1.60612334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.127628 meters Centerline goodness [0,1] 0.9998419472103682 Centerline is valid? [True, True] Translation: X:13.99, Y:-1.26, Z:0.16 [[ 9.93576952e-01 1.11228017e-01 -2.08127005e-02 1.39945558e+01] [-1.11193550e-01 9.93794798e-01 2.80964107e-03 -1.26413683e+00] [ 2.09960643e-02 -4.77356553e-04 9.99779444e-01 1.58547734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.157628 meters Centerline goodness [0,1] 0.9998191640859875 Centerline is valid? [True, True] Translation: X:14.02, Y:-1.27, Z:0.16 [[ 9.93444861e-01 1.12263660e-01 -2.15448191e-02 1.40248639e+01] [-1.12226851e-01 9.93678340e-01 2.91390375e-03 -1.27055704e+00] [ 2.17357456e-02 -4.76895503e-04 9.99763637e-01 1.58228822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.187628 meters Centerline goodness [0,1] 0.9998188938944604 Centerline is valid? [True, True] Translation: X:14.06, Y:-1.27, Z:0.16 [[ 9.93317595e-01 1.13331599e-01 -2.18198030e-02 1.40569780e+01] [-1.13293985e-01 9.93557111e-01 2.95633471e-03 -1.27449217e+00] [ 2.20142666e-02 -4.64526850e-04 9.99757549e-01 1.59143738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.217628 meters Centerline goodness [0,1] 0.9998413489868999 Centerline is valid? [True, True] Translation: X:14.09, Y:-1.28, Z:0.16 [[ 9.93207775e-01 1.14337096e-01 -2.15718336e-02 1.40886774e+01] [-1.14300452e-01 9.93441912e-01 2.92815921e-03 -1.27948786e+00] [ 2.17651608e-02 -4.42600163e-04 9.99763013e-01 1.59570227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.12, Y:-1.28, Z:0.16 [[ 9.92816711e-01 1.18329282e-01 -1.76962956e-02 1.41198895e+01] [-1.18305190e-01 9.92974367e-01 2.40584879e-03 -1.28333704e+00] [ 1.78566503e-02 -2.95003266e-04 9.99840514e-01 1.63534920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.277628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.15, Y:-1.29, Z:0.17 [[ 9.92622636e-01 1.20072040e-01 -1.68228455e-02 1.41520078e+01] [-1.20050450e-01 9.92765149e-01 2.29110817e-03 -1.28816579e+00] [ 1.69762328e-02 -2.54615656e-04 9.99855861e-01 1.65397188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.307628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.18, Y:-1.29, Z:0.17 [[ 9.92406587e-01 1.21983375e-01 -1.57867891e-02 1.41834769e+01] [-1.21964545e-01 9.92532121e-01 2.15371151e-03 -1.29272820e+00] [ 1.59316123e-02 -2.11928943e-04 9.99873061e-01 1.67362573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.337628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.22, Y:-1.30, Z:0.17 [[ 9.92162128e-01 1.24129762e-01 -1.43566414e-02 1.42151349e+01] [-1.24114367e-01 9.92265980e-01 1.96184532e-03 -1.29615973e+00] [ 1.44891302e-02 -1.64603172e-04 9.99895013e-01 1.68623888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.25, Y:-1.30, Z:0.17 [[ 9.92000186e-01 1.25532297e-01 -1.33144294e-02 1.42461448e+01] [-1.25519141e-01 9.92089524e-01 1.82253210e-03 -1.30102275e+00] [ 1.34378926e-02 -1.36736447e-04 9.99909698e-01 1.69430967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.397628 meters Centerline goodness [0,1] 0.9998186927749071 Centerline is valid? [True, True] Translation: X:14.28, Y:-1.30, Z:0.17 [[ 9.91577307e-01 1.28914469e-01 -1.24700847e-02 1.42786744e+01] [-1.28903163e-01 9.91655712e-01 1.70955798e-03 -1.30186560e+00] [ 1.25864175e-02 -8.77255346e-05 9.99920784e-01 1.67740208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.427628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.31, Y:-1.30, Z:0.17 [[ 9.91170738e-01 1.32031190e-01 -1.21792060e-02 1.43100539e+01] [-1.32020600e-01 9.91245561e-01 1.67299336e-03 -1.30443215e+00] [ 1.22934712e-02 -5.03159755e-05 9.99924431e-01 1.70379068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.457628 meters Centerline goodness [0,1] 0.9999547705737353 Centerline is valid? [True, True] Translation: X:14.34, Y:-1.31, Z:0.17 [[ 9.90877574e-01 1.34145116e-01 -1.29120819e-02 1.43430928e+01] [-1.34133371e-01 9.90961698e-01 1.77525927e-03 -1.30734541e+00] [ 1.30335210e-02 -2.71235247e-05 9.99915060e-01 1.68910375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.487628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.38, Y:-1.31, Z:0.17 [[ 9.90506987e-01 1.36627422e-01 -1.51279812e-02 1.43751537e+01] [-1.36611511e-01 9.90622505e-01 2.08504168e-03 -1.31021364e+00] [ 1.52709925e-02 1.40801755e-06 9.99883392e-01 1.67657496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.41, Y:-1.31, Z:0.17 [[ 9.90344035e-01 1.37626270e-01 -1.66644120e-02 1.44076989e+01] [-1.37607022e-01 9.90484230e-01 2.30170962e-03 -1.31489090e+00] [ 1.68226130e-02 1.36557169e-05 9.99858490e-01 1.66979783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.547628 meters Centerline goodness [0,1] 0.9998189717595944 Centerline is valid? [True, True] Translation: X:14.44, Y:-1.32, Z:0.16 [[ 9.90394548e-01 1.37043322e-01 -1.83784436e-02 1.44389752e+01] [-1.37019711e-01 9.90565055e-01 2.54380344e-03 -1.31977106e+00] [ 1.85536553e-02 -1.16002823e-06 9.99827866e-01 1.63528220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.47, Y:-1.32, Z:0.17 [[ 9.90327686e-01 1.37505925e-01 -1.85255109e-02 1.44714747e+01] [-1.37481948e-01 9.90500944e-01 2.56776595e-03 -1.32427464e+00] [ 1.87026191e-02 3.99362186e-06 9.99825091e-01 1.66128609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.50, Y:-1.33, Z:0.17 [[ 9.90595294e-01 1.35538392e-01 -1.87164919e-02 1.45032938e+01] [-1.35513468e-01 9.90772094e-01 2.59945921e-03 -1.32981098e+00] [ 1.88961044e-02 -3.86753296e-05 9.99821452e-01 1.65935155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.54, Y:-1.34, Z:0.17 [[ 9.90878997e-01 1.33474679e-01 -1.85289901e-02 1.45358508e+01] [-1.33449801e-01 9.91052220e-01 2.57825050e-03 -1.33618867e+00] [ 1.87073280e-02 -8.20442271e-05 9.99824999e-01 1.66809839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.57, Y:-1.34, Z:0.17 [[ 9.91205966e-01 1.31102128e-01 -1.79712142e-02 1.45676435e+01] [-1.31078248e-01 9.91368860e-01 2.50540250e-03 -1.34154367e+00] [ 1.81445658e-02 -1.27734631e-04 9.99835366e-01 1.68054652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.697627999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.60, Y:-1.35, Z:0.17 [[ 9.91527838e-01 1.28728948e-01 -1.73610233e-02 1.45992363e+01] [-1.28706224e-01 9.91679802e-01 2.42461326e-03 -1.34703941e+00] [ 1.75286940e-02 -1.69599795e-04 9.99846346e-01 1.68967119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.63, Y:-1.35, Z:0.17 [[ 9.91895102e-01 1.25875242e-01 -1.73069395e-02 1.46292493e+01] [-1.25852149e-01 9.92046054e-01 2.42137253e-03 -1.35357938e+00] [ 1.74740719e-02 -2.23632020e-04 9.99847292e-01 1.69575639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.66, Y:-1.36, Z:0.17 [[ 9.92349883e-01 1.22336209e-01 -1.66000547e-02 1.46611458e+01] [-1.22314415e-01 9.92488677e-01 2.32574308e-03 -1.35902141e+00] [ 1.67598889e-02 -2.77524898e-04 9.99859505e-01 1.71186522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.787627999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.69, Y:-1.37, Z:0.17 [[ 9.92563109e-01 1.20526294e-01 -1.70847275e-02 1.46912196e+01] [-1.20502863e-01 9.92710083e-01 2.39810647e-03 -1.36545870e+00] [ 1.72492161e-02 -3.21513435e-04 9.99851170e-01 1.71358041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.72, Y:-1.37, Z:0.17 [[ 9.92873097e-01 1.17869525e-01 -1.76008294e-02 1.47230379e+01] [-1.17844163e-01 9.93029017e-01 2.47484628e-03 -1.37038348e+00] [ 1.77698433e-02 -3.83053275e-04 9.99842030e-01 1.71499949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.847628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.76, Y:-1.37, Z:0.17 [[ 9.92958304e-01 1.17207751e-01 -1.72090028e-02 1.47551743e+01] [-1.17183333e-01 9.93107341e-01 2.42399819e-03 -1.37363510e+00] [ 1.73744983e-02 -3.90320842e-04 9.99848976e-01 1.71425202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.79, Y:-1.38, Z:0.17 [[ 9.93110387e-01 1.15863525e-01 -1.75329296e-02 1.47855639e+01] [-1.15837890e-01 9.93265051e-01 2.47408519e-03 -1.37898757e+00] [ 1.77015024e-02 -4.26062130e-04 9.99843225e-01 1.71635618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.907628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.82, Y:-1.39, Z:0.17 [[ 9.93396896e-01 1.13311247e-01 -1.79768622e-02 1.48166452e+01] [-1.13283807e-01 9.93559421e-01 2.54073012e-03 -1.38508733e+00] [ 1.81489741e-02 -4.87466020e-04 9.99835175e-01 1.72200212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.85, Y:-1.39, Z:0.17 [[ 9.94129981e-01 1.06581828e-01 -1.85982747e-02 1.48460583e+01] [-1.06551243e-01 9.94303733e-01 2.63058368e-03 -1.39292866e+00] [ 1.87727063e-02 -6.33472824e-04 9.99823577e-01 1.72718436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.967628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.88, Y:-1.40, Z:0.17 [[ 9.94533626e-01 1.02749128e-01 -1.85871849e-02 1.48755693e+01] [-1.02717910e-01 9.94707052e-01 2.62907057e-03 -1.39953555e+00] [ 1.87589386e-02 -7.05462308e-04 9.99823787e-01 1.73440102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.997628 meters Centerline goodness [0,1] 0.9998639486632956 Centerline is valid? [True, True] Translation: X:14.91, Y:-1.40, Z:0.17 [[ 9.94875815e-01 9.93965194e-02 -1.85052796e-02 1.49063942e+01] [-9.93649904e-02 9.95047610e-01 2.61780905e-03 -1.40275918e+00] [ 1.86738353e-02 -7.65617982e-04 9.99825336e-01 1.72857470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.027628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.94, Y:-1.41, Z:0.18 [[ 9.95075255e-01 9.76077763e-02 -1.72614705e-02 1.49378963e+01] [-9.75800630e-02 9.95224681e-01 2.44254551e-03 -1.40642409e+00] [ 1.74174529e-02 -7.46141213e-04 9.99848026e-01 1.76127439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.057628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.97, Y:-1.41, Z:0.18 [[ 9.95522821e-01 9.31802566e-02 -1.58667298e-02 1.49684610e+01] [-9.31562267e-02 9.95648965e-01 2.24850709e-03 -1.41096592e+00] [ 1.60072096e-02 -7.60355436e-04 9.99871587e-01 1.77677849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.087628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.00, Y:-1.42, Z:0.18 [[ 9.95704812e-01 9.12759827e-02 -1.55120291e-02 1.50005620e+01] [-9.12527804e-02 9.95825334e-01 2.19851792e-03 -1.41544365e+00] [ 1.56479435e-02 -7.73559080e-04 9.99877264e-01 1.78510963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.03, Y:-1.42, Z:0.18 [[ 9.95841256e-01 8.98060539e-02 -1.53318612e-02 1.50312821e+01] [-8.97831970e-02 9.95958960e-01 2.17406490e-03 -1.42065470e+00] [ 1.54651487e-02 -7.88480004e-04 9.99880097e-01 1.79359768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.147628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.06, Y:-1.42, Z:0.18 [[ 9.95928135e-01 8.87401938e-02 -1.58848627e-02 1.50633175e+01] [-8.87154903e-02 9.96054456e-01 2.25451514e-03 -1.42362619e+00] [ 1.60222544e-02 -8.36101673e-04 9.99871286e-01 1.79062222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.177628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.10, Y:-1.42, Z:0.18 [[ 9.95851276e-01 8.94728074e-02 -1.65786855e-02 1.50954663e+01] [-8.94459285e-02 9.95988890e-01 2.35725134e-03 -1.42428471e+00] [ 1.67230964e-02 -8.64575844e-04 9.99859785e-01 1.78615185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.207628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.13, Y:-1.43, Z:0.18 [[ 9.95688417e-01 9.10500127e-02 -1.77333212e-02 1.51263841e+01] [-9.10194246e-02 9.95845913e-01 2.52610530e-03 -1.42770088e+00] [ 1.78896574e-02 -9.01137097e-04 9.99839561e-01 1.78184603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.237628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.16, Y:-1.43, Z:0.18 [[ 9.95488037e-01 9.30491584e-02 -1.85855267e-02 1.51567002e+01] [-9.30158355e-02 9.95661099e-01 2.65129949e-03 -1.43084437e+00] [ 1.87515871e-02 -9.10588632e-04 9.99823759e-01 1.77877802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.19, Y:-1.43, Z:0.18 [[ 9.94918597e-01 9.86125244e-02 -2.03114595e-02 1.51878167e+01] [-9.85738728e-02 9.95125517e-01 2.89787449e-03 -1.43017652e+00] [ 2.04982183e-02 -8.80970004e-04 9.99789501e-01 1.77884094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.22, Y:-1.43, Z:0.18 [[ 9.94573133e-01 1.01904282e-01 -2.09714222e-02 1.52192693e+01] [-1.01863799e-01 9.94793854e-01 2.99244903e-03 -1.43124136e+00] [ 2.11671853e-02 -8.39980665e-04 9.99775597e-01 1.78056031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.25, Y:-1.43, Z:0.18 [[ 9.94211808e-01 1.05340474e-01 -2.11249902e-02 1.52498116e+01] [-1.05300156e-01 9.94435914e-01 3.01501262e-03 -1.43300500e+00] [ 2.13250518e-02 -7.73096388e-04 9.99772296e-01 1.78124877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.28, Y:-1.43, Z:0.18 [[ 9.93810308e-01 1.08935753e-01 -2.17732266e-02 1.52820944e+01] [-1.08893769e-01 9.94048533e-01 3.10815479e-03 -1.43240593e+00] [ 2.19822331e-02 -7.17947552e-04 9.99758104e-01 1.78416598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.31, Y:-1.43, Z:0.18 [[ 9.93065448e-01 1.15434117e-01 -2.22706004e-02 1.53123285e+01] [-1.15391806e-01 9.93314965e-01 3.18000595e-03 -1.43234252e+00] [ 2.24888018e-02 -5.88109242e-04 9.99746922e-01 1.78255139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.34, Y:-1.44, Z:0.18 [[ 9.92674693e-01 1.18784926e-01 -2.20702515e-02 1.53437707e+01] [-1.18744164e-01 9.92919877e-01 3.15302223e-03 -1.43506268e+00] [ 2.22885229e-02 -5.09211813e-04 9.99751450e-01 1.78699058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.447627999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.38, Y:-1.44, Z:0.18 [[ 9.92326005e-01 1.21620729e-01 -2.23046802e-02 1.53762213e+01] [-1.21579686e-01 9.92576541e-01 3.19207681e-03 -1.43594732e+00] [ 2.25273250e-02 -4.55784807e-04 9.99746124e-01 1.80091796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.41, Y:-1.44, Z:0.18 [[ 9.91675410e-01 1.26735863e-01 -2.27574729e-02 1.54082735e+01] [-1.26694347e-01 9.91936438e-01 3.26277789e-03 -1.43821767e+00] [ 2.29874776e-02 -3.52373441e-04 9.99735691e-01 1.80549119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.44, Y:-1.44, Z:0.18 [[ 9.91373388e-01 1.29124226e-01 -2.24886398e-02 1.54407789e+01] [-1.29084196e-01 9.91628381e-01 3.22876997e-03 -1.44177575e+00] [ 2.27172859e-02 -2.97988653e-04 9.99741885e-01 1.80988144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.47, Y:-1.45, Z:0.18 [[ 9.91071694e-01 1.31465425e-01 -2.22202355e-02 1.54720950e+01] [-1.31426862e-01 9.91320726e-01 3.19335395e-03 -1.44566232e+00] [ 2.24471956e-02 -2.44506884e-04 9.99748000e-01 1.81445547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.50, Y:-1.45, Z:0.18 [[ 9.90772409e-01 1.33762250e-01 -2.18562101e-02 1.55043546e+01] [-1.33725378e-01 9.91013432e-01 3.14655803e-03 -1.44917365e+00] [ 2.20806885e-02 -1.94792937e-04 9.99756173e-01 1.82907939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.597628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.53, Y:-1.45, Z:0.18 [[ 9.90511715e-01 1.35764049e-01 -2.13228992e-02 1.55348178e+01] [-1.35729304e-01 9.90741187e-01 3.07510123e-03 -1.45375977e+00] [ 2.15429626e-02 -1.51781540e-04 9.99767912e-01 1.83709726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.627628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.57, Y:-1.46, Z:0.18 [[ 9.90267675e-01 1.37591459e-01 -2.09409442e-02 1.55662668e+01] [-1.37558249e-01 9.90489060e-01 3.02505664e-03 -1.45812780e+00] [ 2.11579981e-02 -1.15016194e-04 9.99776138e-01 1.84913473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.657628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.60, Y:-1.46, Z:0.19 [[ 9.89782509e-01 1.41150710e-01 -2.01757844e-02 1.55968813e+01] [-1.41120522e-01 9.89988119e-01 2.91944435e-03 -1.46198735e+00] [ 2.03858685e-02 -4.23977249e-05 9.99792186e-01 1.85300694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.63, Y:-1.47, Z:0.19 [[ 9.89519111e-01 1.42983039e-01 -2.01935584e-02 1.56298062e+01] [-1.42953076e-01 9.89725139e-01 2.92702665e-03 -1.46683462e+00] [ 2.04045875e-02 -9.61751563e-06 9.99791805e-01 1.85426423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.717628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.66, Y:-1.47, Z:0.19 [[ 9.89230740e-01 1.44875873e-01 -2.08212472e-02 1.56624646e+01] [-1.44844308e-01 9.89449838e-01 3.02413735e-03 -1.47212900e+00] [ 2.10397042e-02 2.42695195e-05 9.99778641e-01 1.85496245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.69, Y:-1.48, Z:0.19 [[ 9.88682904e-01 1.48294463e-01 -2.26907166e-02 1.56937939e+01] [-1.48257721e-01 9.88943245e-01 3.30238521e-03 -1.47853464e+00] [ 2.29295564e-02 9.90621256e-05 9.99737078e-01 1.85243278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.777628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.72, Y:-1.48, Z:0.18 [[ 9.88450101e-01 1.49630993e-01 -2.40200702e-02 1.57242614e+01] [-1.49590064e-01 9.88741902e-01 3.50203084e-03 -1.48392858e+00] [ 2.42736623e-02 1.31581092e-04 9.99705343e-01 1.84660064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.807628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.76, Y:-1.49, Z:0.18 [[ 9.88274823e-01 1.50562377e-01 -2.53740832e-02 1.57561930e+01] [-1.50516847e-01 9.88600499e-01 3.70576976e-03 -1.48970260e+00] [ 2.56427808e-02 1.56908038e-04 9.99671158e-01 1.83975111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.837628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.79, Y:-1.50, Z:0.18 [[ 9.88160834e-01 1.50891879e-01 -2.77453777e-02 1.57868188e+01] [-1.50837371e-01 9.88550257e-01 4.05918731e-03 -1.49723481e+00] [ 2.80401986e-02 1.73909911e-04 9.99606781e-01 1.81184713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.82, Y:-1.50, Z:0.18 [[ 9.88192328e-01 1.50572650e-01 -2.83513692e-02 1.58188685e+01] [-1.50515391e-01 9.88598933e-01 4.15523699e-03 -1.50464397e+00] [ 2.86537984e-02 1.61144107e-04 9.99589383e-01 1.81113275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.897628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.85, Y:-1.51, Z:0.18 [[ 9.88224672e-01 1.50247800e-01 -2.89412643e-02 1.58509664e+01] [-1.50187747e-01 9.88648359e-01 4.25013117e-03 -1.51245964e+00] [ 2.92513063e-02 1.46538788e-04 9.99572078e-01 1.81357023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.927628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.88, Y:-1.52, Z:0.18 [[ 9.88354145e-01 1.49316221e-01 -2.93385381e-02 1.58828909e+01] [-1.49253844e-01 9.88789489e-01 4.31699146e-03 -1.52099643e+00] [ 2.96542349e-02 1.12173192e-04 9.99560210e-01 1.82260707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.957628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.91, Y:-1.53, Z:0.18 [[ 9.88515947e-01 1.48242882e-01 -2.93303543e-02 1.59141356e+01] [-1.48179825e-01 9.88950981e-01 4.32398148e-03 -1.52968818e+00] [ 2.96472822e-02 7.18421253e-05 9.99560420e-01 1.82998137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.987628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.95, Y:-1.54, Z:0.19 [[ 9.88427156e-01 1.49363482e-01 -2.65010894e-02 1.59456871e+01] [-1.49312233e-01 9.88782353e-01 3.91341956e-03 -1.53616383e+00] [ 2.67883315e-02 8.88066774e-05 9.99641124e-01 1.87096256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.98, Y:-1.54, Z:0.19 [[ 9.88384854e-01 1.49643334e-01 -2.65000632e-02 1.59777197e+01] [-1.49591999e-01 9.88740039e-01 3.92035943e-03 -1.54097491e+00] [ 2.67883291e-02 8.93735323e-05 9.99641124e-01 1.87602302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.01, Y:-1.55, Z:0.19 [[ 9.88325857e-01 1.50223575e-01 -2.53944593e-02 1.60090238e+01] [-1.50176452e-01 9.88652046e-01 3.76361216e-03 -1.54646143e+00] [ 2.56716675e-02 9.39745760e-05 9.99670424e-01 1.89496629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.04, Y:-1.55, Z:0.19 [[ 9.88309997e-01 1.50448894e-01 -2.46673783e-02 1.60404192e+01] [-1.50404343e-01 9.88617784e-01 3.66216813e-03 -1.55159021e+00] [ 2.49375780e-02 9.07234536e-05 9.99689006e-01 1.90326409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.07, Y:-1.56, Z:0.19 [[ 9.88221214e-01 1.51297687e-01 -2.29748003e-02 1.60719957e+01] [-1.51259136e-01 9.88488240e-01 3.41668440e-03 -1.55595494e+00] [ 2.32272564e-02 9.87084400e-05 9.99730206e-01 1.92073835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.10, Y:-1.56, Z:0.19 [[ 9.88248763e-01 1.51088889e-01 -2.31631213e-02 1.61032220e+01] [-1.51049504e-01 9.88520177e-01 3.45072636e-03 -1.56066319e+00] [ 2.34185792e-02 8.86019391e-05 9.99725744e-01 1.91788333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.14, Y:-1.57, Z:0.19 [[ 9.88296670e-01 1.50784467e-01 -2.31027349e-02 1.61359812e+01] [-1.50745055e-01 9.88566659e-01 3.44811346e-03 -1.56635192e+00] [ 2.33585154e-02 7.48639939e-05 9.99727150e-01 1.93087349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.197627999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.17, Y:-1.57, Z:0.19 [[ 9.88614730e-01 1.48694742e-01 -2.30388737e-02 1.61671798e+01] [-1.48654844e-01 9.88883144e-01 3.44442429e-03 -1.57109700e+00] [ 2.32949217e-02 1.96315812e-05 9.99728636e-01 1.92843345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.20, Y:-1.58, Z:0.19 [[ 9.88930456e-01 1.46498940e-01 -2.35502500e-02 1.61984917e+01] [-1.46456511e-01 9.89210827e-01 3.52578610e-03 -1.57698039e+00] [ 2.38126862e-02 -3.76698073e-05 9.99716437e-01 1.92385232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.23, Y:-1.58, Z:0.19 [[ 9.89284834e-01 1.44106601e-01 -2.34265683e-02 1.62313006e+01] [-1.44063799e-01 9.89562164e-01 3.51348338e-03 -1.58252298e+00] [ 2.36883618e-02 -1.00915410e-04 9.99719386e-01 1.93820502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.26, Y:-1.59, Z:0.19 [[ 9.89738103e-01 1.40937982e-01 -2.35578539e-02 1.62624104e+01] [-1.40893645e-01 9.90018410e-01 3.53971916e-03 -1.58865877e+00] [ 2.38215899e-02 -1.84243034e-04 9.99716209e-01 1.94253794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.29, Y:-1.60, Z:0.19 [[ 9.90247422e-01 1.37306582e-01 -2.35997169e-02 1.62940707e+01] [-1.37260914e-01 9.90528559e-01 3.55195510e-03 -1.59527173e+00] [ 2.38639003e-02 -2.77995686e-04 9.99715178e-01 1.94714067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.347628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.32, Y:-1.60, Z:0.20 [[ 9.91412433e-01 1.28714876e-01 -2.31055989e-02 1.63227850e+01] [-1.28668677e-01 9.91681527e-01 3.48136985e-03 -1.60347146e+00] [ 2.33614997e-02 -4.78506522e-04 9.99726968e-01 1.95225138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.35, Y:-1.61, Z:0.20 [[ 9.92084488e-01 1.23394201e-01 -2.32860532e-02 1.63528599e+01] [-1.23345808e-01 9.92357547e-01 3.50870037e-03 -1.60991416e+00] [ 2.35410439e-02 -6.08690157e-04 9.99722686e-01 1.95941378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.407628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.38, Y:-1.62, Z:0.20 [[ 9.93370535e-01 1.12493497e-01 -2.36683994e-02 1.63832096e+01] [-1.12440394e-01 9.93652070e-01 3.56685490e-03 -1.61793951e+00] [ 2.39194020e-02 -8.81924397e-04 9.99713501e-01 1.95979898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.41, Y:-1.62, Z:0.20 [[ 9.94004086e-01 1.06786892e-01 -2.35039892e-02 1.64136934e+01] [-1.06732917e-01 9.94281416e-01 3.54267796e-03 -1.62407608e+00] [ 2.37478913e-02 -1.01278703e-03 9.99717466e-01 1.96153862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.467628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.44, Y:-1.63, Z:0.20 [[ 9.94594628e-01 1.01202212e-01 -2.32301097e-02 1.64426381e+01] [-1.01147956e-01 9.94865231e-01 3.50185795e-03 -1.63218389e+00] [ 2.34652242e-02 -1.13325101e-03 9.99724011e-01 1.96687032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.497628 meters Centerline goodness [0,1] 0.9998184912081679 Centerline is valid? [True, True] Translation: X:16.47, Y:-1.64, Z:0.19 [[ 9.95124967e-01 9.57478553e-02 -2.36357404e-02 1.64730242e+01] [-9.56901389e-02 9.95404791e-01 3.56356961e-03 -1.63673189e+00] [ 2.38683334e-02 -1.28448981e-03 9.99714286e-01 1.94699251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.527628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.50, Y:-1.64, Z:0.20 [[ 9.95790297e-01 8.88941241e-02 -2.23499194e-02 1.65032981e+01] [-8.88407891e-02 9.96040138e-01 3.37002597e-03 -1.64454934e+00] [ 2.25609923e-02 -1.37025469e-03 9.99744529e-01 1.99101813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.557628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.53, Y:-1.65, Z:0.20 [[ 9.95982652e-01 8.66385301e-02 -2.26345143e-02 1.65338119e+01] [-8.65832343e-02 9.96238772e-01 3.41352374e-03 -1.64970408e+00] [ 2.28451235e-02 -1.44004097e-03 9.99737979e-01 1.99632175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.587628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.56, Y:-1.65, Z:0.20 [[ 9.96071620e-01 8.55735583e-02 -2.27704428e-02 1.65647381e+01] [-8.55172734e-02 9.96330763e-01 3.43601702e-03 -1.65493852e+00] [ 2.29809248e-02 -1.47525287e-03 9.99734815e-01 2.00062509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.617628 meters Centerline goodness [0,1] 0.9998410644143224 Centerline is valid? [True, True] Translation: X:16.60, Y:-1.66, Z:0.20 [[ 9.96087925e-01 8.52385886e-02 -2.33072591e-02 1.65968631e+01] [-8.51793935e-02 9.96359404e-01 3.52267839e-03 -1.65784057e+00] [ 2.35226749e-02 -1.52359921e-03 9.99722143e-01 1.97311699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.647628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.63, Y:-1.66, Z:0.20 [[ 9.95723512e-01 8.97868257e-02 -2.17488981e-02 1.66276133e+01] [-8.97362835e-02 9.95960125e-01 3.29077995e-03 -1.65866786e+00] [ 2.19565039e-02 -1.32504168e-03 9.99758049e-01 2.00761961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.677628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.66, Y:-1.66, Z:0.20 [[ 9.95360609e-01 9.37679003e-02 -2.15601095e-02 1.66582593e+01] [-9.37191579e-02 9.95593329e-01 3.26240550e-03 -1.66123185e+00] [ 2.17710101e-02 -1.22667462e-03 9.99762231e-01 2.01949649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.707628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.69, Y:-1.66, Z:0.20 [[ 9.94899680e-01 9.86545152e-02 -2.10217207e-02 1.66878485e+01] [-9.86092576e-02 9.95121145e-01 3.18124976e-03 -1.66310554e+00] [ 2.12330034e-02 -1.09208810e-03 9.99773958e-01 2.02678623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.737628 meters Centerline goodness [0,1] 0.9998206800708314 Centerline is valid? [True, True] Translation: X:16.72, Y:-1.66, Z:0.20 [[ 9.93818039e-01 1.08940228e-01 -2.13946849e-02 1.67188361e+01] [-1.08895730e-01 9.94047906e-01 3.23748458e-03 -1.66004884e+00] [ 2.16200340e-02 -8.87680750e-04 9.99765866e-01 1.99499739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.75, Y:-1.66, Z:0.20 [[ 9.93052520e-01 1.15810066e-01 -2.08499613e-02 1.67483778e+01] [-1.15769318e-01 9.93271117e-01 3.15493997e-03 -1.66008800e+00] [ 2.10750382e-02 -7.19235279e-04 9.99777638e-01 2.02848021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.78, Y:-1.66, Z:0.20 [[ 9.92379173e-01 1.21431893e-01 -2.09253908e-02 1.67797220e+01] [-1.21392099e-01 9.92599583e-01 3.16629068e-03 -1.65845762e+00] [ 2.11550229e-02 -6.01983816e-04 9.99776026e-01 2.03086519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.81, Y:-1.66, Z:0.20 [[ 9.91675800e-01 1.27129586e-01 -2.04248919e-02 1.68116619e+01] [-1.27092869e-01 9.91886005e-01 3.09110066e-03 -1.65825167e+00] [ 2.06521348e-02 -4.69511619e-04 9.99786612e-01 2.03500538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.857628 meters Centerline goodness [0,1] 0.9999110834481839 Centerline is valid? [True, True] Translation: X:16.84, Y:-1.66, Z:0.20 [[ 9.91070862e-01 1.31704684e-01 -2.07947624e-02 1.68434901e+01] [-1.31667583e-01 9.91288923e-01 3.14929715e-03 -1.65995050e+00] [ 2.10283948e-02 -3.83180537e-04 9.99778805e-01 2.02217751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.87, Y:-1.66, Z:0.20 [[ 9.89799480e-01 1.41197150e-01 -1.89829700e-02 1.68742109e+01] [-1.41167907e-01 9.89981483e-01 2.87851831e-03 -1.65862309e+00] [ 1.91992273e-02 -1.69369782e-04 9.99815664e-01 2.04976222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.91, Y:-1.66, Z:0.21 [[ 9.89231691e-01 1.45112064e-01 -1.90564849e-02 1.69064383e+01] [-1.45083297e-01 9.89415221e-01 2.89086429e-03 -1.66098009e+00] [ 1.92742755e-02 -9.49569066e-05 9.99814229e-01 2.05632528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.947627999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.94, Y:-1.66, Z:0.21 [[ 9.88788802e-01 1.48139986e-01 -1.87416474e-02 1.69381787e+01] [-1.48112617e-01 9.88966401e-01 2.84773875e-03 -1.66395547e+00] [ 1.89567236e-02 -3.99377338e-05 9.99820304e-01 2.05772683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.97, Y:-1.67, Z:0.21 [[ 9.88414294e-01 1.50613999e-01 -1.87778270e-02 1.69705160e+01] [-1.50586878e-01 9.88592648e-01 2.85810992e-03 -1.66759387e+00] [ 1.89940930e-02 2.69763877e-06 9.99819596e-01 2.06073179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.00, Y:-1.67, Z:0.21 [[ 9.88091228e-01 1.52757806e-01 -1.84601699e-02 1.70026776e+01] [-1.52731871e-01 9.88263655e-01 2.81501038e-03 -1.67213100e+00] [ 1.86735298e-02 3.79692410e-05 9.99825634e-01 2.06237778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.03, Y:-1.68, Z:0.21 [[ 9.87766503e-01 1.54741120e-01 -1.93008262e-02 1.70342542e+01] [-1.54713037e-01 9.87955050e-01 2.94888100e-03 -1.67763112e+00] [ 1.95246619e-02 7.32835627e-05 9.99809373e-01 2.06131480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.07, Y:-1.68, Z:0.21 [[ 9.87652653e-01 1.55451892e-01 -1.94151280e-02 1.70661300e+01] [-1.55423509e-01 9.87843460e-01 2.97162790e-03 -1.68364463e+00] [ 1.96410524e-02 8.26311317e-05 9.99807093e-01 2.06595832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.097628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.10, Y:-1.69, Z:0.21 [[ 9.87537914e-01 1.56136581e-01 -1.97543984e-02 1.70982667e+01] [-1.56107220e-01 9.87735470e-01 3.02922371e-03 -1.68996337e+00] [ 1.99850926e-02 9.23309580e-05 9.99800274e-01 2.06788885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.13, Y:-1.70, Z:0.21 [[ 9.87602756e-01 1.55573033e-01 -2.09243503e-02 1.71306797e+01] [-1.55539833e-01 9.87824390e-01 3.21484672e-03 -1.69865009e+00] [ 2.11697270e-02 7.95784791e-05 9.99775893e-01 2.06713781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.157628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.16, Y:-1.71, Z:0.21 [[ 9.87704938e-01 1.54874370e-01 -2.12810900e-02 1.71615868e+01] [-1.54839745e-01 9.87934171e-01 3.27531499e-03 -1.70543550e+00] [ 2.15315784e-02 6.01137519e-05 9.99768167e-01 2.06172782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.19, Y:-1.71, Z:0.21 [[ 9.87835186e-01 1.53975414e-01 -2.17535350e-02 1.71930735e+01] [-1.53938917e-01 9.88074679e-01 3.35253613e-03 -1.71314036e+00] [ 2.20103253e-02 3.69624639e-05 9.99757743e-01 2.05851197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.217628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.23, Y:-1.72, Z:0.21 [[ 9.87951835e-01 1.53182534e-01 -2.20518168e-02 1.72254607e+01] [-1.53144698e-01 9.88197911e-01 3.40447295e-03 -1.72121454e+00] [ 2.23130651e-02 1.36635331e-05 9.99751032e-01 2.06669387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.26, Y:-1.73, Z:0.21 [[ 9.88240122e-01 1.51185283e-01 -2.29013534e-02 1.72557682e+01] [-1.51143785e-01 9.88505442e-01 3.54228364e-03 -1.73282950e+00] [ 2.31736536e-02 -3.92295971e-05 9.99731454e-01 2.06954010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.277628 meters Centerline goodness [0,1] 0.9997962417930722 Centerline is valid? [True, True] Translation: X:17.29, Y:-1.74, Z:0.20 [[ 9.88452913e-01 1.49711333e-01 -2.33956348e-02 1.72863022e+01] [-1.49667460e-01 9.88729746e-01 3.62508882e-03 -1.74152369e+00] [ 2.36746769e-02 -8.16643730e-05 9.99719712e-01 2.02884419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.307628 meters Centerline goodness [0,1] 0.9998181611546767 Centerline is valid? [True, True] Translation: X:17.32, Y:-1.75, Z:0.21 [[ 9.88518312e-01 1.49261305e-01 -2.35076619e-02 1.73182444e+01] [-1.49216730e-01 9.88797782e-01 3.64891810e-03 -1.74899113e+00] [ 2.37889663e-02 -9.92859173e-05 9.99716998e-01 2.05257411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.337628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.35, Y:-1.76, Z:0.21 [[ 9.88348363e-01 1.50745030e-01 -2.10582492e-02 1.73487344e+01] [-1.50709483e-01 9.88572674e-01 3.27409805e-03 -1.75699133e+00] [ 2.13111637e-02 -6.22715959e-05 9.99772889e-01 2.10313549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.38, Y:-1.76, Z:0.21 [[ 9.88165759e-01 1.52025896e-01 -2.04097755e-02 1.73816220e+01] [-1.51992675e-01 9.88376510e-01 3.17824416e-03 -1.76155598e+00] [ 2.06557181e-02 -3.84956895e-05 9.99786647e-01 2.12022958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.397628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.41, Y:-1.77, Z:0.21 [[ 9.87948593e-01 1.53439465e-01 -2.03447255e-02 1.74138897e+01] [-1.53406635e-01 9.88158049e-01 3.17395523e-03 -1.76677401e+00] [ 2.05908143e-02 -1.46887223e-05 9.99787987e-01 2.12846494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.427628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.45, Y:-1.77, Z:0.21 [[ 9.87713634e-01 1.55014460e-01 -1.98064061e-02 1.74470193e+01] [-1.54983563e-01 9.87912201e-01 3.09486299e-03 -1.77135211e+00] [ 2.00467387e-02 1.28290111e-05 9.99799044e-01 2.13917894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.48, Y:-1.78, Z:0.21 [[ 9.87608042e-01 1.55640601e-01 -2.01583598e-02 1.74790919e+01] [-1.55608658e-01 9.87813749e-01 3.15324261e-03 -1.77672820e+00] [ 2.04034776e-02 2.26475623e-05 9.99791827e-01 2.14636525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.487628 meters Centerline goodness [0,1] 0.9998863584708396 Centerline is valid? [True, True] Translation: X:17.51, Y:-1.78, Z:0.21 [[ 9.87639204e-01 1.55375748e-01 -2.06683195e-02 1.75119098e+01] [-1.55341981e-01 9.87855443e-01 3.23913325e-03 -1.78173307e+00] [ 2.09205947e-02 1.15627104e-05 9.99781140e-01 2.12686263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.54, Y:-1.79, Z:0.22 [[ 9.87636234e-01 1.55499511e-01 -1.98638011e-02 1.75440671e+01] [-1.55468235e-01 9.87835969e-01 3.11864170e-03 -1.78715806e+00] [ 2.01071245e-02 8.10655569e-06 9.99797831e-01 2.16339449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.58, Y:-1.79, Z:0.22 [[ 9.87758588e-01 1.54737236e-01 -1.97322045e-02 1.75764875e+01] [-1.54706107e-01 9.87955661e-01 3.10370460e-03 -1.79262758e+00] [ 1.99748019e-02 -1.30183378e-05 9.99800484e-01 2.16856675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.61, Y:-1.80, Z:0.22 [[ 9.88463796e-01 1.50118367e-01 -2.00947461e-02 1.76080251e+01] [-1.50085012e-01 9.88668025e-01 3.16646321e-03 -1.79980577e+00] [ 2.03423773e-02 -1.14014041e-04 9.99793066e-01 2.17384242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.64, Y:-1.81, Z:0.22 [[ 9.89018477e-01 1.46454318e-01 -1.98389657e-02 1.76391092e+01] [-1.46420969e-01 9.89217416e-01 3.13112556e-03 -1.80683056e+00] [ 2.00836172e-02 -1.91900460e-04 9.99798285e-01 2.18434011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.67, Y:-1.81, Z:0.22 [[ 9.89605714e-01 1.42539324e-01 -1.90544376e-02 1.76701631e+01] [-1.42507744e-01 9.89789104e-01 3.01198225e-03 -1.81391648e+00] [ 1.92892007e-02 -2.65269925e-04 9.99813911e-01 2.19659620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.70, Y:-1.82, Z:0.22 [[ 9.90344192e-01 1.37362989e-01 -1.87027154e-02 1.77018062e+01] [-1.37331565e-01 9.90520710e-01 2.96043190e-03 -1.82127418e+00] [ 1.89320807e-02 -3.63373373e-04 9.99820706e-01 2.21248072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.73, Y:-1.83, Z:0.22 [[ 9.91879811e-01 1.25945971e-01 -1.76650316e-02 1.77300641e+01] [-1.25916104e-01 9.92036950e-01 2.79731580e-03 -1.83140427e+00] [ 1.78766747e-02 -5.50289100e-04 9.99840048e-01 2.22923799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.76, Y:-1.84, Z:0.22 [[ 9.92581769e-01 1.20362330e-01 -1.71564008e-02 1.77606712e+01] [-1.20333316e-01 9.92729827e-01 2.71733496e-03 -1.83655481e+00] [ 1.73587355e-02 -6.32690541e-04 9.99849126e-01 2.23816209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.79, Y:-1.85, Z:0.22 [[ 9.93273286e-01 1.14500318e-01 -1.72585071e-02 1.77892428e+01] [-1.14470068e-01 9.93422936e-01 2.73378057e-03 -1.84842708e+00] [ 1.74580155e-02 -7.39808730e-04 9.99847324e-01 2.23545011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.82, Y:-1.85, Z:0.22 [[ 9.93958363e-01 1.08337368e-01 -1.76007507e-02 1.78197769e+01] [-1.08304943e-01 9.94113810e-01 2.78790694e-03 -1.84885548e+00] [ 1.77991839e-02 -8.64815112e-04 9.99841208e-01 2.24104661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.85, Y:-1.86, Z:0.22 [[ 9.94572106e-01 1.02554511e-01 -1.75754860e-02 1.78496785e+01] [-1.02521280e-01 9.94726916e-01 2.78382053e-03 -1.85518480e+00] [ 1.77683023e-02 -9.66848920e-04 9.99841664e-01 2.24177780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.847628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.88, Y:-1.86, Z:0.22 [[ 9.95565046e-01 9.23034924e-02 -1.81742538e-02 1.78794275e+01] [-9.22662492e-02 9.95730210e-01 2.87896907e-03 -1.86317700e+00] [ 1.83623925e-02 -1.18933075e-03 9.99830690e-01 2.24613001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.91, Y:-1.87, Z:0.23 [[ 9.95944214e-01 8.81206479e-02 -1.81624139e-02 1.79099119e+01] [-8.80827557e-02 9.96109005e-01 2.87736899e-03 -1.86887547e+00] [ 1.83452996e-02 -1.26590353e-03 9.99830909e-01 2.25629924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.907628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.94, Y:-1.87, Z:0.23 [[ 9.95919258e-01 8.84022773e-02 -1.81622703e-02 1.79419620e+01] [-8.83644152e-02 9.96084056e-01 2.87827443e-03 -1.87401169e+00] [ 1.83455939e-02 -1.26163054e-03 9.99830909e-01 2.26135375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.937628 meters Centerline goodness [0,1] 0.9998634408357421 Centerline is valid? [True, True] Translation: X:17.97, Y:-1.88, Z:0.22 [[ 9.96211734e-01 8.49618455e-02 -1.85382253e-02 1.79718761e+01] [-8.49217205e-02 9.96383281e-01 2.94245897e-03 -1.87910620e+00] [ 1.87211745e-02 -1.35701417e-03 9.99823823e-01 2.24443938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.967628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.00, Y:-1.88, Z:0.23 [[ 9.96385488e-01 8.29789090e-02 -1.81785650e-02 1.80026168e+01] [-8.29399905e-02 9.96550365e-01 2.88576646e-03 -1.88056605e+00] [ 1.83553134e-02 -1.36760581e-03 9.99830592e-01 2.27804892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.997628 meters Centerline goodness [0,1] 0.9998416038739166 Centerline is valid? [True, True] Translation: X:18.03, Y:-1.89, Z:0.23 [[ 9.96359093e-01 8.31894912e-02 -1.86565271e-02 1.80345374e+01] [-8.31485050e-02 9.96532762e-01 2.96327255e-03 -1.88582804e+00] [ 1.88383536e-02 -1.40122121e-03 9.99821561e-01 2.25078439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.027628 meters Centerline goodness [0,1] 0.9999548573492235 Centerline is valid? [True, True] Translation: X:18.07, Y:-1.89, Z:0.23 [[ 9.96199861e-01 8.51474156e-02 -1.83235885e-02 1.80662896e+01] [-8.51081314e-02 9.96367458e-01 2.91456697e-03 -1.88590251e+00] [ 1.85051952e-02 -1.34400483e-03 9.99827861e-01 2.27672485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.057628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.10, Y:-1.89, Z:0.23 [[ 9.95953336e-01 8.80189436e-02 -1.81553926e-02 1.80974781e+01] [-8.79808408e-02 9.96117979e-01 2.88841712e-03 -1.88687695e+00] [ 1.83391485e-02 -1.27940196e-03 9.99831005e-01 2.29598697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.087628 meters Centerline goodness [0,1] 0.9998431337396917 Centerline is valid? [True, True] Translation: X:18.13, Y:-1.88, Z:0.23 [[ 9.95310848e-01 9.47011360e-02 -1.96979642e-02 1.81293071e+01] [-9.46575767e-02 9.95504957e-01 3.13420031e-03 -1.88284554e+00] [ 1.99062333e-02 -1.25494202e-03 9.99801064e-01 2.27299537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.16, Y:-1.89, Z:0.23 [[ 9.94860910e-01 9.94400140e-02 -1.90644586e-02 1.81591250e+01] [-9.94000748e-02 9.95042925e-01 3.03357914e-03 -1.88540798e+00] [ 1.92716138e-02 -1.12298069e-03 9.99813655e-01 2.29887460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.147628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.19, Y:-1.89, Z:0.23 [[ 9.94467598e-01 1.03252339e-01 -1.93171325e-02 1.81894025e+01] [-1.03212054e-01 9.94654626e-01 3.07356499e-03 -1.88642275e+00] [ 1.95312279e-02 -1.06279987e-03 9.99808682e-01 2.29904980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.177628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.22, Y:-1.88, Z:0.23 [[ 9.93790538e-01 1.09416443e-01 -2.02091055e-02 1.82212311e+01] [-1.09373620e-01 9.93995509e-01 3.21557950e-03 -1.88340416e+00] [ 2.04395973e-02 -9.85269457e-04 9.99790604e-01 2.29966502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.207628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.25, Y:-1.88, Z:0.23 [[ 9.93534188e-01 1.11746109e-01 -2.00654933e-02 1.82534331e+01] [-1.11704356e-01 9.93736353e-01 3.19326986e-03 -1.88394485e+00] [ 2.02966457e-02 -9.31219765e-04 9.99793568e-01 2.30477570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.237628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.29, Y:-1.88, Z:0.23 [[ 9.93368288e-01 1.13237019e-01 -1.99203685e-02 1.82861082e+01] [-1.13196127e-01 9.93567599e-01 3.17215443e-03 -1.88416383e+00] [ 2.01514380e-02 -8.96209060e-04 9.99796537e-01 2.31565279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.32, Y:-1.89, Z:0.23 [[ 9.93272137e-01 1.14087305e-01 -1.98632443e-02 1.83183454e+01] [-1.14046715e-01 9.93470337e-01 3.16812842e-03 -1.88766213e+00] [ 2.00949872e-02 -8.81475932e-04 9.99797687e-01 2.32383888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.35, Y:-1.89, Z:0.23 [[ 9.93296521e-01 1.13863245e-01 -1.99294594e-02 1.83511153e+01] [-1.13822235e-01 9.93496030e-01 3.18379661e-03 -1.88853612e+00] [ 2.01623562e-02 -8.94038483e-04 9.99796319e-01 2.32906058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.38, Y:-1.89, Z:0.23 [[ 9.93353978e-01 1.13252665e-01 -2.05355246e-02 1.83824049e+01] [-1.13208883e-01 9.93565776e-01 3.28590047e-03 -1.89244954e+00] [ 2.07755315e-02 -9.39258486e-04 9.99783724e-01 2.32800715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.41, Y:-1.90, Z:0.23 [[ 9.93464018e-01 1.12215803e-01 -2.09011580e-02 1.84137790e+01] [-1.12170113e-01 9.93683374e-01 3.34940187e-03 -1.89603291e+00] [ 2.11449890e-02 -9.83024983e-04 9.99775936e-01 2.32555819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.387628 meters Centerline goodness [0,1] 0.999824553708496 Centerline is valid? [True, True] Translation: X:18.44, Y:-1.90, Z:0.23 [[ 9.93627436e-01 1.10445605e-01 -2.25008302e-02 1.84438666e+01] [-1.10392091e-01 9.93881557e-01 3.61054390e-03 -1.90154878e+00] [ 2.27619289e-02 -1.10362178e-03 9.99740305e-01 2.30048099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.48, Y:-1.91, Z:0.23 [[ 9.93711340e-01 1.09836778e-01 -2.17636380e-02 1.84754812e+01] [-1.09786491e-01 9.93949046e-01 3.49571259e-03 -1.90695188e+00] [ 2.20159050e-02 -1.08437580e-03 9.99757033e-01 2.33493294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.51, Y:-1.91, Z:0.23 [[ 9.93843543e-01 1.08608187e-01 -2.18923301e-02 1.85071574e+01] [-1.08556888e-01 9.94084000e-01 3.52176832e-03 -1.90936955e+00] [ 2.21453080e-02 -1.12352349e-03 9.99754131e-01 2.34549125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.54, Y:-1.91, Z:0.23 [[ 9.94108069e-01 1.05823473e-01 -2.34635644e-02 1.85379703e+01] [-1.05763670e-01 9.94384115e-01 3.77872636e-03 -1.91417855e+00] [ 2.37316737e-02 -1.27486967e-03 9.99717551e-01 2.34754784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.57, Y:-1.92, Z:0.23 [[ 9.94194803e-01 1.04910307e-01 -2.38855980e-02 1.85693749e+01] [-1.04848029e-01 9.94480810e-01 3.84837765e-03 -1.91874415e+00] [ 2.41575033e-02 -1.32167917e-03 9.99707291e-01 2.34914995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.537628 meters Centerline goodness [0,1] 0.9998252741012537 Centerline is valid? [True, True] Translation: X:18.60, Y:-1.92, Z:0.23 [[ 9.94263054e-01 1.03695472e-01 -2.62341038e-02 1.86008417e+01] [-1.03619794e-01 9.94607979e-01 4.23154909e-03 -1.92254225e+00] [ 2.65314414e-02 -1.48890049e-03 9.99646871e-01 2.32385324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.63, Y:-1.93, Z:0.24 [[ 9.94316123e-01 1.03375607e-01 -2.54741214e-02 1.86323598e+01] [-1.03303989e-01 9.94641318e-01 4.11509665e-03 -1.92623097e+00] [ 2.57630144e-02 -1.46012858e-03 9.99667012e-01 2.36561220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.597628 meters Centerline goodness [0,1] 0.9998473914844448 Centerline is valid? [True, True] Translation: X:18.66, Y:-1.93, Z:0.24 [[ 9.94418161e-01 1.02013306e-01 -2.69407864e-02 1.86646296e+01] [-1.01932565e-01 9.94781769e-01 4.35706374e-03 -1.92986015e+00] [ 2.72446817e-02 -1.58659983e-03 9.99627536e-01 2.35208284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.627628 meters Centerline goodness [0,1] 0.9999346889014673 Centerline is valid? [True, True] Translation: X:18.70, Y:-1.93, Z:0.24 [[ 9.94454855e-01 1.01824125e-01 -2.62942887e-02 1.86962543e+01] [-1.01747043e-01 9.94801197e-01 4.25644359e-03 -1.93490850e+00] [ 2.65909985e-02 -1.55747487e-03 9.99645184e-01 2.36779991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.657628 meters Centerline goodness [0,1] 0.9998693351336049 Centerline is valid? [True, True] Translation: X:18.73, Y:-1.94, Z:0.24 [[ 9.94535056e-01 1.01053538e-01 -2.62336488e-02 1.87282676e+01] [-1.00976365e-01 9.94879733e-01 4.25338956e-03 -1.93908386e+00] [ 2.65291456e-02 -1.58116653e-03 9.99646790e-01 2.36355927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.687628 meters Centerline goodness [0,1] 0.9998914883458483 Centerline is valid? [True, True] Translation: X:18.76, Y:-1.94, Z:0.24 [[ 9.94617670e-01 1.00500283e-01 -2.52068309e-02 1.87587401e+01] [-1.00428701e-01 9.94935839e-01 4.09305726e-03 -1.94430296e+00] [ 2.54905328e-02 -1.53953781e-03 9.99673878e-01 2.38045110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.717628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.79, Y:-1.95, Z:0.24 [[ 9.94616712e-01 1.00886376e-01 -2.36544938e-02 1.87905555e+01] [-1.00823318e-01 9.94896911e-01 3.84650919e-03 -1.94923991e+00] [ 2.39218432e-02 -1.44087777e-03 9.99712793e-01 2.41024527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.82, Y:-1.95, Z:0.24 [[ 9.94592474e-01 1.01290704e-01 -2.29347967e-02 1.88230227e+01] [-1.01231400e-01 9.94855895e-01 3.73517033e-03 -1.95156509e+00] [ 2.31951557e-02 -1.39325073e-03 9.99729985e-01 2.42200100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.777628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.86, Y:-1.96, Z:0.24 [[ 9.94558210e-01 1.01641132e-01 -2.28702292e-02 1.88556667e+01] [-1.01582113e-01 9.94820163e-01 3.73076041e-03 -1.95589982e+00] [ 2.31309639e-02 -1.38725220e-03 9.99731481e-01 2.42852540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.807628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.89, Y:-1.96, Z:0.24 [[ 9.94416872e-01 1.03099487e-01 -2.24851188e-02 1.88879631e+01] [-1.03042669e-01 9.94670151e-01 3.67414289e-03 -1.95817197e+00] [ 2.27440787e-02 -1.33670302e-03 9.99740426e-01 2.43557602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.837628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.92, Y:-1.96, Z:0.24 [[ 9.94278435e-01 1.04497583e-01 -2.21506092e-02 1.89199860e+01] [-1.04442665e-01 9.94524303e-01 3.62505513e-03 -1.96005435e+00] [ 2.24081287e-02 -1.29084549e-03 9.99748073e-01 2.44281109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.95, Y:-1.96, Z:0.24 [[ 9.93987901e-01 1.07216469e-01 -2.21964231e-02 1.89501263e+01] [-1.07161907e-01 9.94234932e-01 3.63661673e-03 -1.96222779e+00] [ 2.24583644e-02 -1.23614201e-03 9.99747015e-01 2.44730917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.897628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.98, Y:-1.96, Z:0.24 [[ 9.93785631e-01 1.09015233e-01 -2.24899467e-02 1.89818914e+01] [-1.08959630e-01 9.94039339e-01 3.68677626e-03 -1.96464067e+00] [ 2.27578066e-02 -1.21336899e-03 9.99740271e-01 2.44961761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.927628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.01, Y:-1.97, Z:0.24 [[ 9.93633601e-01 1.10384381e-01 -2.25289752e-02 1.90125150e+01] [-1.10328824e-01 9.93888261e-01 3.69804756e-03 -1.96832172e+00] [ 2.27994907e-02 -1.18890896e-03 9.99739351e-01 2.44989185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.957628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.05, Y:-1.96, Z:0.25 [[ 9.93322222e-01 1.13266537e-01 -2.19466616e-02 1.90452907e+01] [-1.13214461e-01 9.93564034e-01 3.60495605e-03 -1.96415572e+00] [ 2.22137345e-02 -1.09620349e-03 9.99752644e-01 2.45911564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.987628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.08, Y:-1.97, Z:0.25 [[ 9.93140911e-01 1.15001216e-01 -2.11152046e-02 1.90760039e+01] [-1.14953357e-01 9.93364828e-01 3.47052612e-03 -1.97082421e+00] [ 2.13742163e-02 -1.01945781e-03 9.99771026e-01 2.46214688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.11, Y:-1.97, Z:0.25 [[ 9.92793625e-01 1.18123868e-01 -2.01883608e-02 1.91080701e+01] [-1.18080690e-01 9.92998447e-01 3.32178516e-03 -1.96789904e+00] [ 2.04393930e-02 -9.13991565e-04 9.99790676e-01 2.47431886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.14, Y:-1.97, Z:0.25 [[ 9.92761040e-01 1.18397469e-01 -2.01880542e-02 1.91400719e+01] [-1.18354309e-01 9.92965866e-01 3.32364698e-03 -1.97323708e+00] [ 2.04395601e-02 -9.10244018e-04 9.99790676e-01 2.47937248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.17, Y:-1.97, Z:0.25 [[ 9.92582549e-01 1.19968571e-01 -1.96831045e-02 1.91725134e+01] [-1.19927745e-01 9.92777317e-01 3.24588318e-03 -1.97121782e+00] [ 1.99303436e-02 -8.61256667e-04 9.99801000e-01 2.48484553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.107628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.20, Y:-1.97, Z:0.25 [[ 9.92404373e-01 1.21520072e-01 -1.91424365e-02 1.92036829e+01] [-1.21481653e-01 9.92588642e-01 3.16153463e-03 -1.97493577e+00] [ 1.93847550e-02 -8.12065966e-04 9.99811768e-01 2.48598253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.23, Y:-1.98, Z:0.25 [[ 9.92164091e-01 1.23551811e-01 -1.85840290e-02 1.92349641e+01] [-1.23515875e-01 9.92337836e-01 3.07366229e-03 -1.97646063e+00] [ 1.88213917e-02 -7.54154746e-04 9.99822577e-01 2.48461551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.27, Y:-1.98, Z:0.25 [[ 9.92053595e-01 1.24430557e-01 -1.86198873e-02 1.92659165e+01] [-1.24394554e-01 9.92228040e-01 3.08399629e-03 -1.98045466e+00] [ 1.88589177e-02 -7.43277038e-04 9.99821879e-01 2.48586027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.197628 meters Centerline goodness [0,1] 0.9999364689439021 Centerline is valid? [True, True] Translation: X:19.30, Y:-1.98, Z:0.25 [[ 9.91949253e-01 1.25152919e-01 -1.93242507e-02 1.92978149e+01] [-1.25114185e-01 9.92137171e-01 3.20536266e-03 -1.98421085e+00] [ 1.95734679e-02 -7.61819230e-04 9.99808131e-01 2.47195492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.33, Y:-1.99, Z:0.25 [[ 9.91810681e-01 1.26335275e-01 -1.87342164e-02 1.93302831e+01] [-1.26299004e-01 9.91987339e-01 3.11153520e-03 -1.98730791e+00] [ 1.89772021e-02 -7.19940967e-04 9.99819657e-01 2.49341833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.36, Y:-1.99, Z:0.25 [[ 9.91493055e-01 1.28880755e-01 -1.82009225e-02 1.93618627e+01] [-1.28846921e-01 9.91659883e-01 3.02442991e-03 -1.98976790e+00] [ 1.84389155e-02 -6.53568428e-04 9.99829775e-01 2.50670561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.39, Y:-1.99, Z:0.25 [[ 9.91290674e-01 1.30467661e-01 -1.79161849e-02 1.93927109e+01] [-1.30435119e-01 9.91452375e-01 2.97805833e-03 -1.99468322e+00] [ 1.81515844e-02 -6.15221747e-04 9.99835057e-01 2.51318596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.42, Y:-2.00, Z:0.25 [[ 9.91005514e-01 1.32645408e-01 -1.76993380e-02 1.94245685e+01] [-1.32613945e-01 9.91163392e-01 2.94486181e-03 -1.99780227e+00] [ 1.79335583e-02 -5.71195251e-04 9.99839018e-01 2.52214722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.347628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.46, Y:-2.00, Z:0.25 [[ 9.90669226e-01 1.35180266e-01 -1.73430185e-02 1.94556051e+01] [-1.35150368e-01 9.90820885e-01 2.88993489e-03 -2.00223861e+00] [ 1.75744871e-02 -5.19054212e-04 9.99845422e-01 2.52027609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.49, Y:-2.00, Z:0.25 [[ 9.89836609e-01 1.41064841e-01 -1.80054909e-02 1.94874997e+01] [-1.41033515e-01 9.90000264e-01 3.00426570e-03 -2.00326212e+00] [ 1.82492370e-02 -4.34354505e-04 9.99833374e-01 2.51565614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.407628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.52, Y:-2.01, Z:0.25 [[ 9.89384966e-01 1.44174684e-01 -1.81947860e-02 1.95195751e+01] [-1.44143192e-01 9.89552179e-01 3.03741846e-03 -2.00751301e+00] [ 1.84426090e-02 -3.82521616e-04 9.99829847e-01 2.51726301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.55, Y:-2.01, Z:0.25 [[ 9.88950981e-01 1.47073375e-01 -1.85843685e-02 1.95515905e+01] [-1.47040941e-01 9.89125526e-01 3.10726170e-03 -2.01157740e+00] [ 1.88392687e-02 -3.40266468e-04 9.99822467e-01 2.52037957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.467628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.58, Y:-2.02, Z:0.25 [[ 9.88266417e-01 1.51623990e-01 -1.84297043e-02 1.95820997e+01] [-1.51592797e-01 9.88438213e-01 3.08604844e-03 -2.01693891e+00] [ 1.86845430e-02 -2.56027600e-04 9.99825396e-01 2.51884351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.61, Y:-2.02, Z:0.25 [[ 9.88028466e-01 1.53150030e-01 -1.85693125e-02 1.96140697e+01] [-1.53118548e-01 9.88202921e-01 3.11388905e-03 -2.02239003e+00] [ 1.88271411e-02 -2.33304848e-04 9.99822726e-01 2.52429567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.527628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.65, Y:-2.03, Z:0.25 [[ 9.87864599e-01 1.54174023e-01 -1.88123302e-02 1.96451354e+01] [-1.54141808e-01 9.88043684e-01 3.15933134e-03 -2.02842055e+00] [ 1.90744909e-02 -2.21224989e-04 9.99818041e-01 2.52921856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.557628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.68, Y:-2.04, Z:0.25 [[ 9.87824151e-01 1.54470346e-01 -1.85029350e-02 1.96769158e+01] [-1.54439159e-01 9.87997402e-01 3.11137378e-03 -2.03611773e+00] [ 1.87614666e-02 -2.15912448e-04 9.99823965e-01 2.54565603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.587628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.71, Y:-2.04, Z:0.26 [[ 9.87793580e-01 1.54741341e-01 -1.78594642e-02 1.97086967e+01] [-1.54712293e-01 9.87954997e-01 3.00520995e-03 -2.04337277e+00] [ 1.81093771e-02 -2.05448442e-04 9.99835991e-01 2.55578941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.74, Y:-2.05, Z:0.26 [[ 9.87798212e-01 1.54747674e-01 -1.75456344e-02 1.97407194e+01] [-1.54719551e-01 9.87954004e-01 2.95736716e-03 -2.05001609e+00] [ 1.77919255e-02 -2.06629318e-04 9.99841690e-01 2.57084677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.647628 meters Centerline goodness [0,1] 0.9998727627449318 Centerline is valid? [True, True] Translation: X:19.77, Y:-2.06, Z:0.26 [[ 9.87871384e-01 1.54094810e-01 -1.91028156e-02 1.97704266e+01] [-1.54061244e-01 9.88056036e-01 3.22534853e-03 -2.05857561e+00] [ 1.93716617e-02 -2.43225985e-04 9.99812322e-01 2.55150764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.677628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.80, Y:-2.06, Z:0.26 [[ 9.87822886e-01 1.54414960e-01 -1.90254266e-02 1.98023237e+01] [-1.54381661e-01 9.88006054e-01 3.21557605e-03 -2.06448322e+00] [ 1.92937697e-02 -2.39242660e-04 9.99813829e-01 2.58157126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.707628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.83, Y:-2.08, Z:0.26 [[ 9.88256242e-01 1.51446840e-01 -2.03335773e-02 1.98313872e+01] [-1.51408047e-01 9.88465351e-01 3.44287982e-03 -2.07762860e+00] [ 2.06204498e-02 -3.23780242e-04 9.99787323e-01 2.56696281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.737628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.86, Y:-2.08, Z:0.26 [[ 9.88668376e-01 1.48742507e-01 -2.02610339e-02 1.98622879e+01] [-1.48703322e-01 9.88875887e-01 3.43553692e-03 -2.08392313e+00] [ 2.05466582e-02 -3.83723669e-04 9.99788821e-01 2.57701810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.89, Y:-2.09, Z:0.26 [[ 9.89220689e-01 1.45088897e-01 -1.97899079e-02 1.98916874e+01] [-1.45050704e-01 9.89418520e-01 3.35947452e-03 -2.09430973e+00] [ 2.00679238e-02 -4.52721620e-04 9.99798516e-01 2.57916049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.92, Y:-2.11, Z:0.26 [[ 9.90616227e-01 1.35397135e-01 -1.86308167e-02 1.99207784e+01] [-1.35361560e-01 9.90791220e-01 3.16328934e-03 -2.10747516e+00] [ 1.88875499e-02 -6.11709340e-04 9.99821427e-01 2.59024569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.95, Y:-2.11, Z:0.26 [[ 9.90576718e-01 1.35685908e-01 -1.86306251e-02 1.99527334e+01] [-1.35650363e-01 9.90751717e-01 3.16441676e-03 -2.11295338e+00] [ 1.88876906e-02 -6.07346510e-04 9.99821427e-01 2.59529441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.857628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.98, Y:-2.12, Z:0.26 [[ 9.91263734e-01 1.30603416e-01 -1.84108176e-02 1.99809674e+01] [-1.30567739e-01 9.91434444e-01 3.13188336e-03 -2.12411292e+00] [ 1.86621534e-02 -7.00663554e-04 9.99825601e-01 2.60253867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.01, Y:-2.13, Z:0.26 [[ 9.91973699e-01 1.25122081e-01 -1.82385656e-02 2.00101832e+01] [-1.25086119e-01 9.92141033e-01 3.10393578e-03 -2.13436449e+00] [ 1.84836002e-02 -7.97631277e-04 9.99828846e-01 2.61452261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.04, Y:-2.14, Z:0.26 [[ 9.92567043e-01 1.20358662e-01 -1.80127309e-02 2.00399841e+01] [-1.20322790e-01 9.92730087e-01 3.06610842e-03 -2.14480223e+00] [ 1.82508126e-02 -8.75976136e-04 9.99833056e-01 2.62561608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.07, Y:-2.16, Z:0.26 [[ 9.93431611e-01 1.13160589e-01 -1.69798688e-02 2.00682666e+01] [-1.13127658e-01 9.93576256e-01 2.89063240e-03 -2.15900627e+00] [ 1.71979002e-02 -9.50752814e-04 9.99851653e-01 2.63655621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.10, Y:-2.17, Z:0.26 [[ 9.93707482e-01 1.10786051e-01 -1.64890896e-02 2.00989032e+01] [-1.10754660e-01 9.93843812e-01 2.80774305e-03 -2.16575599e+00] [ 1.66986384e-02 -9.63831761e-04 9.99860103e-01 2.64714270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.007628 meters Centerline goodness [0,1] 0.9999782637047342 Centerline is valid? [True, True] Translation: X:20.13, Y:-2.17, Z:0.27 [[ 9.93893142e-01 1.09157607e-01 -1.61567374e-02 2.01286289e+01] [-1.09127244e-01 9.94023980e-01 2.75173236e-03 -2.17441636e+00] [ 1.63605570e-02 -9.71787686e-04 9.99865685e-01 2.65461535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.16, Y:-2.18, Z:0.27 [[ 9.93995720e-01 1.08261591e-01 -1.58724852e-02 2.01588998e+01] [-1.08232163e-01 9.94121968e-01 2.70399623e-03 -2.18219734e+00] [ 1.60719252e-02 -9.69847272e-04 9.99870368e-01 2.66096207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.19, Y:-2.19, Z:0.27 [[ 9.93975962e-01 1.08360859e-01 -1.64228896e-02 2.01909528e+01] [-1.08329301e-01 9.94111117e-01 2.80179562e-03 -2.18852314e+00] [ 1.66297821e-02 -1.00583735e-03 9.99861210e-01 2.65427818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.097628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.22, Y:-2.19, Z:0.27 [[ 9.93861584e-01 1.09338968e-01 -1.68565366e-02 2.02222864e+01] [-1.09305777e-01 9.94003998e-01 2.88073187e-03 -2.19425193e+00] [ 1.70704411e-02 -1.02053190e-03 9.99853769e-01 2.65427198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.25, Y:-2.20, Z:0.27 [[ 9.93700317e-01 1.10700589e-01 -1.74659579e-02 2.02543137e+01] [-1.10665083e-01 9.93853260e-01 2.98945443e-03 -2.19823294e+00] [ 1.76895336e-02 -1.03775013e-03 9.99842989e-01 2.65876639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.157628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.29, Y:-2.20, Z:0.27 [[ 9.93502960e-01 1.12424556e-01 -1.76801732e-02 2.02861201e+01] [-1.12388363e-01 9.93659736e-01 3.03071310e-03 -2.20357008e+00] [ 1.79088028e-02 -1.02397671e-03 9.99839100e-01 2.66511255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.32, Y:-2.21, Z:0.27 [[ 9.93022528e-01 1.16502460e-01 -1.82602076e-02 2.03154819e+01] [-1.16464465e-01 9.93189914e-01 3.13420954e-03 -2.20996827e+00] [ 1.85009972e-02 -9.85675380e-04 9.99828356e-01 2.65839378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.217628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.35, Y:-2.21, Z:0.27 [[ 9.92695911e-01 1.19220901e-01 -1.84717619e-02 2.03471496e+01] [-1.19182484e-01 9.92867303e-01 3.17076501e-03 -2.21307270e+00] [ 1.87180299e-02 -9.46094991e-04 9.99824355e-01 2.66175018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.38, Y:-2.22, Z:0.27 [[ 9.92354031e-01 1.22001100e-01 -1.86871453e-02 2.03784468e+01] [-1.21962248e-01 9.92529552e-01 3.20906957e-03 -2.21586705e+00] [ 1.89390540e-02 -9.05406868e-04 9.99820230e-01 2.66393255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.277628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.41, Y:-2.22, Z:0.27 [[ 9.91949831e-01 1.25182818e-01 -1.90996109e-02 2.04094647e+01] [-1.25142807e-01 9.92133315e-01 3.28061301e-03 -2.21874107e+00] [ 1.93600367e-02 -8.64024604e-04 9.99812204e-01 2.66881877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.307628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.44, Y:-2.22, Z:0.27 [[ 9.91130812e-01 1.31435238e-01 -1.96084874e-02 2.04390260e+01] [-1.31394275e-01 9.91324466e-01 3.36857129e-03 -2.22082018e+00] [ 1.98811222e-02 -7.62251815e-04 9.99802060e-01 2.66774185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.337628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.47, Y:-2.23, Z:0.27 [[ 9.90686640e-01 1.34754605e-01 -1.95237731e-02 2.04692211e+01] [-1.34714640e-01 9.90878760e-01 3.35398080e-03 -2.22512924e+00] [ 1.97976564e-02 -6.92605914e-04 9.99803767e-01 2.66905700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.50, Y:-2.23, Z:0.27 [[ 9.90259844e-01 1.37839588e-01 -1.96389733e-02 2.05004388e+01] [-1.37799746e-01 9.90454363e-01 3.37421332e-03 -2.22779584e+00] [ 1.99166070e-02 -6.35102420e-04 9.99801443e-01 2.67768918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.397628 meters Centerline goodness [0,1] 0.9998482746662043 Centerline is valid? [True, True] Translation: X:20.53, Y:-2.23, Z:0.27 [[ 9.89909017e-01 1.40201657e-01 -2.05823659e-02 2.05320460e+01] [-1.40158364e-01 9.90122777e-01 3.53823787e-03 -2.23219482e+00] [ 2.08751361e-02 -6.17742828e-04 9.99781900e-01 2.66640885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.427628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.56, Y:-2.24, Z:0.27 [[ 9.89428710e-01 1.43760017e-01 -1.90757724e-02 2.05619281e+01] [-1.43723419e-01 9.89612450e-01 3.28296133e-03 -2.23804498e+00] [ 1.93495804e-02 -5.06620964e-04 9.99812651e-01 2.69379168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.59, Y:-2.24, Z:0.27 [[ 9.88608975e-01 1.49286311e-01 -1.91283012e-02 2.05930488e+01] [-1.49250536e-01 9.88793931e-01 3.29242315e-03 -2.24047459e+00] [ 1.94054619e-02 -4.00009870e-04 9.99811616e-01 2.69431367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.487628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.62, Y:-2.24, Z:0.27 [[ 9.88150101e-01 1.52205704e-01 -1.98192314e-02 2.06249512e+01] [-1.52167849e-01 9.88348773e-01 3.41309058e-03 -2.24434525e+00] [ 2.01078048e-02 -3.56795986e-04 9.99797754e-01 2.69512083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.66, Y:-2.25, Z:0.27 [[ 9.87727859e-01 1.54942643e-01 -1.96584487e-02 2.06556677e+01] [-1.54905850e-01 9.87923421e-01 3.38999213e-03 -2.24976293e+00] [ 1.99462962e-02 -3.03180959e-04 9.99801007e-01 2.69457896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.69, Y:-2.26, Z:0.27 [[ 9.87349814e-01 1.57378280e-01 -1.92982510e-02 2.06860461e+01] [-1.57343234e-01 9.87538360e-01 3.33068171e-03 -2.25521045e+00] [ 1.95819401e-02 -2.52098747e-04 9.99808224e-01 2.69885992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.72, Y:-2.26, Z:0.27 [[ 9.86657189e-01 1.61795334e-01 -1.81620850e-02 2.07179305e+01] [-1.61764989e-01 9.86824323e-01 3.13740207e-03 -2.26137515e+00] [ 1.84304043e-02 -1.57550833e-04 9.99830133e-01 2.70544051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.607628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.75, Y:-2.27, Z:0.27 [[ 9.86308623e-01 1.63943754e-01 -1.78254415e-02 2.07498378e+01] [-1.63914794e-01 9.86469681e-01 3.08367365e-03 -2.26745353e+00] [ 1.80898066e-02 -1.19600328e-04 9.99836359e-01 2.71239421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.78, Y:-2.28, Z:0.27 [[ 9.85633217e-01 1.67979085e-01 -1.76121719e-02 2.07812120e+01] [-1.67951380e-01 9.85790558e-01 3.05117213e-03 -2.27518838e+00] [ 1.78744458e-02 -4.93480355e-05 9.99840238e-01 2.72245383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.81, Y:-2.28, Z:0.27 [[ 9.85345240e-01 1.69686648e-01 -1.73550977e-02 2.08124676e+01] [-1.69659932e-01 9.85498067e-01 3.01106948e-03 -2.28246239e+00] [ 1.76143536e-02 -2.24782798e-05 9.99844855e-01 2.72377496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.84, Y:-2.29, Z:0.27 [[ 9.85029295e-01 1.71472752e-01 -1.77308601e-02 2.08441861e+01] [-1.71445066e-01 9.85188863e-01 3.08125057e-03 -2.29004689e+00] [ 1.79965964e-02 4.74640784e-06 9.99838048e-01 2.72724944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.88, Y:-2.30, Z:0.27 [[ 9.84736265e-01 1.73177350e-01 -1.74383043e-02 2.08760435e+01] [-1.73150748e-01 9.84890656e-01 3.03543596e-03 -2.29815091e+00] [ 1.77004917e-02 3.03515771e-05 9.99843334e-01 2.72984844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.91, Y:-2.31, Z:0.27 [[ 9.84345427e-01 1.75328972e-01 -1.79953164e-02 2.09079875e+01] [-1.75300903e-01 9.84509902e-01 3.13786048e-03 -2.30922730e+00] [ 1.82667250e-02 6.58565993e-05 9.99833147e-01 2.72492392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.94, Y:-2.32, Z:0.27 [[ 9.84193803e-01 1.76178383e-01 -1.79926230e-02 2.09389275e+01] [-1.76150368e-01 9.84358254e-01 3.14268820e-03 -2.31698145e+00] [ 1.82648607e-02 7.63929064e-05 9.99833181e-01 2.72110756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.97, Y:-2.33, Z:0.27 [[ 9.84048601e-01 1.76970537e-01 -1.81598284e-02 2.09703525e+01] [-1.76942039e-01 9.84216146e-01 3.17701546e-03 -2.32556002e+00] [ 1.84354344e-02 8.68994347e-05 9.99830049e-01 2.71953149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.847628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.00, Y:-2.33, Z:0.27 [[ 9.83993791e-01 1.77281653e-01 -1.80951458e-02 2.10014362e+01] [-1.77253313e-01 9.84160154e-01 3.17099782e-03 -2.33410889e+00] [ 1.83706812e-02 8.71823749e-05 9.99831241e-01 2.71740589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.03, Y:-2.35, Z:0.27 [[ 9.84135730e-01 1.76400771e-01 -1.89640146e-02 2.10324103e+01] [-1.76369374e-01 9.84318426e-01 3.32875649e-03 -2.34967015e+00] [ 1.92538242e-02 6.87231949e-05 9.99814626e-01 2.72311122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.907628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.06, Y:-2.36, Z:0.27 [[ 9.84309595e-01 1.75371459e-01 -1.94800590e-02 2.10641762e+01] [-1.75338014e-01 9.84502336e-01 3.42512885e-03 -2.36159324e+00] [ 1.97788334e-02 4.42076643e-05 9.99804379e-01 2.73191630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.10, Y:-2.37, Z:0.27 [[ 9.84593079e-01 1.73740536e-01 -1.97659977e-02 2.10951563e+01] [-1.73705657e-01 9.84791463e-01 3.48119688e-03 -2.37355498e+00] [ 2.00702108e-02 5.90324992e-06 9.99798573e-01 2.74377019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.967628 meters Centerline goodness [0,1] 0.9998410896708286 Centerline is valid? [True, True] Translation: X:21.12, Y:-2.39, Z:0.27 [[ 9.85340068e-01 1.69376891e-01 -2.04063350e-02 2.11241595e+01] [-1.69338660e-01 9.85551348e-01 3.59971744e-03 -2.39076497e+00] [ 2.07211999e-02 -9.13644164e-05 9.99785289e-01 2.72061539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.16, Y:-2.40, Z:0.28 [[ 9.85436107e-01 1.68935916e-01 -1.93993791e-02 2.11554698e+01] [-1.68901189e-01 9.85627032e-01 3.42667518e-03 -2.39989689e+00] [ 1.96994410e-02 -1.00191262e-04 9.99805942e-01 2.75670378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.027628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.19, Y:-2.40, Z:0.28 [[ 9.84889359e-01 1.72313598e-01 -1.73486311e-02 2.11875397e+01] [-1.72286269e-01 9.85042143e-01 3.06898732e-03 -2.40335310e+00] [ 1.76179610e-02 -3.36820215e-05 9.99844791e-01 2.77130059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.057628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.22, Y:-2.41, Z:0.28 [[ 9.84273854e-01 1.75923095e-01 -1.60014075e-02 2.12196924e+01] [-1.75900260e-01 9.84403913e-01 2.83447852e-03 -2.40704912e+00] [ 1.62504984e-02 2.47486475e-05 9.99867952e-01 2.77646530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.087628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.25, Y:-2.41, Z:0.28 [[ 9.83897483e-01 1.78003672e-01 -1.61380082e-02 2.12518983e+01] [-1.77980653e-01 9.84029821e-01 2.86313973e-03 -2.41308423e+00] [ 1.63899307e-02 5.52172613e-05 9.99865675e-01 2.78379311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.28, Y:-2.42, Z:0.28 [[ 9.83492166e-01 1.80195315e-01 -1.65169261e-02 2.12846867e+01] [-1.80171429e-01 9.83630846e-01 2.93521634e-03 -2.41892405e+00] [ 1.67754703e-02 8.91159190e-05 9.99859278e-01 2.79424551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.147628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.32, Y:-2.42, Z:0.28 [[ 9.83642586e-01 1.79344976e-01 -1.68120014e-02 2.13158821e+01] [-1.79320023e-01 9.83786244e-01 2.99244605e-03 -2.42454556e+00] [ 1.70760959e-02 7.12311222e-05 9.99854190e-01 2.79138091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.177628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.35, Y:-2.43, Z:0.28 [[ 9.83838723e-01 1.78196347e-01 -1.75336329e-02 2.13482657e+01] [-1.78168961e-01 9.83994949e-01 3.12438905e-03 -2.43102202e+00] [ 1.78097609e-02 5.00542178e-05 9.99841392e-01 2.79127681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.207628 meters Centerline goodness [0,1] 0.9998638807595454 Centerline is valid? [True, True] Translation: X:21.38, Y:-2.44, Z:0.28 [[ 9.84163270e-01 1.76340083e-01 -1.80785324e-02 2.13806968e+01] [-1.76310561e-01 9.84329302e-01 3.22661854e-03 -2.43735017e+00] [ 1.83642113e-02 1.19167411e-05 9.99831364e-01 2.76767740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.237628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.41, Y:-2.44, Z:0.28 [[ 9.84754233e-01 1.73093481e-01 -1.72553533e-02 2.14119165e+01] [-1.73066005e-01 9.84905399e-01 3.08445973e-03 -2.44482216e+00] [ 1.75287905e-02 -5.11197179e-05 9.99846358e-01 2.79939191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.267628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.44, Y:-2.45, Z:0.28 [[ 9.85147701e-01 1.70885581e-01 -1.67966031e-02 2.14437957e+01] [-1.70859150e-01 9.85290876e-01 3.00690419e-03 -2.45273605e+00] [ 1.70633764e-02 -9.23914241e-05 9.99854406e-01 2.81259370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.47, Y:-2.46, Z:0.28 [[ 9.85577820e-01 1.68474586e-01 -1.58957171e-02 2.14749237e+01] [-1.68450531e-01 9.85705989e-01 2.84988865e-03 -2.46024796e+00] [ 1.61486374e-02 -1.31145043e-04 9.99869594e-01 2.82579431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.51, Y:-2.47, Z:0.28 [[ 9.85943143e-01 1.66409812e-01 -1.49630328e-02 2.15065158e+01] [-1.66388207e-01 9.86056666e-01 2.68615156e-03 -2.46710906e+00] [ 1.52014002e-02 -1.58720516e-04 9.99884439e-01 2.84218044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.357628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.54, Y:-2.47, Z:0.28 [[ 9.86327004e-01 1.64153670e-01 -1.45813149e-02 2.15371714e+01] [-1.64132853e-01 9.86434760e-01 2.62120186e-03 -2.47452835e+00] [ 1.48137957e-02 -1.92089364e-04 9.99890251e-01 2.84898051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.57, Y:-2.48, Z:0.28 [[ 9.87207687e-01 1.58788342e-01 -1.43960293e-02 2.15680836e+01] [-1.58767432e-01 9.87312609e-01 2.59118540e-03 -2.48139679e+00] [ 1.46248313e-02 -2.72417540e-04 9.99893014e-01 2.84854560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.60, Y:-2.49, Z:0.28 [[ 9.87717516e-01 1.55534292e-01 -1.49396576e-02 2.15981067e+01] [-1.55511346e-01 9.87830436e-01 2.69261986e-03 -2.48905398e+00] [ 1.51766433e-02 -3.36261524e-04 9.99884772e-01 2.84510228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.63, Y:-2.49, Z:0.28 [[ 9.88688728e-01 1.49201321e-01 -1.52828668e-02 2.16288036e+01] [-1.49176496e-01 9.88806739e-01 2.75806633e-03 -2.49423132e+00] [ 1.55233088e-02 -4.47024573e-04 9.99879406e-01 2.83859672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.66, Y:-2.50, Z:0.28 [[ 9.89087417e-01 1.46559040e-01 -1.50508880e-02 2.16606385e+01] [-1.46534654e-01 9.89201808e-01 2.71645593e-03 -2.49961758e+00] [ 1.52864868e-02 -4.81335710e-04 9.99883039e-01 2.84451834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.69, Y:-2.51, Z:0.29 [[ 9.89392135e-01 1.44543260e-01 -1.45068448e-02 2.16911973e+01] [-1.44520375e-01 9.89498358e-01 2.61916937e-03 -2.50551624e+00] [ 1.47330824e-02 -4.94850918e-04 9.99891340e-01 2.85513284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.72, Y:-2.51, Z:0.29 [[ 9.89625746e-01 1.43018784e-01 -1.36568423e-02 2.17231108e+01] [-1.42998316e-01 9.89719853e-01 2.46872304e-03 -2.51127979e+00] [ 1.38695217e-02 -4.90206432e-04 9.99903693e-01 2.86509757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.75, Y:-2.52, Z:0.29 [[ 9.90260289e-01 1.38514637e-01 -1.40802929e-02 2.17536692e+01] [-1.38492367e-01 9.90360220e-01 2.54929876e-03 -2.51736402e+00] [ 1.42976771e-02 -5.74456236e-04 9.99897618e-01 2.87226646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.597628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.79, Y:-2.52, Z:0.29 [[ 9.90524937e-01 1.36622921e-01 -1.39472504e-02 2.17855355e+01] [-1.36600880e-01 9.90622946e-01 2.52538655e-03 -2.52166307e+00] [ 1.41614920e-02 -5.96251680e-04 9.99899543e-01 2.87076129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.627628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.82, Y:-2.53, Z:0.29 [[ 9.90732355e-01 1.35109392e-01 -1.39589822e-02 2.18160911e+01] [-1.35087153e-01 9.90830494e-01 2.52832902e-03 -2.52795540e+00] [ 1.41725862e-02 -6.19218204e-04 9.99899372e-01 2.87002025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.657628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.85, Y:-2.54, Z:0.29 [[ 9.90851914e-01 1.34210727e-01 -1.41409111e-02 2.18464553e+01] [-1.34187763e-01 9.90952606e-01 2.56473052e-03 -2.53587618e+00] [ 1.43571870e-02 -6.43730926e-04 9.99896723e-01 2.87201825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.88, Y:-2.54, Z:0.29 [[ 9.90948843e-01 1.33561959e-01 -1.34756977e-02 2.18773317e+01] [-1.33541004e-01 9.91040268e-01 2.44711075e-03 -2.54106692e+00] [ 1.36817999e-02 -6.25403365e-04 9.99906204e-01 2.87484371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.717628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.91, Y:-2.55, Z:0.29 [[ 9.90912549e-01 1.33831012e-01 -1.34751718e-02 2.19092167e+01] [-1.33810042e-01 9.91003971e-01 2.45000296e-03 -2.54694544e+00] [ 1.36818351e-02 -6.24625374e-04 9.99906204e-01 2.87990798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.94, Y:-2.55, Z:0.29 [[ 9.90870517e-01 1.34121987e-01 -1.36715516e-02 2.19423934e+01] [-1.34100375e-01 9.90964627e-01 2.48958594e-03 -2.54781307e+00] [ 1.38819323e-02 -6.33497111e-04 9.99903441e-01 2.88207280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.777628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.97, Y:-2.55, Z:0.29 [[ 9.90754192e-01 1.34990597e-01 -1.35525001e-02 2.19732856e+01] [-1.34969386e-01 9.90846686e-01 2.47193168e-03 -2.55313150e+00] [ 1.37621373e-02 -6.19904059e-04 9.99905105e-01 2.88506701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.807628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.00, Y:-2.56, Z:0.29 [[ 9.90384101e-01 1.37670167e-01 -1.36476195e-02 2.20047466e+01] [-1.37648861e-01 9.90477954e-01 2.49285165e-03 -2.55531223e+00] [ 1.38608576e-02 -5.90301354e-04 9.99903759e-01 2.89463335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.837628 meters Centerline goodness [0,1] 0.9998647155644743 Centerline is valid? [True, True] Translation: X:22.04, Y:-2.56, Z:0.29 [[ 9.90194638e-01 1.38974836e-01 -1.41623848e-02 2.20365362e+01] [-1.38952021e-01 9.90295735e-01 2.58716678e-03 -2.55926410e+00] [ 1.43845004e-02 -5.93906674e-04 9.99896361e-01 2.87497940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.07, Y:-2.56, Z:0.29 [[ 9.89788370e-01 1.41939925e-01 -1.31164545e-02 2.20662100e+01] [-1.41920570e-01 9.89875141e-01 2.39952913e-03 -2.56384664e+00] [ 1.33242413e-02 -5.13531328e-04 9.99911096e-01 2.90202377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.897628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.10, Y:-2.57, Z:0.29 [[ 9.89506420e-01 1.43939996e-01 -1.25826168e-02 2.20987679e+01] [-1.43922331e-01 9.89586307e-01 2.30310603e-03 -2.56699541e+00] [ 1.27830944e-02 -4.68018664e-04 9.99918183e-01 2.90195332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.927628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.13, Y:-2.57, Z:0.29 [[ 9.88998182e-01 1.47394419e-01 -1.25491598e-02 2.21284046e+01] [-1.47377098e-01 9.89077704e-01 2.29908572e-03 -2.57207497e+00] [ 1.27509666e-02 -4.24332846e-04 9.99918613e-01 2.89623323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.957628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.16, Y:-2.58, Z:0.29 [[ 9.88746550e-01 1.49022670e-01 -1.31340982e-02 2.21594045e+01] [-1.49003840e-01 9.88833690e-01 2.40623959e-03 -2.57769710e+00] [ 1.33460230e-02 -4.22130026e-04 9.99910849e-01 2.89190902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.987628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.19, Y:-2.58, Z:0.29 [[ 9.88543094e-01 1.50334323e-01 -1.34960643e-02 2.21910211e+01] [-1.50314538e-01 9.88635129e-01 2.47432135e-03 -2.58084756e+00] [ 1.37146587e-02 -4.17318600e-04 9.99905863e-01 2.89124124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.017628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.22, Y:-2.59, Z:0.29 [[ 9.88358309e-01 1.51510580e-01 -1.38707065e-02 2.22221799e+01] [-1.51489747e-01 9.88455548e-01 2.54664709e-03 -2.58722264e+00] [ 1.40964208e-02 -4.15729989e-04 9.99900554e-01 2.89634340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.25, Y:-2.59, Z:0.29 [[ 9.88058159e-01 1.53472810e-01 -1.36810728e-02 2.22534362e+01] [-1.53452683e-01 9.88152796e-01 2.51523978e-03 -2.59411075e+00] [ 1.39050112e-02 -3.85805862e-04 9.99903246e-01 2.90384378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.28, Y:-2.60, Z:0.29 [[ 9.87930371e-01 1.54276664e-01 -1.38669715e-02 2.22847317e+01] [-1.54256014e-01 9.88027613e-01 2.55297120e-03 -2.59979132e+00] [ 1.40948147e-02 -3.83094020e-04 9.99900590e-01 2.91010686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.107628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.32, Y:-2.61, Z:0.29 [[ 9.87785710e-01 1.55175078e-01 -1.41451517e-02 2.23160523e+01] [-1.55153632e-01 9.87886911e-01 2.60787588e-03 -2.60565916e+00] [ 1.43784875e-02 -3.81350882e-04 9.99896551e-01 2.91123091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.35, Y:-2.61, Z:0.29 [[ 9.87546640e-01 1.56639717e-01 -1.46844571e-02 2.23465596e+01] [-1.56616708e-01 9.87655738e-01 2.71119227e-03 -2.61214244e+00] [ 1.49278687e-02 -3.77597500e-04 9.99888502e-01 2.89526560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.38, Y:-2.62, Z:0.29 [[ 9.87474490e-01 1.57022850e-01 -1.54258091e-02 2.23772946e+01] [-1.56997445e-01 9.87594891e-01 2.85186166e-03 -2.61963977e+00] [ 1.56822577e-02 -3.94328023e-04 9.99876948e-01 2.89116767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.41, Y:-2.62, Z:0.29 [[ 9.87426591e-01 1.57300787e-01 -1.56585509e-02 2.24094312e+01] [-1.57274578e-01 9.87550658e-01 2.89911504e-03 -2.62421749e+00] [ 1.59196453e-02 -3.99971302e-04 9.99873194e-01 2.89206837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.44, Y:-2.63, Z:0.29 [[ 9.87438018e-01 1.57207491e-01 -1.58734438e-02 2.24396094e+01] [-1.57180469e-01 9.87565509e-01 2.94359279e-03 -2.63454977e+00] [ 1.61388204e-02 -4.11620087e-04 9.99869676e-01 2.89378740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.47, Y:-2.64, Z:0.29 [[ 9.87485707e-01 1.56905490e-01 -1.58948048e-02 2.24708172e+01] [-1.56878287e-01 9.87613533e-01 2.95187929e-03 -2.64103762e+00] [ 1.61610904e-02 -4.21388862e-04 9.99869312e-01 2.89898862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.50, Y:-2.65, Z:0.29 [[ 9.87502170e-01 1.56782428e-01 -1.60852355e-02 2.25017360e+01] [-1.56754485e-01 9.87633071e-01 2.99135159e-03 -2.65015011e+00] [ 1.63553019e-02 -4.32533376e-04 9.99866150e-01 2.90705016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.53, Y:-2.66, Z:0.29 [[ 9.87403210e-01 1.57437119e-01 -1.57624193e-02 2.25330472e+01] [-1.57410303e-01 9.87528926e-01 2.93544794e-03 -2.65593586e+00] [ 1.60279934e-02 -4.17303518e-04 9.99871456e-01 2.91564921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.347628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.56, Y:-2.66, Z:0.29 [[ 9.87114866e-01 1.59264003e-01 -1.54667152e-02 2.25645848e+01] [-1.59238350e-01 9.87235955e-01 2.88406235e-03 -2.65975197e+00] [ 1.57286247e-02 -3.84006609e-04 9.99876224e-01 2.92218703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.60, Y:-2.66, Z:0.29 [[ 9.86887712e-01 1.60654333e-01 -1.55829915e-02 2.25960562e+01] [-1.60628405e-01 9.87010663e-01 2.90961335e-03 -2.66389313e+00] [ 1.58480207e-02 -3.68390588e-04 9.99874344e-01 2.92169216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.407628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.63, Y:-2.67, Z:0.29 [[ 9.86706435e-01 1.61719969e-01 -1.60331731e-02 2.26257241e+01] [-1.61692595e-01 9.86836622e-01 2.99779595e-03 -2.67193560e+00] [ 1.63069259e-02 -3.65499187e-04 9.99866966e-01 2.92115926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.66, Y:-2.67, Z:0.29 [[ 9.86590193e-01 1.62428318e-01 -1.60260214e-02 2.26574673e+01] [-1.62401001e-01 9.86720281e-01 3.00018615e-03 -2.67442906e+00] [ 1.63005155e-02 -3.57312315e-04 9.99867074e-01 2.92180487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.467628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.69, Y:-2.68, Z:0.29 [[ 9.86441948e-01 1.63336274e-01 -1.59230679e-02 2.26895644e+01] [-1.63309360e-01 9.86570394e-01 2.98492829e-03 -2.67870643e+00] [ 1.61967744e-02 -3.44072463e-04 9.99868764e-01 2.92209158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.72, Y:-2.68, Z:0.29 [[ 9.86372817e-01 1.63703255e-01 -1.64289510e-02 2.27217558e+01] [-1.63674581e-01 9.86509564e-01 3.08414466e-03 -2.68440574e+00] [ 1.67122018e-02 -3.53114792e-04 9.99860279e-01 2.92002915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.527628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.75, Y:-2.69, Z:0.29 [[ 9.86440529e-01 1.63231225e-01 -1.70484752e-02 2.27537315e+01] [-1.63200189e-01 9.86587767e-01 3.20552952e-03 -2.68988673e+00] [ 1.73430596e-02 -3.79749868e-04 9.99849526e-01 2.91719135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.557628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.78, Y:-2.70, Z:0.29 [[ 9.86638134e-01 1.61999219e-01 -1.73621790e-02 2.27840303e+01] [-1.61966764e-01 9.86790800e-01 3.26876521e-03 -2.69721152e+00] [ 1.76623759e-02 -4.12992466e-04 9.99843923e-01 2.91748763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.587628 meters Centerline goodness [0,1] 0.9998418079096045 Centerline is valid? [True, True] Translation: X:22.82, Y:-2.70, Z:0.29 [[ 9.86823962e-01 1.60829001e-01 -1.76776899e-02 2.28154272e+01] [-1.60795119e-01 9.86982186e-01 3.33089933e-03 -2.70218406e+00] [ 1.79832702e-02 -4.44525019e-04 9.99838189e-01 2.90262867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.85, Y:-2.71, Z:0.29 [[ 9.86825275e-01 1.60943428e-01 -1.65253992e-02 2.28460926e+01] [-1.60913769e-01 9.86963545e-01 3.11775217e-03 -2.71002710e+00] [ 1.68117483e-02 -4.17512379e-04 9.99858585e-01 2.94254125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.647628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.88, Y:-2.71, Z:0.30 [[ 9.86998083e-01 1.59937176e-01 -1.59651067e-02 2.28780367e+01] [-1.59909295e-01 9.87127104e-01 3.01621795e-03 -2.71480225e+00] [ 1.62419949e-02 -4.24032383e-04 9.99868000e-01 2.95076940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.677628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.91, Y:-2.72, Z:0.30 [[ 9.87181768e-01 1.58874643e-01 -1.51988364e-02 2.29095860e+01] [-1.58849191e-01 9.87298672e-01 2.87509585e-03 -2.72106023e+00] [ 1.54625708e-02 -4.23919333e-04 9.99880357e-01 2.95967931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.707628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.94, Y:-2.73, Z:0.30 [[ 9.87464242e-01 1.57201326e-01 -1.42167047e-02 2.29397258e+01] [-1.57178836e-01 9.87566485e-01 2.69265852e-03 -2.72853697e+00] [ 1.44632305e-02 -4.24338905e-04 9.99895312e-01 2.97395188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.737628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.97, Y:-2.74, Z:0.30 [[ 9.87484457e-01 1.57110469e-01 -1.38111481e-02 2.29723693e+01] [-1.57089193e-01 9.87580947e-01 2.61886877e-03 -2.73538836e+00] [ 1.40510785e-02 -4.16510092e-04 9.99901192e-01 2.98080658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.767628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.01, Y:-2.74, Z:0.30 [[ 9.87440444e-01 1.57409768e-01 -1.35474975e-02 2.30051642e+01] [-1.57389273e-01 9.87533290e-01 2.57259358e-03 -2.74158761e+00] [ 1.37835562e-02 -4.08052156e-04 9.99904919e-01 2.98226857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.04, Y:-2.75, Z:0.30 [[ 9.87261711e-01 1.58476109e-01 -1.41292774e-02 2.30363237e+01] [-1.58453865e-01 9.87362725e-01 2.68724030e-03 -2.74712536e+00] [ 1.43765852e-02 -4.14170843e-04 9.99896566e-01 2.98188926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.07, Y:-2.75, Z:0.30 [[ 9.86771552e-01 1.61491884e-01 -1.42223306e-02 2.30668132e+01] [-1.61469608e-01 9.86873969e-01 2.70844791e-03 -2.75176177e+00] [ 1.44730402e-02 -3.76145189e-04 9.99895189e-01 2.98048249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.857628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.10, Y:-2.76, Z:0.30 [[ 9.86385015e-01 1.63812663e-01 -1.44918749e-02 2.30990650e+01] [-1.63789735e-01 9.86491403e-01 2.76318131e-03 -2.75685125e+00] [ 1.47487541e-02 -3.51940292e-04 9.99891169e-01 2.98581454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.13, Y:-2.76, Z:0.30 [[ 9.85970109e-01 1.66323827e-01 -1.41183537e-02 2.31299992e+01] [-1.66302298e-01 9.86071138e-01 2.69364284e-03 -2.76185020e+00] [ 1.43697181e-02 -3.07936657e-04 9.99896703e-01 2.99367086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.16, Y:-2.77, Z:0.30 [[ 9.85549688e-01 1.68842695e-01 -1.35630741e-02 2.31616831e+01] [-1.68823026e-01 9.85642975e-01 2.59054064e-03 -2.76656673e+00] [ 1.38057425e-02 -2.63347309e-04 9.99904662e-01 3.00059496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.19, Y:-2.77, Z:0.30 [[ 9.84925248e-01 1.72501400e-01 -1.28655409e-02 2.31942882e+01] [-1.72483977e-01 9.85009251e-01 2.46012537e-03 -2.76855424e+00] [ 1.30970519e-02 -2.03939925e-04 9.99914209e-01 2.99713237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.23, Y:-2.77, Z:0.30 [[ 9.84660004e-01 1.73993338e-01 -1.30764825e-02 2.32256045e+01] [-1.73975426e-01 9.84746811e-01 2.50384888e-03 -2.77499473e+00] [ 1.33126774e-02 -1.90453245e-04 9.99911364e-01 3.00149690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.26, Y:-2.78, Z:0.30 [[ 9.84454408e-01 1.75158723e-01 -1.29977096e-02 2.32556690e+01] [-1.75141084e-01 9.84540192e-01 2.49206055e-03 -2.78194486e+00] [ 1.32332737e-02 -1.76887046e-04 9.99912421e-01 3.00481195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.29, Y:-2.79, Z:0.30 [[ 9.84119302e-01 1.76992139e-01 -1.35270954e-02 2.32867201e+01] [-1.76973162e-01 9.84212252e-01 2.59681578e-03 -2.78980600e+00] [ 1.37731490e-02 -1.61643688e-04 9.99905133e-01 3.00913938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.32, Y:-2.79, Z:0.30 [[ 9.83810582e-01 1.78735243e-01 -1.30556988e-02 2.33175569e+01] [-1.78717674e-01 9.83897197e-01 2.50966443e-03 -2.79426502e+00] [ 1.32940310e-02 -1.35750284e-04 9.99911621e-01 3.01710223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.097628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.35, Y:-2.80, Z:0.30 [[ 9.83619742e-01 1.79778722e-01 -1.31078127e-02 2.33498946e+01] [-1.79761085e-01 9.83707068e-01 2.52122822e-03 -2.79933238e+00] [ 1.33475112e-02 -1.23655223e-04 9.99910910e-01 3.01500957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.38, Y:-2.81, Z:0.30 [[ 9.83654998e-01 1.79553040e-01 -1.35480712e-02 2.33814472e+01] [-1.79534119e-01 9.83748285e-01 2.61003799e-03 -2.80552918e+00] [ 1.37965321e-02 -1.35035878e-04 9.99904814e-01 3.00984974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.157628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.41, Y:-2.81, Z:0.30 [[ 9.84038813e-01 1.77451112e-01 -1.33685509e-02 2.34119350e+01] [-1.77432466e-01 9.84129603e-01 2.57765117e-03 -2.81215411e+00] [ 1.36137938e-02 -1.64493848e-04 9.99907314e-01 3.00913464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.44, Y:-2.82, Z:0.30 [[ 9.84380803e-01 1.75546843e-01 -1.33319752e-02 2.34434454e+01] [-1.75528084e-01 9.84471060e-01 2.57353921e-03 -2.81976331e+00] [ 1.35767204e-02 -1.93206532e-04 9.99907813e-01 3.01746908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.217628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.47, Y:-2.83, Z:0.30 [[ 9.84850942e-01 1.72936389e-01 -1.27132843e-02 2.34746575e+01] [-1.72919076e-01 9.84932970e-01 2.45698680e-03 -2.82808345e+00] [ 1.29466353e-02 -2.21396379e-04 9.99916164e-01 3.02749905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.51, Y:-2.83, Z:0.30 [[ 9.85156452e-01 1.71251837e-01 -1.18140968e-02 2.35062115e+01] [-1.71236734e-01 9.85227261e-01 2.28579164e-03 -2.83493542e+00] [ 1.20310163e-02 -2.28855033e-04 9.99927599e-01 3.04239908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.277628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.54, Y:-2.84, Z:0.30 [[ 9.85856513e-01 1.67183354e-01 -1.16902255e-02 2.35376220e+01] [-1.67168242e-01 9.85925783e-01 2.26500387e-03 -2.83978656e+00] [ 1.19043657e-02 -2.78734361e-04 9.99929102e-01 3.03962244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.307628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.57, Y:-2.85, Z:0.30 [[ 9.86207520e-01 1.65035653e-01 -1.25682573e-02 2.35687112e+01] [-1.65017994e-01 9.86287547e-01 2.43645336e-03 -2.84640828e+00] [ 1.27980174e-02 -3.28860004e-04 9.99918048e-01 3.03532726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.337628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.60, Y:-2.85, Z:0.30 [[ 9.86510627e-01 1.63149901e-01 -1.33750928e-02 2.35998785e+01] [-1.63129679e-01 9.86601219e-01 2.59650231e-03 -2.85328823e+00] [ 1.36195019e-02 -3.79602525e-04 9.99907178e-01 3.02974757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.63, Y:-2.86, Z:0.30 [[ 9.86990362e-01 1.60148608e-01 -1.42284634e-02 2.36306551e+01] [-1.60125355e-01 9.87092812e-01 2.76613312e-03 -2.85971527e+00] [ 1.44878064e-02 -4.51808963e-04 9.99894944e-01 3.01949203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.397628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.66, Y:-2.87, Z:0.30 [[ 9.87140398e-01 1.59172091e-01 -1.47675428e-02 2.36618411e+01] [-1.59146907e-01 9.87250733e-01 2.87271513e-03 -2.86577476e+00] [ 1.50365236e-02 -4.85564400e-04 9.99886827e-01 3.02469269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.427628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.69, Y:-2.87, Z:0.30 [[ 9.87194397e-01 1.58826413e-01 -1.48792797e-02 2.36932437e+01] [-1.58800750e-01 9.87306397e-01 2.89818598e-03 -2.86997110e+00] [ 1.51507165e-02 -4.98232187e-04 9.99885097e-01 3.02758867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.72, Y:-2.88, Z:0.30 [[ 9.87201669e-01 1.58750066e-01 -1.52079024e-02 2.37242874e+01] [-1.58723186e-01 9.87318668e-01 2.96618706e-03 -2.87836786e+00] [ 1.54859284e-02 -5.14378095e-04 9.99879954e-01 3.03116045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.487628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.76, Y:-2.88, Z:0.30 [[ 9.87082572e-01 1.59446800e-01 -1.56433584e-02 2.37552859e+01] [-1.59418376e-01 9.87206384e-01 3.05550245e-03 -2.88319934e+00] [ 1.59304134e-02 -5.22194411e-04 9.99872967e-01 3.03080925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.517628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.79, Y:-2.89, Z:0.30 [[ 9.86891944e-01 1.60632489e-01 -1.55401150e-02 2.37876781e+01] [-1.60604530e-01 9.87014159e-01 3.03884738e-03 -2.88580234e+00] [ 1.58264511e-02 -5.03201137e-04 9.99874627e-01 3.03464447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.82, Y:-2.89, Z:0.30 [[ 9.86691721e-01 1.61877126e-01 -1.53376746e-02 2.38178285e+01] [-1.61849982e-01 9.86810805e-01 3.00309554e-03 -2.89186897e+00] [ 1.56215155e-02 -4.80727156e-04 9.99877861e-01 3.03766349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.85, Y:-2.90, Z:0.30 [[ 9.86479658e-01 1.63217526e-01 -1.47622469e-02 2.38499664e+01] [-1.63192480e-01 9.86590006e-01 2.89372849e-03 -2.89509133e+00] [ 1.50365925e-02 -4.45516602e-04 9.99886845e-01 3.04264657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.607628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.88, Y:-2.90, Z:0.30 [[ 9.86026157e-01 1.65958936e-01 -1.44930430e-02 2.38803470e+01] [-1.65935036e-01 9.86132583e-01 2.84471764e-03 -2.90079175e+00] [ 1.47641683e-02 -4.00062386e-04 9.99890924e-01 3.04900393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.91, Y:-2.91, Z:0.31 [[ 9.85980147e-01 1.66232106e-01 -1.44926604e-02 2.39121290e+01] [-1.66208207e-01 9.86086572e-01 2.84666586e-03 -2.90710958e+00] [ 1.47642250e-02 -3.97956934e-04 9.99890924e-01 3.05405906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.94, Y:-2.91, Z:0.31 [[ 9.85683722e-01 1.67973089e-01 -1.45822320e-02 2.39440602e+01] [-1.67949020e-01 9.85791508e-01 2.86850856e-03 -2.91242392e+00] [ 1.48568728e-02 -3.78370604e-04 9.99889559e-01 3.05369539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.98, Y:-2.92, Z:0.30 [[ 9.85298383e-01 1.70168731e-01 -1.51558317e-02 2.39751054e+01] [-1.70142930e-01 9.85414873e-01 2.98530081e-03 -2.91796085e+00] [ 1.54427868e-02 -3.62754452e-04 9.99880687e-01 3.04821626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.01, Y:-2.92, Z:0.30 [[ 9.84500889e-01 1.74641513e-01 -1.60730287e-02 2.40067493e+01] [-1.74613023e-01 9.84632034e-01 3.17004742e-03 -2.92117930e+00] [ 1.63796409e-02 -3.14354372e-04 9.99865795e-01 3.04412434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.04, Y:-2.93, Z:0.30 [[ 9.84027764e-01 1.77307966e-01 -1.58507176e-02 2.40370241e+01] [-1.77280589e-01 9.84155381e-01 3.12716651e-03 -2.92701317e+00] [ 1.61540406e-02 -2.67194114e-04 9.99869479e-01 3.04870265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.07, Y:-2.93, Z:0.31 [[ 9.83490393e-01 1.80280396e-01 -1.56724321e-02 2.40683976e+01] [-1.80253949e-01 9.83615235e-01 3.09565811e-03 -2.93182497e+00] [ 1.59737294e-02 -2.19532237e-04 9.99872388e-01 3.05606478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.10, Y:-2.94, Z:0.31 [[ 9.82486623e-01 1.85715543e-01 -1.51582282e-02 2.41000780e+01] [-1.85691392e-01 9.82603542e-01 2.99784319e-03 -2.93638119e+00] [ 1.54512748e-02 -1.30588333e-04 9.99880613e-01 3.06359207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.847628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.13, Y:-2.94, Z:0.31 [[ 9.82012426e-01 1.88259401e-01 -1.44911521e-02 2.41305952e+01] [-1.88237553e-01 9.82119336e-01 2.86947980e-03 -2.94180739e+00] [ 1.47722472e-02 -9.00858147e-05 9.99890880e-01 3.06728081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.16, Y:-2.95, Z:0.31 [[ 9.81570058e-01 1.90615095e-01 -1.36420748e-02 2.41624027e+01] [-1.90595918e-01 9.81664852e-01 2.70434634e-03 -2.94757302e+00] [ 1.39074345e-02 -5.43816237e-05 9.99903285e-01 3.07217663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.907628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.20, Y:-2.95, Z:0.31 [[ 9.81196619e-01 1.92520400e-01 -1.37510422e-02 2.41951143e+01] [-1.92501053e-01 9.81292971e-01 2.72940465e-03 -2.95395608e+00] [ 1.40192672e-02 -3.09925043e-05 9.99901725e-01 3.07707900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.23, Y:-2.96, Z:0.31 [[ 9.80524885e-01 1.95958320e-01 -1.30876409e-02 2.42270969e+01] [-1.95941054e-01 9.80612225e-01 2.60129214e-03 -2.96087786e+00] [ 1.33436455e-02 1.37744791e-05 9.99910970e-01 3.08619913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.967628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.26, Y:-2.97, Z:0.31 [[ 9.80194982e-01 1.97632854e-01 -1.26115980e-02 2.42597052e+01] [-1.97616914e-01 9.80276111e-01 2.51022751e-03 -2.96782604e+00] [ 1.28589517e-02 3.17526802e-05 9.99917320e-01 3.09123843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.29, Y:-2.97, Z:0.31 [[ 9.79824406e-01 1.99487354e-01 -1.22036265e-02 2.42918108e+01] [-1.99472530e-01 9.79900400e-01 2.43245267e-03 -2.97452956e+00] [ 1.24435820e-02 5.09117532e-05 9.99922574e-01 3.09910574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.027628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.32, Y:-2.98, Z:0.31 [[ 9.79498116e-01 2.01100006e-01 -1.19259574e-02 2.43242861e+01] [-2.01085927e-01 9.79570714e-01 2.38048618e-03 -2.98097611e+00] [ 1.21610344e-02 6.64604750e-05 9.99926050e-01 3.09926442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.057628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.36, Y:-2.98, Z:0.31 [[ 9.78677616e-01 2.05081603e-01 -1.14743637e-02 2.43557341e+01] [-2.05068804e-01 9.78744872e-01 2.29373245e-03 -2.98384480e+00] [ 1.17008770e-02 1.08209442e-04 9.99931537e-01 3.09685553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.087628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.39, Y:-2.99, Z:0.31 [[ 9.78275959e-01 2.06936634e-01 -1.23845360e-02 2.43876222e+01] [-2.06921834e-01 9.78354338e-01 2.47877977e-03 -2.98873281e+00] [ 1.26294149e-02 1.37700253e-04 9.99920236e-01 3.08665250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.42, Y:-2.99, Z:0.31 [[ 9.78072229e-01 2.07846842e-01 -1.32062927e-02 2.44194315e+01] [-2.07830045e-01 9.78161370e-01 2.64692470e-03 -2.99290512e+00] [ 1.34680403e-02 1.55780861e-04 9.99909290e-01 3.07844450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.147628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.45, Y:-3.00, Z:0.31 [[ 9.78050213e-01 2.07862212e-01 -1.45286737e-02 2.44522083e+01] [-2.07841819e-01 9.78158102e-01 2.91641840e-03 -2.99885461e+00] [ 1.48175531e-02 1.67262333e-04 9.99890200e-01 3.06971566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.177628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.48, Y:-3.00, Z:0.31 [[ 9.78488829e-01 2.05653154e-01 -1.63215369e-02 2.44830647e+01] [-2.05627021e-01 9.78624933e-01 3.28162116e-03 -3.00414883e+00] [ 1.66475387e-02 1.45119352e-04 9.99861410e-01 3.05100109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.207628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.51, Y:-3.01, Z:0.31 [[ 9.78751303e-01 2.04343675e-01 -1.70161401e-02 2.45140238e+01] [-2.04314999e-01 9.78899202e-01 3.42550976e-03 -3.01168770e+00] [ 1.73570673e-02 1.23930509e-04 9.99849347e-01 3.05072071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.237628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.55, Y:-3.02, Z:0.31 [[ 9.79124746e-01 2.02523794e-01 -1.72871142e-02 2.45454803e+01] [-2.02493835e-01 9.79277338e-01 3.48451164e-03 -3.01988306e+00] [ 1.76345757e-02 8.87624867e-05 9.99844495e-01 3.05376071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.267628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.58, Y:-3.03, Z:0.31 [[ 9.79507702e-01 2.00660647e-01 -1.73195435e-02 2.45769183e+01] [-2.00630205e-01 9.79660810e-01 3.49555909e-03 -3.02917775e+00] [ 1.76686991e-02 5.08965064e-05 9.99843895e-01 3.06389197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.61, Y:-3.04, Z:0.31 [[ 9.80392924e-01 1.96344342e-01 -1.66917265e-02 2.46076406e+01] [-1.96315358e-01 9.80535006e-01 3.37367583e-03 -3.03936978e+00] [ 1.70292243e-02 -3.06856464e-05 9.99854992e-01 3.07161162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.64, Y:-3.05, Z:0.31 [[ 9.80708855e-01 1.94830830e-01 -1.58457946e-02 2.46398296e+01] [-1.94804444e-01 9.80836859e-01 3.20692651e-03 -3.04664502e+00] [ 1.61669476e-02 -5.82300138e-05 9.99869305e-01 3.07843222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.357628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.67, Y:-3.05, Z:0.31 [[ 9.81154363e-01 1.92632518e-01 -1.51271024e-02 2.46707220e+01] [-1.92608144e-01 9.81270964e-01 3.06574549e-03 -3.05370762e+00] [ 1.54343486e-02 -9.43664607e-05 9.99880879e-01 3.08666727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.70, Y:-3.06, Z:0.31 [[ 9.81663437e-01 1.90038784e-01 -1.49049317e-02 2.47009209e+01] [-1.90014763e-01 9.81776574e-01 3.02458641e-03 -3.06183192e+00] [ 1.52081016e-02 -1.36968820e-04 9.99884341e-01 3.09736222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.73, Y:-3.07, Z:0.31 [[ 9.83006502e-01 1.83061126e-01 -1.36689698e-02 2.47300803e+01] [-1.83040206e-01 9.83101507e-01 2.77678414e-03 -3.07384948e+00] [ 1.39463061e-02 -2.27625811e-04 9.99902720e-01 3.11533866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.76, Y:-3.08, Z:0.31 [[ 9.83721809e-01 1.79253314e-01 -1.26353563e-02 2.47614254e+01] [-1.79235084e-01 9.83802917e-01 2.56995629e-03 -3.08049296e+00] [ 1.28913735e-02 -2.63422911e-04 9.99916868e-01 3.12590719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.79, Y:-3.09, Z:0.31 [[ 9.84409156e-01 1.75499329e-01 -1.17727694e-02 2.47917898e+01] [-1.75483232e-01 9.84479507e-01 2.39472239e-03 -3.08895125e+00] [ 1.20103224e-02 -2.91463021e-04 9.99927831e-01 3.14261626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.82, Y:-3.10, Z:0.32 [[ 9.85601649e-01 1.68803711e-01 -9.73119802e-03 2.48203341e+01] [-1.68792357e-01 9.85649639e-01 1.98245551e-03 -3.09699413e+00] [ 9.92619766e-03 -3.11359573e-04 9.99950686e-01 3.17252762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.85, Y:-3.10, Z:0.32 [[ 9.86190308e-01 1.65332893e-01 -9.68046003e-03 2.48509163e+01] [-1.65321492e-01 9.86237758e-01 1.97191804e-03 -3.10454228e+00] [ 9.87325811e-03 -3.44298369e-04 9.99951199e-01 3.17678030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.88, Y:-3.11, Z:0.32 [[ 9.86871438e-01 1.61190196e-01 -1.01235194e-02 2.48801730e+01] [-1.61177505e-01 9.86923278e-01 2.06265321e-03 -3.11236809e+00] [ 1.03236164e-02 -4.03889942e-04 9.99946628e-01 3.17753677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.597628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.91, Y:-3.12, Z:0.32 [[ 9.88145556e-01 1.53128171e-01 -1.09601203e-02 2.49103018e+01] [-1.53112798e-01 9.88206195e-01 2.23321968e-03 -3.11773837e+00] [ 1.11728277e-02 -5.28611406e-04 9.99937442e-01 3.16164524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.627628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.94, Y:-3.12, Z:0.32 [[ 9.88701705e-01 1.49441227e-01 -1.16729677e-02 2.49402662e+01] [-1.49423526e-01 9.88770423e-01 2.37902242e-03 -3.12404476e+00] [ 1.18974093e-02 -6.07927525e-04 9.99929039e-01 3.15742884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.657628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.97, Y:-3.13, Z:0.31 [[ 9.89168402e-01 1.46201615e-01 -1.30752071e-02 2.49693882e+01] [-1.46179116e-01 9.89254549e-01 2.66533159e-03 -3.13083854e+00] [ 1.33243839e-02 -7.25139571e-04 9.99910964e-01 3.14969469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.00, Y:-3.14, Z:0.31 [[ 9.89494453e-01 1.43782936e-01 -1.50729999e-02 2.50003572e+01] [-1.43752735e-01 9.89608863e-01 3.07399224e-03 -3.13545197e+00] [ 1.53583619e-02 -8.74913316e-04 9.99881671e-01 3.14036149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.717628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.03, Y:-3.14, Z:0.31 [[ 9.89862806e-01 1.40976062e-01 -1.72445876e-02 2.50291887e+01] [-1.40936092e-01 9.90012446e-01 3.51766566e-03 -3.14344160e+00] [ 1.75682630e-02 -1.05162162e-03 9.99845113e-01 3.13688435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.06, Y:-3.15, Z:0.31 [[ 9.89881698e-01 1.40780089e-01 -1.77536147e-02 2.50610297e+01] [-1.40737658e-01 9.90040293e-01 3.62340876e-03 -3.14665097e+00] [ 1.80868977e-02 -1.08814386e-03 9.99835827e-01 3.14877778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.777628 meters Centerline goodness [0,1] 0.9999103440546901 Centerline is valid? [True, True] Translation: X:25.09, Y:-3.15, Z:0.31 [[ 9.89839344e-01 1.41061499e-01 -1.78809199e-02 2.50936917e+01] [-1.41018417e-01 9.90000229e-01 3.65408857e-03 -3.15190360e+00] [ 1.82175660e-02 -1.09542162e-03 9.99833446e-01 3.14632170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.807628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.13, Y:-3.16, Z:0.32 [[ 9.89657374e-01 1.42395667e-01 -1.73711097e-02 2.51258237e+01] [-1.42355126e-01 9.89809265e-01 3.55479449e-03 -3.15631261e+00] [ 1.77002727e-02 -1.04516207e-03 9.99842792e-01 3.17175355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.837628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.16, Y:-3.16, Z:0.32 [[ 9.89135157e-01 1.46085692e-01 -1.64502823e-02 2.51574622e+01] [-1.46049781e-01 9.89271502e-01 3.37008237e-03 -3.15665846e+00] [ 1.67661163e-02 -9.30906822e-04 9.99859005e-01 3.18064236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.19, Y:-3.16, Z:0.32 [[ 9.88821788e-01 1.48262635e-01 -1.58007451e-02 2.51881644e+01] [-1.48229775e-01 9.88947649e-01 3.23739576e-03 -3.16035150e+00] [ 1.61060945e-02 -8.59066576e-04 9.99869919e-01 3.18975241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.897628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.22, Y:-3.16, Z:0.32 [[ 9.88451150e-01 1.50799324e-01 -1.49628886e-02 2.52182139e+01] [-1.50770139e-01 9.88564092e-01 3.06624619e-03 -3.16428100e+00] [ 1.52541622e-02 -7.74877786e-04 9.99883348e-01 3.20120889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.927628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.25, Y:-3.17, Z:0.32 [[ 9.88040851e-01 1.53538601e-01 -1.41836000e-02 2.52497159e+01] [-1.53512655e-01 9.88142407e-01 2.90675582e-03 -3.16768479e+00] [ 1.44617158e-02 -6.94631406e-04 9.99895183e-01 3.21652306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.957628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.28, Y:-3.17, Z:0.32 [[ 9.87064738e-01 1.59734893e-01 -1.37100684e-02 2.52816344e+01] [-1.59711236e-01 9.87159775e-01 2.81048640e-03 -3.16516541e+00] [ 1.39829608e-02 -5.84480044e-04 9.99902063e-01 3.23937864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.987628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.31, Y:-3.17, Z:0.32 [[ 9.86461506e-01 1.63429413e-01 -1.35839518e-02 2.53136265e+01] [-1.63406538e-01 9.86554889e-01 2.78471661e-03 -3.16770242e+00] [ 1.38564186e-02 -5.27309214e-04 9.99903856e-01 3.24472190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.017628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.35, Y:-3.17, Z:0.33 [[ 9.85823410e-01 1.67189865e-01 -1.41334364e-02 2.53452483e+01] [-1.67165475e-01 9.85924594e-01 2.89819420e-03 -3.17029252e+00] [ 1.44190512e-02 -4.94485076e-04 9.99895918e-01 3.25079110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.38, Y:-3.17, Z:0.32 [[ 9.85108816e-01 1.71324457e-01 -1.44413104e-02 2.53775962e+01] [-1.71299428e-01 9.85214562e-01 2.96185051e-03 -3.16989375e+00] [ 1.47352267e-02 -4.43956831e-04 9.99891332e-01 3.24728209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.41, Y:-3.17, Z:0.32 [[ 9.83682937e-01 1.79192936e-01 -1.60552716e-02 2.54084083e+01] [-1.79163030e-01 9.83813884e-01 3.29383828e-03 -3.16928129e+00] [ 1.63856317e-02 -3.63581401e-04 9.99865680e-01 3.23541233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.107628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.44, Y:-3.17, Z:0.32 [[ 9.83092254e-01 1.82315598e-01 -1.70482302e-02 2.54394361e+01] [-1.82282339e-01 9.83240008e-01 3.49797577e-03 -3.17233038e+00] [ 1.74002376e-02 -3.31241601e-04 9.99848550e-01 3.22843577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.47, Y:-3.18, Z:0.32 [[ 9.82563203e-01 1.84999594e-01 -1.85661305e-02 2.54700212e+01] [-1.84960538e-01 9.82738547e-01 3.81413069e-03 -3.17693062e+00] [ 1.89512648e-02 -3.13622969e-04 9.99820359e-01 3.21708194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.50, Y:-3.18, Z:0.32 [[ 9.82021713e-01 1.87433677e-01 -2.24047460e-02 2.55025426e+01] [-1.87377292e-01 9.82277206e-01 4.60884314e-03 -3.17940063e+00] [ 2.28715237e-02 -3.27843410e-04 9.99738359e-01 3.19762868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.53, Y:-3.19, Z:0.32 [[ 9.81921579e-01 1.87818346e-01 -2.35431816e-02 2.55349226e+01] [-1.87756037e-01 9.82203722e-01 4.84954430e-03 -3.18578905e+00] [ 2.40350340e-02 -3.41497714e-04 9.99711059e-01 3.19266427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.57, Y:-3.19, Z:0.32 [[ 9.82037115e-01 1.87115445e-01 -2.43087499e-02 2.55665640e+01] [-1.87048630e-01 9.82337858e-01 5.01419770e-03 -3.19254475e+00] [ 2.48176391e-02 -3.77209887e-04 9.99691924e-01 3.19285386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.60, Y:-3.20, Z:0.32 [[ 9.82377831e-01 1.85275854e-01 -2.46303844e-02 2.55976121e+01] [-1.85206518e-01 9.82686455e-01 5.08697160e-03 -3.20022708e+00] [ 2.51464381e-02 -4.35620393e-04 9.99683683e-01 3.19607341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.63, Y:-3.21, Z:0.32 [[ 9.83852506e-01 1.77323845e-01 -2.43002355e-02 2.56265220e+01] [-1.77253821e-01 9.84152352e-01 5.02310756e-03 -3.21139293e+00] [ 2.48058507e-02 -6.34687353e-04 9.99692086e-01 3.21076287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.66, Y:-3.22, Z:0.32 [[ 9.84789849e-01 1.72119742e-01 -2.37433857e-02 2.56561978e+01] [-1.72051355e-01 9.85075750e-01 4.90900832e-03 -3.22220689e+00] [ 2.42339707e-02 -7.49259892e-04 9.99706033e-01 3.22360275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.347628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.68, Y:-3.23, Z:0.32 [[ 9.85738144e-01 1.66716227e-01 -2.29349131e-02 2.56841877e+01] [-1.66650944e-01 9.86004550e-01 4.74240193e-03 -3.23384580e+00] [ 2.34045640e-02 -8.52641561e-04 9.99725712e-01 3.23774749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.71, Y:-3.25, Z:0.33 [[ 9.87635383e-01 1.55296639e-01 -2.14314026e-02 2.57123055e+01] [-1.55236944e-01 9.87867325e-01 4.43168408e-03 -3.24838007e+00] [ 2.18596080e-02 -1.04994256e-03 9.99760499e-01 3.26838321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.407628 meters Centerline goodness [0,1] 0.9998901292080513 Centerline is valid? [True, True] Translation: X:25.74, Y:-3.26, Z:0.33 [[ 9.88446648e-01 1.50043501e-01 -2.14516302e-02 2.57413963e+01] [-1.49982446e-01 9.88678706e-01 4.43641622e-03 -3.25852756e+00] [ 2.18744254e-02 -1.16779278e-03 9.99760044e-01 3.26068093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.77, Y:-3.27, Z:0.33 [[ 9.89039598e-01 1.46157214e-01 -2.09461641e-02 2.57716467e+01] [-1.46098126e-01 9.89260617e-01 4.33228109e-03 -3.26635179e+00] [ 2.13544093e-02 -1.22460224e-03 9.99771219e-01 3.28712257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.467628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.80, Y:-3.28, Z:0.33 [[ 9.89737583e-01 1.41272419e-01 -2.14853484e-02 2.57998479e+01] [-1.41209090e-01 9.89969818e-01 4.44432013e-03 -3.27721153e+00] [ 2.18977063e-02 -1.36478417e-03 9.99759285e-01 3.29298320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.497628 meters Centerline goodness [0,1] 0.9998456483870256 Centerline is valid? [True, True] Translation: X:25.83, Y:-3.28, Z:0.33 [[ 9.89831527e-01 1.40396164e-01 -2.28574862e-02 2.58310332e+01] [-1.40324197e-01 9.90094309e-01 4.73055210e-03 -3.28320840e+00] [ 2.32952184e-02 -1.47499120e-03 9.99727541e-01 3.27713628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.527628 meters Centerline goodness [0,1] 0.9998456483870256 Centerline is valid? [True, True] Translation: X:25.86, Y:-3.29, Z:0.33 [[ 9.89792260e-01 1.40672917e-01 -2.28563290e-02 2.58628065e+01] [-1.40600896e-01 9.90055027e-01 4.73613792e-03 -3.28985496e+00] [ 2.32952698e-02 -1.47417233e-03 9.99727541e-01 3.28220563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.557628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.89, Y:-3.30, Z:0.33 [[ 9.89639595e-01 1.41758828e-01 -2.27575422e-02 2.58930058e+01] [-1.41687586e-01 9.89900166e-01 4.72118349e-03 -3.29775725e+00] [ 2.31969642e-02 -1.44780891e-03 9.99729866e-01 3.30451592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.587628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.92, Y:-3.30, Z:0.33 [[ 9.89378601e-01 1.43437443e-01 -2.35729527e-02 2.59248530e+01] [-1.43361372e-01 9.89658304e-01 4.89474968e-03 -3.30144501e+00] [ 2.40312587e-02 -1.46330977e-03 9.99710137e-01 3.30658903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.96, Y:-3.30, Z:0.33 [[ 9.88989637e-01 1.45971020e-01 -2.43302164e-02 2.59568248e+01] [-1.45890628e-01 9.89287802e-01 5.05671012e-03 -3.30424462e+00] [ 2.48077194e-02 -1.45148336e-03 9.99691187e-01 3.30854394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.647628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.99, Y:-3.31, Z:0.33 [[ 9.87961625e-01 1.52568273e-01 -2.55880592e-02 2.59863618e+01] [-1.52481525e-01 9.88292006e-01 5.31925290e-03 -3.30697704e+00] [ 2.61000236e-02 -1.35351144e-03 9.99658420e-01 3.30359530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.677628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.02, Y:-3.31, Z:0.33 [[ 9.87345985e-01 1.56390053e-01 -2.62689318e-02 2.60169259e+01] [-1.56299981e-01 9.87694537e-01 5.46053889e-03 -3.30973126e+00] [ 2.67996544e-02 -1.28560761e-03 9.99639998e-01 3.30610233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.707628 meters Centerline goodness [0,1] 0.9998685450123787 Centerline is valid? [True, True] Translation: X:26.05, Y:-3.31, Z:0.33 [[ 9.86749782e-01 1.59826830e-01 -2.79329830e-02 2.60486854e+01] [-1.59726341e-01 9.87144253e-01 5.80691692e-03 -3.31161749e+00] [ 2.85019848e-02 -1.26834083e-03 9.99592931e-01 3.29205072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.737628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.08, Y:-3.31, Z:0.33 [[ 9.85470256e-01 1.67699231e-01 -2.69321806e-02 2.60786337e+01] [-1.67608736e-01 9.85837695e-01 5.59923727e-03 -3.31313461e+00] [ 2.74897466e-02 -1.00381304e-03 9.99621581e-01 3.32177795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.767628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.11, Y:-3.32, Z:0.33 [[ 9.84882425e-01 1.71203566e-01 -2.63808209e-02 2.61088474e+01] [-1.71117994e-01 9.85235277e-01 5.48459524e-03 -3.31733399e+00] [ 2.69302976e-02 -8.87448327e-04 9.99636920e-01 3.33070991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.14, Y:-3.32, Z:0.33 [[ 9.84345036e-01 1.74366909e-01 -2.57105437e-02 2.61404642e+01] [-1.74286686e-01 9.84680441e-01 5.34607901e-03 -3.32145473e+00] [ 2.62488487e-02 -7.81380878e-04 9.99655134e-01 3.34612772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.17, Y:-3.32, Z:0.34 [[ 9.83547989e-01 1.79228628e-01 -2.25931778e-02 2.61712374e+01] [-1.79167946e-01 9.83807283e-01 4.69859506e-03 -3.32245020e+00] [ 2.30694556e-02 -5.73320458e-04 9.99733700e-01 3.37662294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.857628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.20, Y:-3.33, Z:0.34 [[ 9.83190203e-01 1.81276165e-01 -2.18168671e-02 2.62021728e+01] [-1.81220050e-01 9.83432099e-01 4.53879796e-03 -3.32885146e+00] [ 2.22781833e-02 -5.08847947e-04 9.99751681e-01 3.38749225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.23, Y:-3.33, Z:0.34 [[ 9.82902365e-01 1.82926503e-01 -2.09961033e-02 2.62343781e+01] [-1.82874796e-01 9.83126484e-01 4.37319767e-03 -3.33196342e+00] [ 2.14417990e-02 -4.58768213e-04 9.99769993e-01 3.40723311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.27, Y:-3.34, Z:0.34 [[ 9.82683992e-01 1.84217177e-01 -1.99048378e-02 2.62659056e+01] [-1.84170871e-01 9.82885477e-01 4.15080252e-03 -3.33783869e+00] [ 2.03288251e-02 -4.13035870e-04 9.99793263e-01 3.41615434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.30, Y:-3.34, Z:0.34 [[ 9.82476386e-01 1.85344262e-01 -1.96889664e-02 2.62958765e+01] [-1.85299090e-01 9.82673574e-01 4.11031058e-03 -3.34430224e+00] [ 2.01096494e-02 -3.89935531e-04 9.99797705e-01 3.42601967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.33, Y:-3.35, Z:0.34 [[ 9.82189281e-01 1.86864070e-01 -1.96477953e-02 2.63275311e+01] [-1.86819323e-01 9.82385713e-01 4.10506237e-03 -3.34936474e+00] [ 2.00688021e-02 -3.61360428e-04 9.99798536e-01 3.43406848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.36, Y:-3.36, Z:0.34 [[ 9.82046617e-01 1.87593674e-01 -1.98256323e-02 2.63602209e+01] [-1.87548156e-01 9.82246653e-01 4.14748837e-03 -3.35548779e+00] [ 2.02517035e-02 -3.54766143e-04 9.99794850e-01 3.43253203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.39, Y:-3.36, Z:0.34 [[ 9.81909467e-01 1.88151611e-01 -2.12783681e-02 2.63913636e+01] [-1.88099168e-01 9.82139924e-01 4.45783195e-03 -3.36182940e+00] [ 2.17370831e-02 -3.74744057e-04 9.99763651e-01 3.42289738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.42, Y:-3.37, Z:0.34 [[ 9.81927130e-01 1.88006678e-01 -2.17393651e-02 2.64236454e+01] [-1.87951765e-01 9.82167672e-01 4.56059316e-03 -3.36749776e+00] [ 2.22091236e-02 -3.92218128e-04 9.99753270e-01 3.42615146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.097628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.45, Y:-3.37, Z:0.34 [[ 9.82036749e-01 1.87381045e-01 -2.21848586e-02 2.64547578e+01] [-1.87323552e-01 9.82287212e-01 4.66048881e-03 -3.37480844e+00] [ 2.26651902e-02 -4.21024768e-04 9.99743023e-01 3.42482929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.49, Y:-3.38, Z:0.34 [[ 9.82234538e-01 1.86319997e-01 -2.23644884e-02 2.64856580e+01] [-1.86261161e-01 9.82489009e-01 4.70403051e-03 -3.38267635e+00] [ 2.28493190e-02 -4.54825659e-04 9.99738817e-01 3.42583937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.157628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.52, Y:-3.39, Z:0.34 [[ 9.83079563e-01 1.81651036e-01 -2.36108829e-02 2.65165413e+01] [-1.81583997e-01 9.83362874e-01 4.97095349e-03 -3.39227111e+00] [ 2.41210445e-02 -5.99484291e-04 9.99708866e-01 3.43313368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.55, Y:-3.40, Z:0.34 [[ 9.83617695e-01 1.78661567e-01 -2.40057019e-02 2.65457377e+01] [-1.78591296e-01 9.83910348e-01 5.05738188e-03 -3.40460779e+00] [ 2.45230183e-02 -6.87320896e-04 9.99699029e-01 3.42889720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.217628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.57, Y:-3.42, Z:0.34 [[ 9.84320494e-01 1.74732871e-01 -2.41161623e-02 2.65743280e+01] [-1.74660677e-01 9.84615557e-01 5.08454379e-03 -3.41721839e+00] [ 2.46335855e-02 -7.92675437e-04 9.99696233e-01 3.42383685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.247628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.61, Y:-3.42, Z:0.34 [[ 9.85102382e-01 1.70253657e-01 -2.42278746e-02 2.66052463e+01] [-1.70179427e-01 9.85399851e-01 5.10853502e-03 -3.42149991e+00] [ 2.47438908e-02 -9.09344198e-04 9.99693409e-01 3.44420760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.277628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.63, Y:-3.44, Z:0.35 [[ 9.86748092e-01 1.60557407e-01 -2.34418976e-02 2.66332777e+01] [-1.60485172e-01 9.87025873e-01 4.94318643e-03 -3.43508625e+00] [ 2.39314247e-02 -1.11560279e-03 9.99712980e-01 3.45007786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.307628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.66, Y:-3.44, Z:0.35 [[ 9.87533080e-01 1.55722511e-01 -2.29981758e-02 2.66629858e+01] [-1.55651669e-01 9.87800099e-01 4.84992433e-03 -3.44184658e+00] [ 2.34728427e-02 -1.20975627e-03 9.99723743e-01 3.46138505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.337628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.69, Y:-3.45, Z:0.35 [[ 9.88165725e-01 1.51678154e-01 -2.28525074e-02 2.66926692e+01] [-1.51607116e-01 9.88429083e-01 4.81971434e-03 -3.45192102e+00] [ 2.33191284e-02 -1.29807376e-03 9.99727229e-01 3.46388868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.72, Y:-3.47, Z:0.35 [[ 9.89072389e-01 1.45539163e-01 -2.35406444e-02 2.67201411e+01] [-1.45462017e-01 9.89351373e-01 4.96613018e-03 -3.46621992e+00] [ 2.40127353e-02 -1.48759262e-03 9.99710546e-01 3.47626541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.397628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.75, Y:-3.47, Z:0.35 [[ 9.89205132e-01 1.44637935e-01 -2.35175526e-02 2.67511718e+01] [-1.44560608e-01 9.89483494e-01 4.96454541e-03 -3.47254292e+00] [ 2.39882917e-02 -1.51124210e-03 9.99711097e-01 3.48750564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.427628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.78, Y:-3.48, Z:0.35 [[ 9.89265847e-01 1.44081900e-01 -2.43616331e-02 2.67824943e+01] [-1.43998601e-01 9.89564496e-01 5.14888468e-03 -3.47996444e+00] [ 2.48492683e-02 -1.58557468e-03 9.99689952e-01 3.48781761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.81, Y:-3.49, Z:0.35 [[ 9.89177789e-01 1.44603583e-01 -2.48415948e-02 2.68138934e+01] [-1.44516968e-01 9.89488359e-01 5.25680747e-03 -3.48623189e+00] [ 2.53406220e-02 -1.60988524e-03 9.99677579e-01 3.48249160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.487628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.84, Y:-3.49, Z:0.35 [[ 9.88783966e-01 1.47139103e-01 -2.56193981e-02 2.68444215e+01] [-1.47047709e-01 9.89114519e-01 5.42582693e-03 -3.49151851e+00] [ 2.61388700e-02 -1.59769686e-03 9.99657045e-01 3.46759074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.517628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.88, Y:-3.49, Z:0.35 [[ 9.88427378e-01 1.49473498e-01 -2.58648667e-02 2.68760458e+01] [-1.49381109e-01 9.88764515e-01 5.47896750e-03 -3.49499330e+00] [ 2.63932228e-02 -1.55183901e-03 9.99650434e-01 3.47628243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.90, Y:-3.50, Z:0.35 [[ 9.87996895e-01 1.52306892e-01 -2.57826739e-02 2.69047640e+01] [-1.52216033e-01 9.88332152e-01 5.46220495e-03 -3.50065223e+00] [ 2.63137770e-02 -1.47210519e-03 9.99652649e-01 3.48032608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.94, Y:-3.50, Z:0.35 [[ 9.86996357e-01 1.58751012e-01 -2.52251316e-02 2.69356391e+01] [-1.58666141e-01 9.87317830e-01 5.34395503e-03 -3.50375849e+00] [ 2.57535805e-02 -1.27208987e-03 9.99667512e-01 3.49888244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.607628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.97, Y:-3.51, Z:0.35 [[ 9.86461016e-01 1.62170971e-01 -2.43975405e-02 2.69651511e+01] [-1.62092616e-01 9.86762011e-01 5.16883711e-03 -3.50891513e+00] [ 2.49128015e-02 -1.14419513e-03 9.99688973e-01 3.50700012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.99, Y:-3.51, Z:0.35 [[ 9.85887067e-01 1.65747496e-01 -2.35469478e-02 2.69945964e+01] [-1.65675528e-01 9.86167700e-01 4.98863144e-03 -3.51399463e+00] [ 2.40480926e-02 -1.01707421e-03 9.99710285e-01 3.50973308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.03, Y:-3.52, Z:0.35 [[ 9.85309506e-01 1.69178616e-01 -2.33189403e-02 2.70260148e+01] [-1.69108987e-01 9.85584974e-01 4.94061026e-03 -3.51682731e+00] [ 2.38186428e-02 -9.24587889e-04 9.99715868e-01 3.51359947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.06, Y:-3.51, Z:0.35 [[ 9.84081284e-01 1.76329774e-01 -2.21774265e-02 2.70575108e+01] [-1.76268593e-01 9.84330889e-01 4.69934805e-03 -3.51499432e+00] [ 2.26585609e-02 -7.15356690e-04 9.99743006e-01 3.52297793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.09, Y:-3.52, Z:0.35 [[ 9.83363336e-01 1.80385820e-01 -2.13893817e-02 2.70888695e+01] [-1.80329860e-01 9.83595748e-01 4.53276491e-03 -3.51830489e+00] [ 2.18561514e-02 -6.00210617e-04 9.99760946e-01 3.53376051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.12, Y:-3.52, Z:0.35 [[ 9.82630296e-01 1.84373909e-01 -2.10704324e-02 2.71186033e+01] [-1.84320507e-01 9.82856046e-01 4.46583533e-03 -3.52408079e+00] [ 2.15325854e-02 -5.04552304e-04 9.99768020e-01 3.53622780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.15, Y:-3.53, Z:0.35 [[ 9.81118871e-01 1.92207913e-01 -2.14913674e-02 2.71501514e+01] [-1.92154219e-01 9.81354168e-01 4.55556821e-03 -3.52537482e+00] [ 2.19662593e-02 -3.39897005e-04 9.99758655e-01 3.54445464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.18, Y:-3.53, Z:0.35 [[ 9.80439119e-01 1.95638930e-01 -2.15532470e-02 2.71814834e+01] [-1.95585707e-01 9.80675960e-01 4.57085780e-03 -3.53033083e+00] [ 2.20309889e-02 -2.65940734e-04 9.99757253e-01 3.54926118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.847628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.21, Y:-3.53, Z:0.36 [[ 9.79319136e-01 2.01256374e-01 -2.07340933e-02 2.72130498e+01] [-2.01208268e-01 9.79538592e-01 4.40229824e-03 -3.53418885e+00] [ 2.11958352e-02 -1.39383893e-04 9.99775333e-01 3.55303387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.24, Y:-3.54, Z:0.36 [[ 9.78758204e-01 2.03917860e-01 -2.12104637e-02 2.72434034e+01] [-2.03868024e-01 9.78987997e-01 4.50890352e-03 -3.54069745e+00] [ 2.16842353e-02 -8.89909831e-05 9.99764865e-01 3.55367079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.907628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.28, Y:-3.55, Z:0.36 [[ 9.78195111e-01 2.06583142e-01 -2.13946065e-02 2.72753236e+01] [-2.06532955e-01 9.78429049e-01 4.55348866e-03 -3.54718835e+00] [ 2.18737785e-02 -3.55090382e-05 9.99760740e-01 3.55844744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.31, Y:-3.55, Z:0.36 [[ 9.77632395e-01 2.09168832e-01 -2.19840870e-02 2.73076340e+01] [-2.09116348e-01 9.77879542e-01 4.68545556e-03 -3.55403707e+00] [ 2.24778402e-02 1.65788537e-05 9.99747341e-01 3.56351446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.967628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.34, Y:-3.56, Z:0.36 [[ 9.76716729e-01 2.13310266e-01 -2.28727431e-02 2.73379035e+01] [-2.13254452e-01 9.76984502e-01 4.88065559e-03 -3.56118257e+00] [ 2.33874095e-02 1.10696336e-04 9.99726471e-01 3.55233128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.997628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.37, Y:-3.57, Z:0.36 [[ 9.76354890e-01 2.14863569e-01 -2.37650211e-02 2.73692673e+01] [-2.14803665e-01 9.76644062e-01 5.07552091e-03 -3.56960089e+00] [ 2.43005113e-02 1.49303978e-04 9.99704688e-01 3.55685354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.027628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.40, Y:-3.58, Z:0.36 [[ 9.75957492e-01 2.16642524e-01 -2.39372211e-02 2.74000869e+01] [-2.16582121e-01 9.76250983e-01 5.11893707e-03 -3.58084418e+00] [ 2.44777150e-02 1.88509122e-04 9.99700358e-01 3.56276820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.057628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.43, Y:-3.59, Z:0.36 [[ 9.75926448e-01 2.16809898e-01 -2.36862161e-02 2.74313283e+01] [-2.16750635e-01 9.76213826e-01 5.07223586e-03 -3.58971251e+00] [ 2.42225226e-02 1.83873268e-04 9.99706575e-01 3.56386496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.087628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.46, Y:-3.60, Z:0.36 [[ 9.76039169e-01 2.16305513e-01 -2.36530195e-02 2.74622677e+01] [-2.16246108e-01 9.76325713e-01 5.07176445e-03 -3.59977131e+00] [ 2.41901018e-02 1.64632665e-04 9.99707363e-01 3.56964802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.49, Y:-3.61, Z:0.36 [[ 9.76293977e-01 2.15205983e-01 -2.31615067e-02 2.74930889e+01] [-2.15148565e-01 9.76568671e-01 4.97257702e-03 -3.61084433e+00] [ 2.36889301e-02 1.28467936e-04 9.99719370e-01 3.58293833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.147628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.52, Y:-3.62, Z:0.36 [[ 9.76570317e-01 2.13980083e-01 -2.28678912e-02 2.75228515e+01] [-2.13923641e-01 9.76838019e-01 4.91531729e-03 -3.62161901e+00] [ 2.33900056e-02 9.18295913e-05 9.99726412e-01 3.58908661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.177628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.55, Y:-3.64, Z:0.36 [[ 9.77366839e-01 2.10298380e-01 -2.29924469e-02 2.75529339e+01] [-2.10240161e-01 9.77637249e-01 4.94808412e-03 -3.63799324e+00] [ 2.35188466e-02 -2.15759979e-06 9.99723394e-01 3.59644326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.207628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.58, Y:-3.65, Z:0.36 [[ 9.77737885e-01 2.08515043e-01 -2.34543035e-02 2.75824952e+01] [-2.08453786e-01 9.78019158e-01 5.05421151e-03 -3.64998053e+00] [ 2.39926373e-02 -5.25557208e-05 9.99712134e-01 3.59836289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.237628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.61, Y:-3.66, Z:0.36 [[ 9.78046023e-01 2.06968677e-01 -2.42887425e-02 2.76129078e+01] [-2.06902347e-01 9.78347564e-01 5.24043646e-03 -3.66240585e+00] [ 2.48474382e-02 -9.99902257e-05 9.99691250e-01 3.60560192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.267628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.64, Y:-3.68, Z:0.36 [[ 9.78761020e-01 2.03405790e-01 -2.55528806e-02 2.76416922e+01] [-2.03330981e-01 9.79094501e-01 5.52003114e-03 -3.67944803e+00] [ 2.61414912e-02 -2.07099038e-04 9.99658231e-01 3.60805220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.67, Y:-3.69, Z:0.36 [[ 9.79102758e-01 2.01720438e-01 -2.58196461e-02 2.76714283e+01] [-2.01643299e-01 9.79443105e-01 5.58422489e-03 -3.69097388e+00] [ 2.64153266e-02 -2.61171384e-04 9.99651020e-01 3.60686588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.70, Y:-3.70, Z:0.36 [[ 9.78640381e-01 2.04132450e-01 -2.43505185e-02 2.77029173e+01] [-2.04064441e-01 9.78943260e-01 5.27231374e-03 -3.69643143e+00] [ 2.49140263e-02 -1.90624173e-04 9.99689579e-01 3.62724010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.357628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.73, Y:-3.70, Z:0.36 [[ 9.77948908e-01 2.07517325e-01 -2.35051698e-02 2.77331539e+01] [-2.07454794e-01 9.78231337e-01 5.09509282e-03 -3.70351475e+00] [ 2.40508137e-02 -1.06480298e-04 9.99710732e-01 3.63315652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.76, Y:-3.71, Z:0.37 [[ 9.77619627e-01 2.09023185e-01 -2.38573499e-02 2.77648847e+01] [-2.08959062e-01 9.77910682e-01 5.17766200e-03 -3.71016724e+00] [ 2.44126087e-02 -7.65745272e-05 9.99701965e-01 3.65132907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.80, Y:-3.72, Z:0.37 [[ 9.77393128e-01 2.10005377e-01 -2.45033691e-02 2.77972653e+01] [-2.09937860e-01 9.77700229e-01 5.32513513e-03 -3.71723196e+00] [ 2.50752566e-02 -6.05656053e-05 9.99685564e-01 3.65235863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.83, Y:-3.72, Z:0.37 [[ 9.77402828e-01 2.09883837e-01 -2.51492980e-02 2.78288828e+01] [-2.09812480e-01 9.77726327e-01 5.47296609e-03 -3.72481849e+00] [ 2.57378179e-02 -7.26559440e-05 9.99668725e-01 3.65349804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.86, Y:-3.73, Z:0.37 [[ 9.77344182e-01 2.10156942e-01 -2.51477679e-02 2.78605170e+01] [-2.10085495e-01 9.77667661e-01 5.47998980e-03 -3.73178631e+00] [ 2.57378173e-02 -7.26548803e-05 9.99668725e-01 3.65856089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.89, Y:-3.74, Z:0.37 [[ 9.77559994e-01 2.09178602e-01 -2.49152659e-02 2.78924703e+01] [-2.09107967e-01 9.77877447e-01 5.43659304e-03 -3.73876939e+00] [ 2.55012956e-02 -1.04615251e-04 9.99674784e-01 3.66778744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.92, Y:-3.75, Z:0.37 [[ 9.77859421e-01 2.07779900e-01 -2.48689742e-02 2.79233397e+01] [-2.07708894e-01 9.78175593e-01 5.43360870e-03 -3.74642781e+00] [ 2.54552182e-02 -1.47798330e-04 9.99675953e-01 3.67169130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.567628 meters Centerline goodness [0,1] 0.9998192008678358 Centerline is valid? [True, True] Translation: X:27.95, Y:-3.75, Z:0.36 [[ 9.78307561e-01 2.05551497e-01 -2.57468020e-02 2.79542318e+01] [-2.05474433e-01 9.78646276e-01 5.63237971e-03 -3.75396688e+00] [ 2.63547559e-02 -2.19890132e-04 9.99652629e-01 3.63987669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.597628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.98, Y:-3.76, Z:0.37 [[ 9.78806329e-01 2.03258739e-01 -2.49810933e-02 2.79846624e+01] [-2.03185315e-01 9.79125021e-01 5.46994857e-03 -3.76182089e+00] [ 2.55714284e-02 -2.78228963e-04 9.99672959e-01 3.66841187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.627628 meters Centerline goodness [0,1] 0.9998641980897198 Centerline is valid? [True, True] Translation: X:28.02, Y:-3.77, Z:0.36 [[ 9.80076620e-01 1.97040185e-01 -2.49996863e-02 2.80158969e+01] [-1.96964554e-01 9.80395313e-01 5.47682449e-03 -3.77062100e+00] [ 2.55887297e-02 -4.43655581e-04 9.99672456e-01 3.64822582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.657628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.05, Y:-3.78, Z:0.37 [[ 9.80638635e-01 1.94387618e-01 -2.36922318e-02 2.80460847e+01] [-1.94318845e-01 9.80924673e-01 5.19340601e-03 -3.77959867e+00] [ 2.42498285e-02 -4.89007452e-04 9.99705810e-01 3.68013281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.08, Y:-3.79, Z:0.37 [[ 9.81290330e-01 1.91068531e-01 -2.37087526e-02 2.80772123e+01] [-1.90998593e-01 9.81576531e-01 5.20115733e-03 -3.78883435e+00] [ 2.42657327e-02 -5.75506986e-04 9.99705378e-01 3.69156881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.717628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.11, Y:-3.80, Z:0.37 [[ 9.82726093e-01 1.83654077e-01 -2.28167780e-02 2.81067663e+01] [-1.83587277e-01 9.82990664e-01 5.00663954e-03 -3.79708687e+00] [ 2.33481695e-02 -7.31285170e-04 9.99727127e-01 3.71460237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.747628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.14, Y:-3.81, Z:0.37 [[ 9.83354402e-01 1.80340767e-01 -2.21659055e-02 2.81361054e+01] [-1.80276840e-01 9.83603876e-01 4.86571170e-03 -3.80870021e+00] [ 2.26799567e-02 -7.88719622e-04 9.99742466e-01 3.71857903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.777628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.17, Y:-3.81, Z:0.37 [[ 9.83890459e-01 1.77458925e-01 -2.16308867e-02 2.81681755e+01] [-1.77397265e-01 9.84127851e-01 4.75220486e-03 -3.81228196e+00] [ 2.21308792e-02 -8.38388892e-04 9.99754731e-01 3.73757914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.807628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.20, Y:-3.82, Z:0.37 [[ 9.84597881e-01 1.73540339e-01 -2.12312069e-02 2.81961686e+01] [-1.73480002e-01 9.84826341e-01 4.66549774e-03 -3.82301197e+00] [ 2.17187038e-02 -9.10449374e-04 9.99763707e-01 3.74028586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.837628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.23, Y:-3.83, Z:0.38 [[ 9.84710772e-01 1.72919856e-01 -2.10575078e-02 2.82282592e+01] [-1.72860329e-01 9.84935470e-01 4.62884642e-03 -3.82541111e+00] [ 2.15407058e-02 -9.18067198e-04 9.99767551e-01 3.75022021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.26, Y:-3.83, Z:0.38 [[ 9.84797507e-01 1.72423432e-01 -2.10720097e-02 2.82583701e+01] [-1.72363594e-01 9.85022480e-01 4.63738660e-03 -3.83308459e+00] [ 2.15559974e-02 -9.34839444e-04 9.99767205e-01 3.75368995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.897628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.29, Y:-3.84, Z:0.38 [[ 9.84714609e-01 1.72900048e-01 -2.10407269e-02 2.82901009e+01] [-1.72840386e-01 9.84938938e-01 4.63563880e-03 -3.83802591e+00] [ 2.15253333e-02 -9.28093900e-04 9.99767872e-01 3.75888679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.927628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.32, Y:-3.84, Z:0.38 [[ 9.84448805e-01 1.74352739e-01 -2.14865811e-02 2.83224842e+01] [-1.74290766e-01 9.84682830e-01 4.73844405e-03 -3.84247864e+00] [ 2.19836282e-02 -9.19842904e-04 9.99757908e-01 3.75729937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.957628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.35, Y:-3.85, Z:0.37 [[ 9.84190269e-01 1.75799334e-01 -2.15431962e-02 2.83523977e+01] [-1.75737315e-01 9.84425618e-01 4.75383055e-03 -3.85027068e+00] [ 2.20433944e-02 -8.92730317e-04 9.99756616e-01 3.74865910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.987628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.39, Y:-3.85, Z:0.38 [[ 9.83856855e-01 1.77675070e-01 -2.13836195e-02 2.83856026e+01] [-1.77614318e-01 9.84088842e-01 4.72276984e-03 -3.85086438e+00] [ 2.18824998e-02 -8.48492502e-04 9.99760189e-01 3.75727392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.017628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.42, Y:-3.86, Z:0.38 [[ 9.83225601e-01 1.81163247e-01 -2.11493708e-02 2.84154158e+01] [-1.81104591e-01 9.83452741e-01 4.67255260e-03 -3.85705821e+00] [ 2.16459015e-02 -7.63925185e-04 9.99765408e-01 3.76126718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.45, Y:-3.86, Z:0.38 [[ 9.82958898e-01 1.82601812e-01 -2.11750702e-02 2.84467358e+01] [-1.82543308e-01 9.83186675e-01 4.68003187e-03 -3.86264208e+00] [ 2.16736291e-02 -7.34911627e-04 9.99764829e-01 3.76704756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.48, Y:-3.87, Z:0.38 [[ 9.82656663e-01 1.84159210e-01 -2.17087028e-02 2.84788044e+01] [-1.84097973e-01 9.82896160e-01 4.80360469e-03 -3.86653465e+00] [ 2.22220287e-02 -7.23765962e-04 9.99752798e-01 3.76923368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.107628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.51, Y:-3.87, Z:0.38 [[ 9.82560718e-01 1.84673809e-01 -2.16799378e-02 2.85089017e+01] [-1.84612738e-01 9.82799609e-01 4.80269350e-03 -3.87350715e+00] [ 2.21939661e-02 -7.16545291e-04 9.99753427e-01 3.76675612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.54, Y:-3.88, Z:0.38 [[ 9.82408944e-01 1.85409551e-01 -2.22702886e-02 2.85402284e+01] [-1.85345172e-01 9.82661068e-01 4.93897600e-03 -3.88004857e+00] [ 2.27998788e-02 -7.24403739e-04 9.99739787e-01 3.76843094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.167628 meters Centerline goodness [0,1] 0.9998204829009963 Centerline is valid? [True, True] Translation: X:28.57, Y:-3.89, Z:0.37 [[ 9.82324906e-01 1.85700335e-01 -2.35194763e-02 2.85724178e+01] [-1.85628457e-01 9.82606127e-01 5.22248657e-03 -3.88759537e+00] [ 2.40801990e-02 -7.64294538e-04 9.99709738e-01 3.73434003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.60, Y:-3.89, Z:0.38 [[ 9.81991199e-01 1.87617473e-01 -2.22029097e-02 2.86040651e+01] [-1.87553772e-01 9.82241934e-01 4.93608995e-03 -3.89317142e+00] [ 2.27347257e-02 -6.82957422e-04 9.99741299e-01 3.77164048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.63, Y:-3.90, Z:0.38 [[ 9.81832884e-01 1.88467018e-01 -2.20084230e-02 2.86340799e+01] [-1.88404518e-01 9.82079296e-01 4.89835693e-03 -3.90209353e+00] [ 2.25371953e-02 -6.62881589e-04 9.99745785e-01 3.77082163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.67, Y:-3.91, Z:0.38 [[ 9.81636013e-01 1.89467541e-01 -2.21988353e-02 2.86652912e+01] [-1.89404086e-01 9.81886769e-01 4.94618899e-03 -3.90813057e+00] [ 2.27338849e-02 -6.50807127e-04 9.99741340e-01 3.78103648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.70, Y:-3.92, Z:0.38 [[ 9.81573539e-01 1.89787219e-01 -2.22305824e-02 2.86962833e+01] [-1.89723531e-01 9.81825030e-01 4.95913351e-03 -3.91617791e+00] [ 2.27677223e-02 -6.50089647e-04 9.99740570e-01 3.78536066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.73, Y:-3.92, Z:0.38 [[ 9.81614819e-01 1.89580725e-01 -2.21697139e-02 2.87266978e+01] [-1.89517216e-01 9.81864917e-01 4.95071124e-03 -3.92464777e+00] [ 2.27062237e-02 -6.58149064e-04 9.99741964e-01 3.78641138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.347628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.76, Y:-3.93, Z:0.38 [[ 9.81601161e-01 1.89702383e-01 -2.17293839e-02 2.87586379e+01] [-1.89641311e-01 9.81841427e-01 4.85641632e-03 -3.93093540e+00] [ 2.22560830e-02 -6.46275055e-04 9.99752094e-01 3.80336555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.79, Y:-3.94, Z:0.38 [[ 9.81583355e-01 1.89804444e-01 -2.16423179e-02 2.87901542e+01] [-1.89743743e-01 9.81821702e-01 4.84338500e-03 -3.93878034e+00] [ 2.21681934e-02 -6.47691686e-04 9.99754046e-01 3.81212981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.407628000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.82, Y:-3.95, Z:0.38 [[ 9.81527330e-01 1.90148327e-01 -2.11592757e-02 2.88214908e+01] [-1.90090250e-01 9.81755170e-01 4.74152167e-03 -3.94845332e+00] [ 2.16748207e-02 -6.31761097e-04 9.99764874e-01 3.82866327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.85, Y:-3.96, Z:0.38 [[ 9.81426601e-01 1.90705657e-01 -2.08129788e-02 2.88507258e+01] [-1.90649479e-01 9.81647072e-01 4.66921454e-03 -3.95833744e+00] [ 2.13214453e-02 -6.14507794e-04 9.99772483e-01 3.82954809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.467628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.88, Y:-3.96, Z:0.38 [[ 9.81274928e-01 1.91468634e-01 -2.09589770e-02 2.88817197e+01] [-1.91411758e-01 9.81498546e-01 4.70567939e-03 -3.96472060e+00] [ 2.14721954e-02 -6.05770567e-04 9.99769262e-01 3.83426642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.497628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.91, Y:-3.97, Z:0.38 [[ 9.81078618e-01 1.92406151e-01 -2.15550077e-02 2.89136195e+01] [-1.92346097e-01 9.81315191e-01 4.84508546e-03 -3.97084142e+00] [ 2.20844808e-02 -6.07388137e-04 9.99755924e-01 3.83234784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.527628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.94, Y:-3.98, Z:0.38 [[ 9.80674848e-01 1.94400749e-01 -2.20270407e-02 2.89449862e+01] [-1.94338408e-01 9.80922021e-01 4.95694004e-03 -3.97671150e+00] [ 2.25704422e-02 -5.80446407e-04 9.99745087e-01 3.82689470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.557628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.97, Y:-3.98, Z:0.38 [[ 9.80464306e-01 1.95470417e-01 -2.19330963e-02 2.89747457e+01] [-1.95408750e-01 9.80709439e-01 4.94132972e-03 -3.98434039e+00] [ 2.24758784e-02 -5.58878479e-04 9.99747229e-01 3.83169201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.587628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.00, Y:-3.99, Z:0.39 [[ 9.80040369e-01 1.97660255e-01 -2.12438009e-02 2.90042954e+01] [-1.97602810e-01 9.80270461e-01 4.79097959e-03 -3.99364847e+00] [ 2.17716567e-02 -4.97518665e-04 9.99762846e-01 3.85033349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.04, Y:-4.00, Z:0.39 [[ 9.79828067e-01 1.98782878e-01 -2.05505668e-02 2.90354420e+01] [-1.98729266e-01 9.80043445e-01 4.63950292e-03 -4.00003084e+00] [ 2.10627020e-02 -4.61916127e-04 9.99778050e-01 3.86973608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.647628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.07, Y:-4.01, Z:0.39 [[ 9.79695784e-01 1.99531828e-01 -1.95760182e-02 2.90670577e+01] [-1.99483246e-01 9.79891252e-01 4.42366951e-03 -4.00791642e+00] [ 2.00650318e-02 -4.28762715e-04 9.99798585e-01 3.88512490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.677628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.10, Y:-4.02, Z:0.39 [[ 9.79199491e-01 2.01934204e-01 -1.97720664e-02 2.90967974e+01] [-2.01885082e-01 9.79399014e-01 4.47049788e-03 -4.01542057e+00] [ 2.02674887e-02 -3.85824021e-04 9.99794519e-01 3.88488938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.707628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.13, Y:-4.02, Z:0.39 [[ 9.78923407e-01 2.03220116e-01 -2.02619910e-02 2.91268444e+01] [-2.03168711e-01 9.79133007e-01 4.58574311e-03 -4.02214157e+00] [ 2.07710994e-02 -3.72488669e-04 9.99784188e-01 3.88027280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.737628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.16, Y:-4.03, Z:0.39 [[ 9.78580295e-01 2.04796264e-01 -2.09546514e-02 2.91583897e+01] [-2.04741564e-01 9.78804559e-01 4.74627244e-03 -4.02901013e+00] [ 2.14825272e-02 -3.54320585e-04 9.99769161e-01 3.87508571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.767628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.19, Y:-4.04, Z:0.39 [[ 9.77588142e-01 2.09347719e-01 -2.22476102e-02 2.91888662e+01] [-2.09287106e-01 9.77841222e-01 5.04488392e-03 -4.03507911e+00] [ 2.28107653e-02 -2.75680751e-04 9.99739763e-01 3.86283912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.22, Y:-4.04, Z:0.39 [[ 9.77004885e-01 2.12016732e-01 -2.25911531e-02 2.92203330e+01] [-2.11954818e-01 9.77266011e-01 5.12828399e-03 -4.04049272e+00] [ 2.31648481e-02 -2.22054778e-04 9.99731634e-01 3.87285025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.25, Y:-4.05, Z:0.39 [[ 9.76513016e-01 2.14252540e-01 -2.27635472e-02 2.92518253e+01] [-2.14190148e-01 9.76778285e-01 5.17324321e-03 -4.04708780e+00] [ 2.33433191e-02 -1.76011804e-04 9.99727492e-01 3.88007633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.857628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.28, Y:-4.05, Z:0.39 [[ 9.75662130e-01 2.18195213e-01 -2.17774677e-02 2.92835628e+01] [-2.18138970e-01 9.75905140e-01 4.95457222e-03 -4.05206090e+00] [ 2.23338066e-02 -8.34741217e-05 9.99750566e-01 3.89739726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.31, Y:-4.06, Z:0.39 [[ 9.75457336e-01 2.19194643e-01 -2.08972208e-02 2.93143773e+01] [-2.19142973e-01 9.75681149e-01 4.75949201e-03 -4.05856197e+00] [ 2.14322796e-02 -6.32022980e-05 9.99770300e-01 3.90124698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.35, Y:-4.07, Z:0.39 [[ 9.75311428e-01 2.19944441e-01 -1.98005407e-02 2.93466491e+01] [-2.19898109e-01 9.75512399e-01 4.51455052e-03 -4.06514910e+00] [ 2.03086233e-02 -4.89912524e-05 9.99793757e-01 3.90952893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.38, Y:-4.07, Z:0.39 [[ 9.75236301e-01 2.20371871e-01 -1.87188501e-02 2.93779881e+01] [-2.20330442e-01 9.75415930e-01 4.27314138e-03 -4.07256325e+00] [ 1.92003447e-02 -4.29900961e-05 9.99815655e-01 3.91576237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.41, Y:-4.08, Z:0.39 [[ 9.75258596e-01 2.20365192e-01 -1.76026480e-02 2.94083805e+01] [-2.20328473e-01 9.75417439e-01 4.02290974e-03 -4.08089130e+00] [ 1.80564391e-02 -4.50127564e-05 9.99836968e-01 3.92845815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.44, Y:-4.09, Z:0.39 [[ 9.75209258e-01 2.20588204e-01 -1.75427011e-02 2.94404926e+01] [-2.20551687e-01 9.75367029e-01 4.01389501e-03 -4.08940801e+00] [ 1.79959901e-02 -4.53152703e-05 9.99838058e-01 3.94209063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.47, Y:-4.10, Z:0.39 [[ 9.75252580e-01 2.20404940e-01 -1.74375317e-02 2.94710009e+01] [-2.20368743e-01 9.75408458e-01 3.99468469e-03 -4.09755624e+00] [ 1.78891641e-02 -5.31396018e-05 9.99839975e-01 3.94910847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.50, Y:-4.10, Z:0.40 [[ 9.75151787e-01 2.20822207e-01 -1.77916916e-02 2.95035994e+01] [-2.20784507e-01 9.75314078e-01 4.08062600e-03 -4.10440014e+00] [ 1.82535801e-02 -5.10998942e-05 9.99833388e-01 3.95444799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.097628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.53, Y:-4.11, Z:0.39 [[ 9.75084595e-01 2.21068067e-01 -1.84103709e-02 2.95349662e+01] [-2.21027641e-01 9.75258379e-01 4.22790345e-03 -4.11136188e+00] [ 1.88895230e-02 -5.33626676e-05 9.99821576e-01 3.94949191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.57, Y:-4.12, Z:0.39 [[ 9.75073926e-01 2.21074000e-01 -1.88977797e-02 2.95666286e+01] [-2.21031306e-01 9.75257034e-01 4.34499072e-03 -4.11830460e+00] [ 1.93907571e-02 -5.96862317e-05 9.99811980e-01 3.94570410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.157628000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.60, Y:-4.12, Z:0.39 [[ 9.75043160e-01 2.21101936e-01 -2.01189033e-02 2.95990057e+01] [-2.21053432e-01 9.75250701e-01 4.63150169e-03 -4.12472182e+00] [ 2.06450085e-02 -6.85614177e-05 9.99786867e-01 3.93572306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.63, Y:-4.13, Z:0.39 [[ 9.74909748e-01 2.21664285e-01 -2.03943337e-02 2.96310777e+01] [-2.21614440e-01 9.75123039e-01 4.70097610e-03 -4.13183099e+00] [ 2.09290232e-02 -6.33485767e-05 9.99780962e-01 3.93645086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.217628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.66, Y:-4.14, Z:0.39 [[ 9.74894992e-01 2.21665289e-01 -2.10773273e-02 2.96622491e+01] [-2.21611911e-01 9.75122810e-01 4.86477888e-03 -4.13962200e+00] [ 2.16313352e-02 -7.16617863e-05 9.99766013e-01 3.92712596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.247628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.69, Y:-4.15, Z:0.39 [[ 9.74895704e-01 2.21633780e-01 -2.13736601e-02 2.96940386e+01] [-2.21578749e-01 9.75129972e-01 4.93929395e-03 -4.14662495e+00] [ 2.19368110e-02 -7.93475810e-05 9.99759356e-01 3.93773984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.277628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.73, Y:-4.15, Z:0.39 [[ 9.74722749e-01 2.22382517e-01 -2.14843952e-02 2.97262388e+01] [-2.22326956e-01 9.74959492e-01 4.97123174e-03 -4.15285296e+00] [ 2.20519301e-02 -6.90124759e-05 9.99756824e-01 3.94370100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.307628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.76, Y:-4.16, Z:0.39 [[ 9.74821364e-01 2.21812124e-01 -2.28624147e-02 2.97572131e+01] [-2.21748892e-01 9.75089418e-01 5.29676929e-03 -4.15899119e+00] [ 2.34677863e-02 -9.36887219e-05 9.99724589e-01 3.93776045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.337628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.79, Y:-4.17, Z:0.39 [[ 9.75007741e-01 2.20948936e-01 -2.32695734e-02 2.97888138e+01] [-2.20883040e-01 9.75285370e-01 5.39719454e-03 -4.16648424e+00] [ 2.38869789e-02 -1.22452333e-04 9.99714658e-01 3.93580732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.82, Y:-4.17, Z:0.39 [[ 9.74946100e-01 2.21220930e-01 -2.32680673e-02 2.98203504e+01] [-2.21154957e-01 9.75223710e-01 5.40368143e-03 -4.17388321e+00] [ 2.38869783e-02 -1.22449728e-04 9.99714658e-01 3.94087013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.397628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.85, Y:-4.18, Z:0.39 [[ 9.75167707e-01 2.20238242e-01 -2.33036487e-02 2.98509152e+01] [-2.20171627e-01 9.75446100e-01 5.41863619e-03 -4.18303569e+00] [ 2.39248442e-02 -1.53276775e-04 9.99713748e-01 3.93682759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.427628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.88, Y:-4.19, Z:0.40 [[ 9.75993078e-01 2.16701911e-01 -2.18584969e-02 2.98812230e+01] [-2.16642289e-01 9.76237793e-01 5.08823073e-03 -4.19220358e+00] [ 2.24417201e-02 -2.30603177e-04 9.99748126e-01 3.97957724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.91, Y:-4.20, Z:0.40 [[ 9.76482838e-01 2.14605665e-01 -2.06319067e-02 2.99108242e+01] [-2.14551973e-01 9.76700741e-01 4.80771607e-03 -4.20163568e+00] [ 2.11829616e-02 -2.68035956e-04 9.99775580e-01 3.99636117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.487628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.94, Y:-4.21, Z:0.40 [[ 9.77003793e-01 2.12270094e-01 -2.01245140e-02 2.99413796e+01] [-2.12218416e-01 9.77210984e-01 4.69428504e-03 -4.21046129e+00] [ 2.06623525e-02 -3.15541801e-04 9.99786461e-01 4.00907863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.517628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.97, Y:-4.22, Z:0.40 [[ 9.78284582e-01 2.06345225e-01 -1.95172857e-02 2.99704511e+01] [-2.06295360e-01 9.78479158e-01 4.55657903e-03 -4.22074809e+00] [ 2.00374856e-02 -4.31305533e-04 9.99799136e-01 4.00965784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.00, Y:-4.23, Z:0.40 [[ 9.78842623e-01 2.03691151e-01 -1.94173672e-02 2.99999525e+01] [-2.03641243e-01 9.79035076e-01 4.53478774e-03 -4.22977150e+00] [ 1.99339797e-02 -4.84666749e-04 9.99801181e-01 4.01128372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.03, Y:-4.24, Z:0.40 [[ 9.79290667e-01 2.01565640e-01 -1.90021693e-02 3.00309391e+01] [-2.01517357e-01 9.79474870e-01 4.44222700e-03 -4.23833523e+00] [ 1.95075476e-02 -5.20964516e-04 9.99809574e-01 4.01712584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.607628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.06, Y:-4.25, Z:0.40 [[ 9.79671591e-01 1.99691244e-01 -1.91567344e-02 3.00621533e+01] [-1.99641721e-01 9.79858707e-01 4.48314279e-03 -4.24691878e+00] [ 1.96661374e-02 -5.67524210e-04 9.99806442e-01 4.02380754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.09, Y:-4.25, Z:0.40 [[ 9.80265351e-01 1.96703769e-01 -1.96842089e-02 3.00931833e+01] [-1.96650779e-01 9.80462751e-01 4.61150784e-03 -4.25364955e+00] [ 2.02067345e-02 -6.49586350e-04 9.99795612e-01 4.03690822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.12, Y:-4.26, Z:0.40 [[ 9.80503213e-01 1.95399951e-01 -2.07920426e-02 3.01246063e+01] [-1.95340423e-01 9.80723376e-01 4.87629334e-03 -4.26180097e+00] [ 2.13440697e-02 -7.19694900e-04 9.99771930e-01 4.04140093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.16, Y:-4.27, Z:0.40 [[ 9.80691881e-01 1.94436582e-01 -2.09248794e-02 3.01559575e+01] [-1.94375955e-01 9.80914804e-01 4.91282446e-03 -4.27018991e+00] [ 2.14807568e-02 -7.50673633e-04 9.99768980e-01 4.04787681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.19, Y:-4.28, Z:0.41 [[ 9.80809296e-01 1.93855348e-01 -2.08141405e-02 3.01870282e+01] [-1.93795117e-01 9.81029826e-01 4.89213194e-03 -4.27634658e+00] [ 2.13676586e-02 -7.64569686e-04 9.99771393e-01 4.05524707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.22, Y:-4.28, Z:0.40 [[ 9.80920578e-01 1.93169490e-01 -2.19172794e-02 3.02179453e+01] [-1.93102405e-01 9.81165055e-01 5.15715145e-03 -4.28191368e+00] [ 2.25006730e-02 -8.26476624e-04 9.99746486e-01 4.04566204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.25, Y:-4.29, Z:0.40 [[ 9.80824743e-01 1.93636320e-01 -2.20861636e-02 3.02501841e+01] [-1.93568218e-01 9.81073031e-01 5.20116878e-03 -4.28728524e+00] [ 2.26752747e-02 -8.26255698e-04 9.99742541e-01 4.04459425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.817628000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.28, Y:-4.30, Z:0.40 [[ 9.80718390e-01 1.94136736e-01 -2.24135586e-02 3.02803716e+01] [-1.94066651e-01 9.80974127e-01 5.28170438e-03 -4.29657796e+00] [ 2.30124940e-02 -8.30140355e-04 9.99734833e-01 4.04098256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.847628 meters Centerline goodness [0,1] 0.9998649652285464 Centerline is valid? [True, True] Translation: X:30.31, Y:-4.30, Z:0.40 [[ 9.80309746e-01 1.96099292e-01 -2.31919965e-02 3.03116495e+01] [-1.96024652e-01 9.80583703e-01 5.47144496e-03 -4.30193687e+00] [ 2.38146403e-02 -8.17507788e-04 9.99716057e-01 4.02958281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.34, Y:-4.31, Z:0.41 [[ 9.79946161e-01 1.97992202e-01 -2.24635247e-02 3.03438027e+01] [-1.97922549e-01 9.80203306e-01 5.30502816e-03 -4.30581469e+00] [ 2.30691754e-02 -7.52603911e-04 9.99733588e-01 4.06904441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.907628000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.38, Y:-4.31, Z:0.41 [[ 9.79617106e-01 1.99676152e-01 -2.19034200e-02 3.03756260e+01] [-1.99610227e-01 9.79861696e-01 5.17820126e-03 -4.31194583e+00] [ 2.24962856e-02 -7.00507901e-04 9.99746681e-01 4.07579028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.41, Y:-4.32, Z:0.41 [[ 9.79232917e-01 2.01574891e-01 -2.16900378e-02 3.04065011e+01] [-2.01510588e-01 9.79472885e-01 5.13318102e-03 -4.31881519e+00] [ 2.22795243e-02 -6.55807541e-04 9.99751565e-01 4.08299216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.967628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.44, Y:-4.32, Z:0.41 [[ 9.78534702e-01 2.04980589e-01 -2.12789813e-02 3.04385656e+01] [-2.04919418e-01 9.78765872e-01 5.03983837e-03 -4.32029996e+00] [ 2.18602097e-02 -5.71180262e-04 9.99760874e-01 4.09271946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.997628000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.47, Y:-4.32, Z:0.41 [[ 9.78209106e-01 2.06520587e-01 -2.13586674e-02 3.04703594e+01] [-2.06459276e-01 9.78442106e-01 5.06090284e-03 -4.32343046e+00] [ 2.19434002e-02 -5.40926239e-04 9.99759068e-01 4.10419135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.02762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.50, Y:-4.33, Z:0.41 [[ 9.77921220e-01 2.07855025e-01 -2.15957537e-02 3.05008459e+01] [-2.07792545e-01 9.78159504e-01 5.12270887e-03 -4.32949029e+00] [ 2.21888725e-02 -5.22169079e-04 9.99753660e-01 4.10405898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.057628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.53, Y:-4.34, Z:0.41 [[ 9.77674000e-01 2.08965856e-01 -2.20640299e-02 3.05304559e+01] [-2.08900796e-01 9.77922803e-01 5.23924431e-03 -4.33886108e+00] [ 2.26717412e-02 -5.13079526e-04 9.99742831e-01 4.09580839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.087628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.56, Y:-4.34, Z:0.41 [[ 9.77318381e-01 2.10470252e-01 -2.34745693e-02 3.05627612e+01] [-2.10396892e-01 9.77600127e-01 5.58026645e-03 -4.34328808e+00] [ 2.41232220e-02 -5.14720544e-04 9.99708860e-01 4.11281847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.59, Y:-4.35, Z:0.41 [[ 9.77189282e-01 2.10997127e-01 -2.41105571e-02 3.05945995e+01] [-2.10919731e-01 9.77486542e-01 5.73820382e-03 -4.35189231e+00] [ 2.47784896e-02 -5.21919067e-04 9.99692830e-01 4.12221457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.147628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.63, Y:-4.36, Z:0.41 [[ 9.77089112e-01 2.11416531e-01 -2.44932293e-02 3.06266231e+01] [-2.11336604e-01 9.77395914e-01 5.83666208e-03 -4.35945246e+00] [ 2.51735491e-02 -5.26623061e-04 9.99682957e-01 4.12300607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.177628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.66, Y:-4.37, Z:0.41 [[ 9.76976215e-01 2.11962877e-01 -2.42737391e-02 3.06584712e+01] [-2.11884367e-01 9.77277583e-01 5.79151892e-03 -4.36640466e+00] [ 2.49497681e-02 -5.14950402e-04 9.99688573e-01 4.12472351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.20762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.69, Y:-4.37, Z:0.41 [[ 9.76874470e-01 2.12461211e-01 -2.40104748e-02 3.06899571e+01] [-2.12384375e-01 9.77169371e-01 5.73557419e-03 -4.37375621e+00] [ 2.46808876e-02 -5.03486317e-04 9.99695254e-01 4.12857727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.23762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.72, Y:-4.38, Z:0.41 [[ 9.76805295e-01 2.12828611e-01 -2.35668878e-02 3.07218682e+01] [-2.12754535e-01 9.77089423e-01 5.63621544e-03 -4.38079566e+00] [ 2.42265047e-02 -4.91522819e-04 9.99706374e-01 4.14125694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.75, Y:-4.39, Z:0.42 [[ 9.76668994e-01 2.13603746e-01 -2.21611421e-02 3.07526692e+01] [-2.13538305e-01 9.76920282e-01 5.30611830e-03 -4.38917622e+00] [ 2.27830760e-02 -4.50068481e-04 9.99740331e-01 4.16745020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.78, Y:-4.40, Z:0.42 [[ 9.76542490e-01 2.14282477e-01 -2.11609563e-02 3.07841616e+01] [-2.14222853e-01 9.76771644e-01 5.07203408e-03 -4.39727514e+00] [ 2.17562701e-02 -4.19896352e-04 9.99763216e-01 4.18573710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.327628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.81, Y:-4.41, Z:0.42 [[ 9.76369125e-01 2.15122882e-01 -2.06271110e-02 3.08148367e+01] [-2.15066303e-01 9.76586908e-01 4.94941746e-03 -4.40514269e+00] [ 2.12088995e-02 -3.96261871e-04 9.99774987e-01 4.19648399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.357628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.85, Y:-4.41, Z:0.42 [[ 9.75782273e-01 2.17837313e-01 -1.98962674e-02 3.08452233e+01] [-2.17785134e-01 9.75985039e-01 4.77905011e-03 -4.41142461e+00] [ 2.04595148e-02 -3.30201111e-04 9.99790628e-01 4.19872971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.38762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.88, Y:-4.42, Z:0.42 [[ 9.75367213e-01 2.19683592e-01 -1.99479364e-02 3.08757400e+01] [-2.19631428e-01 9.75571131e-01 4.79630018e-03 -4.41745844e+00] [ 2.05142993e-02 -2.96960193e-04 9.99789516e-01 4.19850667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.41762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.91, Y:-4.42, Z:0.42 [[ 9.74790201e-01 2.22202227e-01 -2.02542260e-02 3.09059017e+01] [-2.22148890e-01 9.75000567e-01 4.87484871e-03 -4.42448782e+00] [ 2.08310840e-02 -2.52500944e-04 9.99782978e-01 4.19680191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.94, Y:-4.43, Z:0.42 [[ 9.73720672e-01 2.26667316e-01 -2.21355271e-02 3.09374353e+01] [-2.26604631e-01 9.73972226e-01 5.33334827e-03 -4.42964858e+00] [ 2.27682843e-02 -1.77178505e-04 9.99740753e-01 4.19634007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.97, Y:-4.44, Z:0.42 [[ 9.73123359e-01 2.29119203e-01 -2.31369815e-02 3.09700089e+01] [-2.29051257e-01 9.73398363e-01 5.58104869e-03 -4.43659418e+00] [ 2.38002254e-02 -1.31494147e-04 9.99716726e-01 4.19699635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.507628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.00, Y:-4.44, Z:0.42 [[ 9.72678725e-01 2.30886397e-01 -2.42398542e-02 3.10023438e+01] [-2.30812181e-01 9.72980710e-01 5.85450687e-03 -4.44391432e+00] [ 2.49366365e-02 -9.97006621e-05 9.99689029e-01 4.19192042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.537628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.03, Y:-4.45, Z:0.42 [[ 9.72336842e-01 2.32201405e-01 -2.53687378e-02 3.10344476e+01] [-2.32120360e-01 9.72667724e-01 6.13488049e-03 -4.45109644e+00] [ 2.60998804e-02 -7.65697664e-05 9.99659337e-01 4.18648741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.567628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.07, Y:-4.46, Z:0.42 [[ 9.71927932e-01 2.33806028e-01 -2.62837628e-02 3.10655232e+01] [-2.33719408e-01 9.72283261e-01 6.36386694e-03 -4.45888152e+00] [ 2.70431731e-02 -4.21945437e-05 9.99634266e-01 4.17482269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.10, Y:-4.47, Z:0.42 [[ 9.71860202e-01 2.34069549e-01 -2.64422786e-02 3.10967591e+01] [-2.33981774e-01 9.72219854e-01 6.40973120e-03 -4.46772276e+00] [ 2.72080312e-02 -4.23513928e-05 9.99629792e-01 4.18258510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.627628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.13, Y:-4.48, Z:0.42 [[ 9.71941408e-01 2.33731623e-01 -2.64467039e-02 3.11283320e+01] [-2.33643483e-01 9.72301149e-01 6.41858729e-03 -4.47733411e+00] [ 2.72143874e-02 -5.93907676e-05 9.99629618e-01 4.19474492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.657628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.16, Y:-4.49, Z:0.42 [[ 9.72433888e-01 2.31742871e-01 -2.58374651e-02 3.11581103e+01] [-2.31657873e-01 9.72777070e-01 6.27712334e-03 -4.49081385e+00] [ 2.65887721e-02 -1.18635256e-04 9.99646449e-01 4.20218109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.687628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.19, Y:-4.50, Z:0.42 [[ 9.72720768e-01 2.30619778e-01 -2.50763983e-02 3.11896350e+01] [-2.30539196e-01 9.73043933e-01 6.09785187e-03 -4.50063390e+00] [ 2.58067225e-02 -1.50414435e-04 9.99666940e-01 4.22482763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.717628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.22, Y:-4.51, Z:0.42 [[ 9.72886887e-01 2.30034457e-01 -2.39844352e-02 3.12196286e+01] [-2.29960400e-01 9.73182471e-01 5.83894986e-03 -4.51046409e+00] [ 2.46843916e-02 -1.65167448e-04 9.99695280e-01 4.22796021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.747628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.25, Y:-4.52, Z:0.43 [[ 9.72980650e-01 2.29830759e-01 -2.20562042e-02 3.12500085e+01] [-2.29767953e-01 9.73230598e-01 5.37510294e-03 -4.52000460e+00] [ 2.27011368e-02 -1.62062252e-04 9.99742283e-01 4.25164390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.77762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.28, Y:-4.53, Z:0.43 [[ 9.72762381e-01 2.30866960e-01 -2.08277973e-02 3.12810096e+01] [-2.30811082e-01 9.72985318e-01 5.08091716e-03 -4.52803105e+00] [ 2.14381569e-02 -1.35238646e-04 9.99770167e-01 4.26193818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.807628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.31, Y:-4.54, Z:0.43 [[ 9.72518671e-01 2.31948985e-01 -2.01767815e-02 3.13124905e+01] [-2.31896669e-01 9.72727945e-01 4.92738634e-03 -4.53618832e+00] [ 2.07694215e-02 -1.13046778e-04 9.99784286e-01 4.27315601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.837628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.34, Y:-4.54, Z:0.43 [[ 9.72074465e-01 2.33822599e-01 -1.99556180e-02 3.13433909e+01] [-2.33771702e-01 9.72279274e-01 4.87903223e-03 -4.54418561e+00] [ 2.05432617e-02 -7.77238667e-05 9.99788962e-01 4.28138524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.38, Y:-4.55, Z:0.43 [[ 9.71161751e-01 2.37564839e-01 -2.01940992e-02 3.13750033e+01] [-2.37513413e-01 9.71371683e-01 4.94278901e-03 -4.55205304e+00] [ 2.07902090e-02 -3.87819934e-06 9.99783860e-01 4.29064955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.897628000000005 meters Centerline goodness [0,1] 0.9998414531947182 Centerline is valid? [True, True] Translation: X:31.41, Y:-4.56, Z:0.43 [[ 9.70860229e-01 2.38715021e-01 -2.11081529e-02 3.14069727e+01] [-2.38658966e-01 9.71089666e-01 5.17295672e-03 -4.55978506e+00] [ 2.17327717e-02 1.54320051e-05 9.99763815e-01 4.26291976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.927628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.44, Y:-4.57, Z:0.43 [[ 9.70247272e-01 2.41215343e-01 -2.08659797e-02 3.14392141e+01] [-2.41161013e-01 9.70471614e-01 5.11974555e-03 -4.56686078e+00] [ 2.14848022e-02 6.46416516e-05 9.99769173e-01 4.29417962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.95762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.47, Y:-4.57, Z:0.43 [[ 9.69681041e-01 2.43475232e-01 -2.09401421e-02 3.14713275e+01] [-2.43420907e-01 9.69907109e-01 5.14416762e-03 -4.57356425e+00] [ 2.15624701e-02 1.09066571e-04 9.99767497e-01 4.29505325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.98762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.50, Y:-4.58, Z:0.43 [[ 9.68611267e-01 2.47553208e-01 -2.25748290e-02 3.15031648e+01] [-2.47491018e-01 9.68874277e-01 5.55252854e-03 -4.57953305e+00] [ 2.32467174e-02 2.08825704e-04 9.99729737e-01 4.29218443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.53, Y:-4.59, Z:0.43 [[ 9.68057634e-01 2.49614003e-01 -2.36064792e-02 3.15343560e+01] [-2.49546457e-01 9.68345382e-01 5.81259912e-03 -4.58613997e+00] [ 2.43101313e-02 2.63982295e-04 9.99704430e-01 4.28975864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.57, Y:-4.59, Z:0.43 [[ 9.67606577e-01 2.51264171e-01 -2.45729266e-02 3.15662126e+01] [-2.51191345e-01 9.67918498e-01 6.05715140e-03 -4.59269409e+00] [ 2.53065353e-02 3.11566934e-04 9.99679690e-01 4.28681829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.077628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.60, Y:-4.60, Z:0.43 [[ 9.67261224e-01 2.52483485e-01 -2.56478757e-02 3.15969149e+01] [-2.52404398e-01 9.67601140e-01 6.32883486e-03 -4.59844497e+00] [ 2.64148401e-02 3.52000064e-04 9.99651005e-01 4.27890518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.107628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.63, Y:-4.60, Z:0.43 [[ 9.66883664e-01 2.53812804e-01 -2.67402362e-02 3.16275586e+01] [-2.53727161e-01 9.67253277e-01 6.60501219e-03 -4.60355384e+00] [ 2.75410178e-02 3.98445815e-04 9.99620595e-01 4.26943302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.13762800000001 meters Centerline goodness [0,1] 0.9998415895358573 Centerline is valid? [True, True] Translation: X:31.66, Y:-4.61, Z:0.43 [[ 9.67001053e-01 2.53277288e-01 -2.75604644e-02 3.16598110e+01] [-2.53185880e-01 9.67393645e-01 6.81508289e-03 -4.61233644e+00] [ 2.83879239e-02 3.87728110e-04 9.99596906e-01 4.25145718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.16762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.69, Y:-4.62, Z:0.43 [[ 9.66900227e-01 2.53812104e-01 -2.61412676e-02 3.16902903e+01] [-2.53729870e-01 9.67253470e-01 6.47137682e-03 -4.62110927e+00] [ 2.69277456e-02 3.75644709e-04 9.99637312e-01 4.29864728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.72, Y:-4.63, Z:0.43 [[ 9.67578320e-01 2.51466919e-01 -2.35920153e-02 3.17197409e+01] [-2.51399106e-01 9.67865855e-01 5.84602446e-03 -4.63024409e+00] [ 2.43039878e-02 2.74525031e-04 9.99704577e-01 4.32105731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.75, Y:-4.64, Z:0.43 [[ 9.68071109e-01 2.49676894e-01 -2.23557048e-02 3.17503459e+01] [-2.49615401e-01 9.68329181e-01 5.54508351e-03 -4.64036538e+00] [ 2.30321606e-02 2.12293084e-04 9.99734702e-01 4.34284498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.257628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.78, Y:-4.65, Z:0.44 [[ 9.68687970e-01 2.47366003e-01 -2.12996795e-02 3.17800961e+01] [-2.47309522e-01 9.68922102e-01 5.28782408e-03 -4.65033835e+00] [ 2.19457581e-02 1.45361969e-04 9.99759152e-01 4.35897981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.287628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.81, Y:-4.66, Z:0.44 [[ 9.68619073e-01 2.47635734e-01 -2.12987257e-02 3.18115134e+01] [-2.47579233e-01 9.68853199e-01 5.29166339e-03 -4.65822384e+00] [ 2.19457434e-02 1.47516077e-04 9.99759152e-01 4.36403293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.317628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.84, Y:-4.67, Z:0.44 [[ 9.69268854e-01 2.45156429e-01 -2.04013293e-02 3.18420121e+01] [-2.45103922e-01 9.69483532e-01 5.07437008e-03 -4.66861268e+00] [ 2.10227673e-02 8.20169482e-05 9.99778994e-01 4.38114494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.87, Y:-4.68, Z:0.44 [[ 9.70306808e-01 2.41080694e-01 -1.96162443e-02 3.18714913e+01] [-2.41031218e-01 9.70505074e-01 4.88399000e-03 -4.67845305e+00] [ 2.02151003e-02 -1.08414855e-05 9.99795654e-01 4.38944682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.90, Y:-4.69, Z:0.44 [[ 9.70598640e-01 2.39959946e-01 -1.89077719e-02 3.19031832e+01] [-2.39913676e-01 9.70782789e-01 4.71223901e-03 -4.68604762e+00] [ 1.94860882e-02 -3.74597224e-05 9.99810127e-01 4.39331280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.407628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.94, Y:-4.69, Z:0.44 [[ 9.70802814e-01 2.39040286e-01 -2.00408946e-02 3.19352883e+01] [-2.38987979e-01 9.71009648e-01 5.00086123e-03 -4.69425163e+00] [ 2.06553093e-02 -6.53172622e-05 9.99786654e-01 4.38921659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.437628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.97, Y:-4.70, Z:0.44 [[ 9.71503143e-01 2.35976833e-01 -2.22840364e-02 3.19655726e+01] [-2.35911216e-01 9.71758669e-01 5.56659463e-03 -4.70346750e+00] [ 2.29682929e-02 -1.50910059e-04 9.99736183e-01 4.38521919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.467628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.00, Y:-4.71, Z:0.44 [[ 9.71797921e-01 2.34657912e-01 -2.33337950e-02 3.19967229e+01] [-2.34585480e-01 9.72077994e-01 5.83319035e-03 -4.71220502e+00] [ 2.40510729e-02 -1.94912765e-04 9.99710712e-01 4.38642397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.497628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.03, Y:-4.72, Z:0.44 [[ 9.72139686e-01 2.33146126e-01 -2.42345830e-02 3.20275447e+01] [-2.33067362e-01 9.72441681e-01 6.06481887e-03 -4.72068807e+00] [ 2.49807077e-02 -2.47560770e-04 9.99687903e-01 4.38413312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.52762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.06, Y:-4.73, Z:0.44 [[ 9.72964756e-01 2.29564566e-01 -2.52921705e-02 3.20571094e+01] [-2.29477396e-01 9.73293368e-01 6.33602176e-03 -4.72917392e+00] [ 2.60712279e-02 -3.60744437e-04 9.99660023e-01 4.37329939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.557628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.09, Y:-4.74, Z:0.44 [[ 9.73321994e-01 2.27995618e-01 -2.57350651e-02 3.20876984e+01] [-2.27904648e-01 9.73662069e-01 6.45338171e-03 -4.73730247e+00] [ 2.65285994e-02 -4.16077413e-04 9.99647968e-01 4.37588767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.587628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.12, Y:-4.75, Z:0.44 [[ 9.73677130e-01 2.26492109e-01 -2.55767541e-02 3.21178311e+01] [-2.26401570e-01 9.74012891e-01 6.42000598e-03 -4.74551983e+00] [ 2.63661689e-02 -4.60395727e-04 9.99652246e-01 4.38166665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.15, Y:-4.75, Z:0.44 [[ 9.74021207e-01 2.25092647e-01 -2.48191182e-02 3.21489731e+01] [-2.25006786e-01 9.74337242e-01 6.23579725e-03 -4.75288474e+00] [ 2.55858233e-02 -4.89328732e-04 9.99672509e-01 4.39663918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.647628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.18, Y:-4.76, Z:0.44 [[ 9.74399581e-01 2.23527172e-01 -2.41051951e-02 3.21785604e+01] [-2.23445577e-01 9.74697560e-01 6.06144865e-03 -4.76113049e+00] [ 2.48501733e-02 -5.20073798e-04 9.99691051e-01 4.41099945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.677628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.21, Y:-4.77, Z:0.44 [[ 9.74323475e-01 2.23858171e-01 -2.41098724e-02 3.22103169e+01] [-2.23776529e-01 9.74621595e-01 6.06730254e-03 -4.76824134e+00] [ 2.48562175e-02 -5.16291736e-04 9.99690903e-01 4.42097723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.70762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.24, Y:-4.78, Z:0.44 [[ 9.74214051e-01 2.24364106e-01 -2.38271196e-02 3.22428732e+01] [-2.24284352e-01 9.74505256e-01 6.00295121e-03 -4.77522998e+00] [ 2.45665001e-02 -5.04109319e-04 9.99698071e-01 4.43427410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.73762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.27, Y:-4.78, Z:0.45 [[ 9.73561747e-01 2.27232747e-01 -2.32981608e-02 3.22749942e+01] [-2.27157162e-01 9.73840385e-01 5.87609030e-03 -4.77846198e+00] [ 2.40239300e-02 -4.28392644e-04 9.99711292e-01 4.45426775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.31, Y:-4.79, Z:0.45 [[ 9.73083588e-01 2.29282762e-01 -2.31893534e-02 3.23057404e+01] [-2.29208341e-01 9.73359784e-01 5.85375179e-03 -4.78517959e+00] [ 2.39137484e-02 -3.80996561e-04 9.99713953e-01 4.45163133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.797628 meters Centerline goodness [0,1] 0.999932735426009 Centerline is valid? [True, True] Translation: X:32.34, Y:-4.79, Z:0.44 [[ 9.72666407e-01 2.30986998e-01 -2.37711305e-02 3.23377973e+01] [-2.30909195e-01 9.72956773e-01 6.00505221e-03 -4.79071205e+00] [ 2.45153714e-02 -3.51939951e-04 9.99699391e-01 4.43547341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.827628000000004 meters Centerline goodness [0,1] 0.999910398279647 Centerline is valid? [True, True] Translation: X:32.37, Y:-4.79, Z:0.44 [[ 9.71564643e-01 2.35502378e-01 -2.45106929e-02 3.23704189e+01] [-2.35420933e-01 9.71873740e-01 6.19818556e-03 -4.79242963e+00] [ 2.52809862e-02 -2.51607752e-04 9.99680353e-01 4.43286596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.857628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.40, Y:-4.80, Z:0.45 [[ 9.70936744e-01 2.38127361e-01 -2.40249726e-02 3.24025229e+01] [-2.38049762e-01 9.71233919e-01 6.08155697e-03 -4.79791818e+00] [ 2.47820534e-02 -1.85668119e-04 9.99692861e-01 4.45317116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.88762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.43, Y:-4.80, Z:0.44 [[ 9.70359358e-01 2.40384461e-01 -2.48601554e-02 3.24346019e+01] [-2.40301932e-01 9.70677748e-01 6.30002633e-03 -4.80435457e+00] [ 2.56456281e-02 -1.39346156e-04 9.99671087e-01 4.44656780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.91762800000001 meters Centerline goodness [0,1] 0.9998658168399865 Centerline is valid? [True, True] Translation: X:32.47, Y:-4.81, Z:0.44 [[ 9.69856711e-01 2.42247134e-01 -2.63493289e-02 3.24668608e+01] [-2.42154883e-01 9.70214572e-01 6.68561143e-03 -4.81144847e+00] [ 2.71840730e-02 -1.03466471e-04 9.99630439e-01 4.42282856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.50, Y:-4.82, Z:0.45 [[ 9.68698137e-01 2.46849375e-01 -2.62546196e-02 3.24992477e+01] [-2.46759260e-01 9.69053861e-01 6.66946227e-03 -4.81780528e+00] [ 2.70884931e-02 1.78748316e-05 9.99633039e-01 4.45782907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.977628 meters Centerline goodness [0,1] 0.9998659936570331 Centerline is valid? [True, True] Translation: X:32.53, Y:-4.82, Z:0.44 [[ 9.68398890e-01 2.47918728e-01 -2.72009813e-02 3.25291504e+01] [-2.47822206e-01 9.68780833e-01 6.91749776e-03 -4.82483115e+00] [ 2.80667665e-02 4.21100297e-05 9.99606050e-01 4.43946642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.007628000000004 meters Centerline goodness [0,1] 0.999821308912218 Centerline is valid? [True, True] Translation: X:32.56, Y:-4.83, Z:0.44 [[ 9.68185344e-01 2.48802179e-01 -2.67322851e-02 3.25610118e+01] [-2.48709096e-01 9.68554321e-01 6.80541972e-03 -4.83269068e+00] [ 2.75848735e-02 5.96548218e-05 9.99619463e-01 4.44929305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.037628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.59, Y:-4.84, Z:0.45 [[ 9.68361229e-01 2.48401650e-01 -2.39405614e-02 3.25906907e+01] [-2.48326719e-01 9.68657121e-01 6.10096341e-03 -4.84049073e+00] [ 2.47056847e-02 3.71446354e-05 9.99694767e-01 4.49069963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.067628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.62, Y:-4.85, Z:0.45 [[ 9.68634436e-01 2.47397260e-01 -2.32792813e-02 3.26226873e+01] [-2.47325978e-01 9.68914132e-01 5.93845765e-03 -4.84993317e+00] [ 2.40247828e-02 5.37641867e-06 9.99711363e-01 4.49965325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.65, Y:-4.86, Z:0.45 [[ 9.69182757e-01 2.45282037e-01 -2.28365176e-02 3.26530999e+01] [-2.45212715e-01 9.69451763e-01 5.83133502e-03 -4.86008371e+00] [ 2.35692239e-02 -5.18248700e-05 9.99722206e-01 4.50538186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.127628 meters Centerline goodness [0,1] 0.999820884828945 Centerline is valid? [True, True] Translation: X:32.68, Y:-4.87, Z:0.45 [[ 9.69917726e-01 2.42290042e-01 -2.35614332e-02 3.26838514e+01] [-2.42215241e-01 9.70203854e-01 6.02154343e-03 -4.87113042e+00] [ 2.43183533e-02 -1.33463476e-04 9.99704256e-01 4.48966099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.157628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.71, Y:-4.89, Z:0.45 [[ 9.71422789e-01 2.36241378e-01 -2.29733713e-02 3.27122662e+01] [-2.36168435e-01 9.71694361e-01 5.87703052e-03 -4.88629937e+00] [ 2.37114931e-02 -2.83496233e-04 9.99718803e-01 4.52727614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.187628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.74, Y:-4.90, Z:0.45 [[ 9.72281655e-01 2.32659699e-01 -2.31915671e-02 3.27412538e+01] [-2.32584229e-01 9.72558132e-01 5.93761497e-03 -4.89825951e+00] [ 2.39365909e-02 -3.79041340e-04 9.99713407e-01 4.53629836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.217628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.77, Y:-4.91, Z:0.45 [[ 9.73119022e-01 2.29151044e-01 -2.30036733e-02 3.27717841e+01] [-2.29075716e-01 9.73390765e-01 5.89354839e-03 -4.90957115e+00] [ 2.37420759e-02 -4.65541099e-04 9.99718009e-01 4.54872893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.247628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.80, Y:-4.92, Z:0.46 [[ 9.73828559e-01 2.26099890e-01 -2.31684535e-02 3.28018787e+01] [-2.26022474e-01 9.74103967e-01 5.94167901e-03 -4.91954395e+00] [ 2.39118954e-02 -5.49585530e-04 9.99713919e-01 4.55934849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.27762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.83, Y:-4.93, Z:0.46 [[ 9.75028370e-01 2.20851708e-01 -2.33281292e-02 3.28294090e+01] [-2.20771625e-01 9.75307157e-01 5.98650859e-03 -4.93411531e+00] [ 2.40742220e-02 -6.86826718e-04 9.99709938e-01 4.55080246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.307628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.86, Y:-4.94, Z:0.46 [[ 9.75322013e-01 2.19514497e-01 -2.36718674e-02 3.28601689e+01] [-2.19431584e-01 9.75608963e-01 6.07712679e-03 -4.94454918e+00] [ 2.44285034e-02 -7.32800176e-04 9.99701311e-01 4.55276203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.337628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.89, Y:-4.95, Z:0.46 [[ 9.75379648e-01 2.19069256e-01 -2.53614686e-02 3.28914725e+01] [-2.18973756e-01 9.75708981e-01 6.51756894e-03 -4.95214538e+00] [ 2.61732117e-02 -8.03608039e-04 9.99657100e-01 4.56521275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.92, Y:-4.96, Z:0.46 [[ 9.75187099e-01 2.19748105e-01 -2.68494486e-02 3.29211773e+01] [-2.19641117e-01 9.75556286e-01 6.90742794e-03 -4.96393041e+00] [ 2.77110426e-02 -8.38791707e-04 9.99615623e-01 4.55181379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.397628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.95, Y:-4.97, Z:0.46 [[ 9.74904570e-01 2.20885970e-01 -2.77572946e-02 3.29527144e+01] [-2.20771866e-01 9.75299278e-01 7.14859414e-03 -4.96979544e+00] [ 2.86506936e-02 -8.41167359e-04 9.99589131e-01 4.55454936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.427628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.98, Y:-4.98, Z:0.46 [[ 9.74611355e-01 2.22069219e-01 -2.86001483e-02 3.29843242e+01] [-2.21948364e-01 9.75030543e-01 7.37320508e-03 -4.97672197e+00] [ 2.95233800e-02 -8.38253272e-04 9.99563739e-01 4.55813569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.45762800000001 meters Centerline goodness [0,1] 0.9998635029688104 Centerline is valid? [True, True] Translation: X:33.01, Y:-4.99, Z:0.45 [[ 9.74380041e-01 2.23010574e-01 -2.91516545e-02 3.30137927e+01] [-2.22885209e-01 9.74815670e-01 7.52283287e-03 -4.98612572e+00] [ 3.00951609e-02 -8.32625597e-04 9.99546691e-01 4.52749206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.48762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.04, Y:-4.99, Z:0.46 [[ 9.73819572e-01 2.25756068e-01 -2.66390294e-02 3.30444948e+01] [-2.25652309e-01 9.74183620e-01 6.87819961e-03 -4.99182115e+00] [ 2.75041014e-02 -6.86966910e-04 9.99621455e-01 4.57678447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.08, Y:-5.00, Z:0.46 [[ 9.73519785e-01 2.27189696e-01 -2.53785328e-02 3.30762376e+01] [-2.27095973e-01 9.73850328e-01 6.55424163e-03 -4.99896879e+00] [ 2.62039487e-02 -6.17321291e-04 9.99656427e-01 4.59986276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.11, Y:-5.01, Z:0.46 [[ 9.73149593e-01 2.28950491e-01 -2.36968984e-02 3.31059685e+01] [-2.28869217e-01 9.73437921e-01 6.12334604e-03 -5.00656292e+00] [ 2.44694026e-02 -5.35441109e-04 9.99700436e-01 4.61584687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.577628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.14, Y:-5.01, Z:0.47 [[ 9.72228811e-01 2.33015271e-01 -2.17950279e-02 3.31368527e+01] [-2.32947457e-01 9.72472993e-01 5.63561914e-03 -5.01316298e+00] [ 2.25082613e-02 -4.02014974e-04 9.99746576e-01 4.65414091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.607628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.17, Y:-5.02, Z:0.47 [[ 9.71565300e-01 2.35817454e-01 -2.12366855e-02 3.31678738e+01] [-2.35753686e-01 9.71797314e-01 5.49367815e-03 -5.01959293e+00] [ 2.19332591e-02 -3.30840182e-04 9.99759382e-01 4.66427238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.63762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.20, Y:-5.03, Z:0.47 [[ 9.70875974e-01 2.38645969e-01 -2.11646918e-02 3.31999943e+01] [-2.38583206e-01 9.71106600e-01 5.47954638e-03 -5.02583935e+00] [ 2.18608435e-02 -2.70419899e-04 9.99760987e-01 4.66967440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.66762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.23, Y:-5.03, Z:0.46 [[ 9.69463078e-01 2.44293012e-01 -2.15003519e-02 3.32310431e+01] [-2.44229562e-01 9.69701450e-01 5.56942579e-03 -5.02870898e+00] [ 2.22094942e-02 -1.48331152e-04 9.99753328e-01 4.64941431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.26, Y:-5.03, Z:0.46 [[ 9.68716544e-01 2.47175942e-01 -2.21880620e-02 3.32627278e+01] [-2.47108995e-01 9.68970611e-01 5.75319379e-03 -5.03467714e+00] [ 2.29216311e-02 -9.03442987e-05 9.99737261e-01 4.64837262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.29, Y:-5.04, Z:0.46 [[ 9.68072649e-01 2.49616539e-01 -2.29549478e-02 3.32935136e+01] [-2.49545436e-01 9.68344764e-01 5.95765474e-03 -5.04126263e+00] [ 2.37154327e-02 -3.91401503e-05 9.99718749e-01 4.64136291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.757628000000004 meters Centerline goodness [0,1] 0.9998190209030857 Centerline is valid? [True, True] Translation: X:33.33, Y:-5.05, Z:0.46 [[ 9.67556660e-01 2.51474045e-01 -2.43908702e-02 3.33259274e+01] [-2.51394209e-01 9.67864042e-01 6.33618455e-03 -5.04890572e+00] [ 2.52004322e-02 1.10595481e-06 9.99682419e-01 4.61635564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.787628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.36, Y:-5.06, Z:0.47 [[ 9.66385235e-01 2.55987054e-01 -2.38789731e-02 3.33580488e+01] [-2.55911733e-01 9.66680204e-01 6.21038325e-03 -5.05647215e+00] [ 2.46731083e-02 1.09286701e-04 9.99695567e-01 4.65605044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.817628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.39, Y:-5.06, Z:0.47 [[ 9.66051442e-01 2.57267634e-01 -2.36214973e-02 3.33893720e+01] [-2.57194160e-01 9.66340182e-01 6.14958599e-03 -5.06434255e+00] [ 2.44084914e-02 1.34494737e-04 9.99702059e-01 4.66012071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.42, Y:-5.07, Z:0.47 [[ 9.65776809e-01 2.58261640e-01 -2.40016823e-02 3.34213859e+01] [-2.58185950e-01 9.66074997e-01 6.25417594e-03 -5.07252878e+00] [ 2.48026389e-02 1.56759074e-04 9.99692355e-01 4.66628828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.45, Y:-5.08, Z:0.47 [[ 9.65417419e-01 2.59632508e-01 -2.36678617e-02 3.34531877e+01] [-2.59559147e-01 9.65707475e-01 6.17430400e-03 -5.08161857e+00] [ 2.44592810e-02 1.82429365e-04 9.99700810e-01 4.67341501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.907628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.48, Y:-5.09, Z:0.47 [[ 9.65396161e-01 2.59770827e-01 -2.30080563e-02 3.34837503e+01] [-2.59701379e-01 9.65670279e-01 6.00886350e-03 -5.09014721e+00] [ 2.37791236e-02 1.74290209e-04 9.99717221e-01 4.67551514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.937628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.51, Y:-5.10, Z:0.47 [[ 9.65349623e-01 2.59956548e-01 -2.28626232e-02 3.35148101e+01] [-2.59887872e-01 9.65620300e-01 5.97745316e-03 -5.09968836e+00] [ 2.36304912e-02 1.71386353e-04 9.99720746e-01 4.68551936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.967628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.55, Y:-5.11, Z:0.47 [[ 9.65387034e-01 2.59824314e-01 -2.27859799e-02 3.35467555e+01] [-2.59755900e-01 9.65655891e-01 5.96428368e-03 -5.10933422e+00] [ 2.35530817e-02 1.60950583e-04 9.99722575e-01 4.69038519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.997628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.58, Y:-5.12, Z:0.47 [[ 9.65626458e-01 2.58934425e-01 -2.27707509e-02 3.35778792e+01] [-2.58865692e-01 9.65894894e-01 5.96721947e-03 -5.12022186e+00] [ 2.35392706e-02 1.32461176e-04 9.99722904e-01 4.68671126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.02762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.61, Y:-5.13, Z:0.47 [[ 9.65746646e-01 2.58482939e-01 -2.28032185e-02 3.36085847e+01] [-2.58413724e-01 9.66015816e-01 5.98247348e-03 -5.12985943e+00] [ 2.35746371e-02 1.15110936e-04 9.99722073e-01 4.68996328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.05762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.64, Y:-5.14, Z:0.47 [[ 9.65875481e-01 2.58017315e-01 -2.26190220e-02 3.36395126e+01] [-2.57948940e-01 9.66140288e-01 5.94044268e-03 -5.13911057e+00] [ 2.33858855e-02 9.68248183e-05 9.99726508e-01 4.68989096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.087628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.67, Y:-5.15, Z:0.47 [[ 9.65684690e-01 2.58781502e-01 -2.20275655e-02 3.36713679e+01] [-2.58716714e-01 9.65935879e-01 5.79128265e-03 -5.14790748e+00] [ 2.27758927e-02 1.06346381e-04 9.99740590e-01 4.71312693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.70, Y:-5.16, Z:0.47 [[ 9.65571242e-01 2.59222194e-01 -2.18181268e-02 3.37024551e+01] [-2.59158600e-01 9.65817707e-01 5.74259808e-03 -5.15654931e+00] [ 2.25609421e-02 1.09467645e-04 9.99745464e-01 4.72833146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.147628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.73, Y:-5.16, Z:0.47 [[ 9.65610802e-01 2.59049880e-01 -2.21119694e-02 3.37343683e+01] [-2.58984371e-01 9.65863939e-01 5.82629825e-03 -5.16495406e+00] [ 2.28664557e-02 1.00717967e-04 9.99738523e-01 4.72966671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.177628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.77, Y:-5.17, Z:0.47 [[ 9.65538961e-01 2.59317658e-01 -2.21103534e-02 3.37656661e+01] [-2.59252079e-01 9.65792080e-01 5.83242544e-03 -5.17329169e+00] [ 2.28664551e-02 1.00721102e-04 9.99738523e-01 4.73472938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.20762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.80, Y:-5.18, Z:0.47 [[ 9.65745551e-01 2.58541537e-01 -2.21766624e-02 3.37976571e+01] [-2.58475209e-01 9.66000139e-01 5.85651026e-03 -5.18172285e+00] [ 2.29368101e-02 7.62187210e-05 9.99736914e-01 4.73107858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.23762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.83, Y:-5.19, Z:0.47 [[ 9.66454035e-01 2.55855804e-01 -2.24589820e-02 3.38280962e+01] [-2.55786897e-01 9.66714957e-01 5.93763570e-03 -5.19031458e+00] [ 2.32306123e-02 6.26133110e-06 9.99730133e-01 4.72360661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.86, Y:-5.20, Z:0.47 [[ 9.67034934e-01 2.53645921e-01 -2.25207183e-02 3.38598848e+01] [-2.53575889e-01 9.67297133e-01 5.96027633e-03 -5.20029349e+00] [ 2.32960260e-02 -5.30842825e-05 9.99728609e-01 4.73147418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.297628 meters Centerline goodness [0,1] 0.999840164402329 Centerline is valid? [True, True] Translation: X:33.89, Y:-5.21, Z:0.47 [[ 9.67938420e-01 2.50153012e-01 -2.27746661e-02 3.38901115e+01] [-2.50080273e-01 9.68206305e-01 6.03382087e-03 -5.21084954e+00] [ 2.35599538e-02 -1.44872309e-04 9.99722415e-01 4.71711929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.327628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.92, Y:-5.22, Z:0.48 [[ 9.68669285e-01 2.47409089e-01 -2.16462012e-02 3.39205314e+01] [-2.47342579e-01 9.68911090e-01 5.74007884e-03 -5.22073895e+00] [ 2.23933921e-02 -2.06210835e-04 9.99749215e-01 4.75611132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.357628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.95, Y:-5.23, Z:0.48 [[ 9.70995229e-01 2.38210184e-01 -2.05954793e-02 3.39480429e+01] [-2.38147826e-01 9.71213543e-01 5.46501350e-03 -5.23397190e+00] [ 2.13044303e-02 -4.01733424e-04 9.99772954e-01 4.77787675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.38762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.98, Y:-5.24, Z:0.48 [[ 9.72161652e-01 2.33413571e-01 -2.04896963e-02 3.39790295e+01] [-2.33350777e-01 9.72377422e-01 5.43735665e-03 -5.24150404e+00] [ 2.11928709e-02 -5.04703068e-04 9.99775278e-01 4.80123630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.41762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.01, Y:-5.25, Z:0.48 [[ 9.73426675e-01 2.28112511e-01 -2.01293302e-02 3.40073846e+01] [-2.28050740e-01 9.73634587e-01 5.34330322e-03 -5.25153635e+00] [ 2.08174865e-02 -6.10805236e-04 9.99783106e-01 4.80249563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.447628 meters Centerline goodness [0,1] 0.9999771198462454 Centerline is valid? [True, True] Translation: X:34.04, Y:-5.26, Z:0.48 [[ 9.75975350e-01 2.16868052e-01 -2.09848485e-02 3.40363819e+01] [-2.16798283e-01 9.76200522e-01 5.57190159e-03 -5.26169717e+00] [ 2.16937875e-02 -8.88559484e-04 9.99764267e-01 4.80478041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.07, Y:-5.27, Z:0.48 [[ 9.77053781e-01 2.11962713e-01 -2.09216781e-02 3.40658627e+01] [-2.11892232e-01 9.77277248e-01 5.55547758e-03 -5.26974137e+00] [ 2.16238341e-02 -9.94859301e-04 9.99765683e-01 4.81032558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.507628000000004 meters Centerline goodness [0,1] 0.9997484391794543 Centerline is valid? [True, True] Translation: X:34.09, Y:-5.28, Z:0.48 [[ 9.78116899e-01 2.07050908e-01 -2.04267608e-02 3.40941197e+01] [-2.06982646e-01 9.78329576e-01 5.42443560e-03 -5.28167513e+00] [ 2.11072385e-02 -1.07774714e-03 9.99776637e-01 4.81620983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.537628000000005 meters Centerline goodness [0,1] 0.9998857952079669 Centerline is valid? [True, True] Translation: X:34.13, Y:-5.29, Z:0.48 [[ 9.78962705e-01 2.03077680e-01 -1.97857965e-02 3.41252018e+01] [-2.03012816e-01 9.79161981e-01 5.25467796e-03 -5.28646422e+00] [ 2.04406075e-02 -1.12736349e-03 9.99790433e-01 4.82818211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.567628000000006 meters Centerline goodness [0,1] 0.997659622812997 Centerline is valid? [True, True] Translation: X:34.15, Y:-5.31, Z:0.48 [[ 9.80071518e-01 1.97726525e-01 -1.90798626e-02 3.41505791e+01] [-1.97665184e-01 9.80256493e-01 5.06778273e-03 -5.30957494e+00] [ 1.97051943e-02 -1.19536494e-03 9.99805119e-01 4.82911600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.59762800000001 meters Centerline goodness [0,1] 0.9997502384087916 Centerline is valid? [True, True] Translation: X:34.19, Y:-5.30, Z:0.48 [[ 9.80199835e-01 1.97095876e-01 -1.90131080e-02 3.41862813e+01] [-1.97034823e-01 9.80383478e-01 5.05122093e-03 -5.30160957e+00] [ 1.96357117e-02 -1.20496156e-03 9.99806475e-01 4.84627588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.627628 meters Centerline goodness [0,1] 0.9997508719481814 Centerline is valid? [True, True] Translation: X:34.22, Y:-5.31, Z:0.49 [[ 9.80165638e-01 1.97277648e-01 -1.88905122e-02 3.42188730e+01] [-1.97217313e-01 9.80346925e-01 5.02376562e-03 -5.30671870e+00] [ 1.95103322e-02 -1.19858637e-03 9.99808937e-01 4.85636360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.657628 meters Centerline goodness [0,1] 0.9997744293061446 Centerline is valid? [True, True] Translation: X:34.25, Y:-5.31, Z:0.49 [[ 9.79527442e-01 2.00482921e-01 -1.82370213e-02 3.42486581e+01] [-2.00427159e-01 9.79696580e-01 4.85441577e-03 -5.31077322e+00] [ 1.88399749e-02 -1.09983909e-03 9.99821907e-01 4.86550279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.687628000000004 meters Centerline goodness [0,1] 0.9998425869706987 Centerline is valid? [True, True] Translation: X:34.28, Y:-5.32, Z:0.49 [[ 9.79077787e-01 2.02632968e-01 -1.86163191e-02 3.42803713e+01] [-2.02575245e-01 9.79254161e-01 4.95558190e-03 -5.31574995e+00] [ 1.92342722e-02 -1.08069476e-03 9.99814420e-01 4.86033270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.717628000000005 meters Centerline goodness [0,1] 0.9996637826691173 Centerline is valid? [True, True] Translation: X:34.31, Y:-5.33, Z:0.49 [[ 9.78382771e-01 2.05984396e-01 -1.83733837e-02 3.43089466e+01] [-2.05928743e-01 9.78554763e-01 4.89176393e-03 -5.32529876e+00] [ 1.89869891e-02 -1.00240975e-03 9.99819228e-01 4.87534986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.747628000000006 meters Centerline goodness [0,1] 0.9999105945462673 Centerline is valid? [True, True] Translation: X:34.34, Y:-5.33, Z:0.49 [[ 9.77709517e-01 2.09150395e-01 -1.84448493e-02 3.43412583e+01] [-2.09094866e-01 9.77883030e-01 4.91094470e-03 -5.32570120e+00] [ 1.90640312e-02 -9.44754081e-04 9.99817818e-01 4.88409123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.77762800000001 meters Centerline goodness [0,1] 0.9998218143751253 Centerline is valid? [True, True] Translation: X:34.37, Y:-5.33, Z:0.49 [[ 9.76712634e-01 2.13712265e-01 -1.89604655e-02 3.43734267e+01] [-2.13654431e-01 9.76896255e-01 5.04889007e-03 -5.32520188e+00] [ 1.96014175e-02 -8.80327245e-04 9.99807486e-01 4.85656555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.80762800000001 meters Centerline goodness [0,1] 0.99984472394135 Centerline is valid? [True, True] Translation: X:34.41, Y:-5.33, Z:0.49 [[ 9.76244739e-01 2.15860797e-01 -1.87169830e-02 3.44052730e+01] [-2.15804821e-01 9.76423798e-01 4.98467920e-03 -5.32929572e+00] [ 1.93517045e-02 -8.27051677e-04 9.99812396e-01 4.86329217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.837628 meters Centerline goodness [0,1] 0.9999336459347076 Centerline is valid? [True, True] Translation: X:34.44, Y:-5.34, Z:0.49 [[ 9.75794599e-01 2.17960618e-01 -1.78345362e-02 3.44359936e+01] [-2.17910117e-01 9.75957277e-01 4.75120398e-03 -5.33635779e+00] [ 1.84413208e-02 -7.49873308e-04 9.99829663e-01 4.89116801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.47, Y:-5.34, Z:0.49 [[ 9.75939094e-01 2.17387363e-01 -1.69002943e-02 3.44683985e+01] [-2.17341856e-01 9.76085144e-01 4.50652630e-03 -5.33985424e+00] [ 1.74757881e-02 -7.24953859e-04 9.99847024e-01 4.91293336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.897628000000005 meters Centerline goodness [0,1] 0.9998680013199868 Centerline is valid? [True, True] Translation: X:34.50, Y:-5.35, Z:0.49 [[ 9.76221921e-01 2.16128680e-01 -1.67079392e-02 3.44970787e+01] [-2.16083950e-01 9.76364605e-01 4.45926627e-03 -5.35162665e+00] [ 1.72768157e-02 -7.42915997e-04 9.99850469e-01 4.92037199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.927628000000006 meters Centerline goodness [0,1] 0.9997576024680476 Centerline is valid? [True, True] Translation: X:34.53, Y:-5.35, Z:0.49 [[ 9.76731794e-01 2.13801238e-01 -1.68532802e-02 3.45293461e+01] [-2.13755366e-01 9.76876862e-01 4.49886204e-03 -5.35415904e+00] [ 1.74254418e-02 -7.91702504e-04 9.99847852e-01 4.90839282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.95762800000001 meters Centerline goodness [0,1] 0.9999560497516811 Centerline is valid? [True, True] Translation: X:34.56, Y:-5.36, Z:0.49 [[ 9.76969569e-01 2.12784579e-01 -1.59117409e-02 3.45590459e+01] [-2.12743522e-01 9.77098836e-01 4.24951859e-03 -5.36325110e+00] [ 1.64515756e-02 -7.66530543e-04 9.99864370e-01 4.93184690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.98762800000001 meters Centerline goodness [0,1] 0.9999343587948275 Centerline is valid? [True, True] Translation: X:34.59, Y:-5.37, Z:0.49 [[ 9.77561460e-01 2.10072592e-01 -1.55915969e-02 3.45897850e+01] [-2.10032767e-01 9.77685464e-01 4.16765330e-03 -5.36696325e+00] [ 1.61191874e-02 -7.99390994e-04 9.99869758e-01 4.93708453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.017628 meters Centerline goodness [0,1] 0.9998466694412196 Centerline is valid? [True, True] Translation: X:34.62, Y:-5.37, Z:0.49 [[ 9.77636840e-01 2.09735294e-01 -1.54050379e-02 3.46210852e+01] [-2.09696369e-01 9.77757881e-01 4.11816328e-03 -5.37421246e+00] [ 1.59261214e-02 -7.95687613e-04 9.99872855e-01 4.93877900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.047628 meters Centerline goodness [0,1] 0.9999344032885819 Centerline is valid? [True, True] Translation: X:34.65, Y:-5.38, Z:0.49 [[ 9.77552621e-01 2.10109027e-01 -1.56547375e-02 3.46536791e+01] [-2.10068810e-01 9.77677629e-01 4.18913015e-03 -5.38038096e+00] [ 1.61854607e-02 -8.06523086e-04 9.99868682e-01 4.94197643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.077628000000004 meters Centerline goodness [0,1] 0.9998690013536526 Centerline is valid? [True, True] Translation: X:34.68, Y:-5.38, Z:0.49 [[ 9.77031108e-01 2.12421350e-01 -1.69523768e-02 3.46841789e+01] [-2.12374448e-01 9.77177809e-01 4.54138243e-03 -5.38490768e+00] [ 1.75301730e-02 -8.36820245e-04 9.99845985e-01 4.93487673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.107628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.72, Y:-5.39, Z:0.49 [[ 9.76480407e-01 2.14833471e-01 -1.82371617e-02 3.47153079e+01] [-2.14779595e-01 9.76650321e-01 4.88629590e-03 -5.38888444e+00] [ 1.88610698e-02 -8.54402002e-04 9.99821749e-01 4.93111830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.13762800000001 meters Centerline goodness [0,1] 0.9999781887977666 Centerline is valid? [True, True] Translation: X:34.75, Y:-5.39, Z:0.49 [[ 9.75791738e-01 2.17869021e-01 -1.90675907e-02 3.47473826e+01] [-2.17810685e-01 9.75977662e-01 5.10972247e-03 -5.39188608e+00] [ 1.97227929e-02 -8.32899958e-04 9.99805140e-01 4.92911468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.16762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.78, Y:-5.40, Z:0.49 [[ 9.75022935e-01 2.21206714e-01 -1.99465741e-02 3.47772778e+01] [-2.21143543e-01 9.75226613e-01 5.34667416e-03 -5.39693262e+00] [ 2.06351501e-02 -8.02073861e-04 9.99786751e-01 4.92457337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.81, Y:-5.40, Z:0.49 [[ 9.73340875e-01 2.28364616e-01 -2.13809093e-02 3.48080615e+01] [-2.28293746e-01 9.73575429e-01 5.73145587e-03 -5.39943962e+00] [ 2.21247896e-02 -6.97532391e-04 9.99754974e-01 4.91843564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.84, Y:-5.40, Z:0.49 [[ 9.72550308e-01 2.31725736e-01 -2.11915412e-02 3.48382340e+01] [-2.31656911e-01 9.72780964e-01 5.68080141e-03 -5.40469185e+00] [ 2.19311158e-02 -6.15698184e-04 9.99759295e-01 4.92483457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.257628000000004 meters Centerline goodness [0,1] 0.9998700398544447 Centerline is valid? [True, True] Translation: X:34.87, Y:-5.41, Z:0.49 [[ 9.71827826e-01 2.34690444e-01 -2.17041909e-02 3.48689818e+01] [-2.34618944e-01 9.72069996e-01 5.82010886e-03 -5.41011179e+00] [ 2.24639167e-02 -5.63929411e-04 9.99747495e-01 4.91397798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.287628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.90, Y:-5.41, Z:0.49 [[ 9.70198394e-01 2.41497381e-01 -1.98517326e-02 3.48993449e+01] [-2.41438920e-01 9.70401399e-01 5.32668115e-03 -5.41303024e+00] [ 2.05505286e-02 -3.74956628e-04 9.99788745e-01 4.94072716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.317628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.93, Y:-5.42, Z:0.50 [[ 9.69389750e-01 2.44764770e-01 -1.93318511e-02 3.49314675e+01] [-2.44709956e-01 9.69582445e-01 5.18840574e-03 -5.41827438e+00] [ 2.00137624e-02 -2.98890907e-04 9.99799660e-01 4.95117659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.96, Y:-5.42, Z:0.50 [[ 9.68493900e-01 2.48315035e-01 -1.89528393e-02 3.49630064e+01] [-2.48262932e-01 9.68679303e-01 5.09156268e-03 -5.42374188e+00] [ 1.96235347e-02 -2.25859941e-04 9.99807414e-01 4.95966383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.99, Y:-5.43, Z:0.50 [[ 9.67569686e-01 2.51887961e-01 -1.90094161e-02 3.49932461e+01] [-2.51836137e-01 9.67756390e-01 5.11176780e-03 -5.43049706e+00] [ 1.96840766e-02 -1.58733652e-04 9.99806237e-01 4.96171498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.407628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.03, Y:-5.43, Z:0.50 [[ 9.65764472e-01 2.58771665e-01 -1.83360139e-02 3.50253307e+01] [-2.58724601e-01 9.65938520e-01 4.93513607e-03 -5.43379562e+00] [ 1.89885355e-02 -2.22012023e-05 9.99819701e-01 4.97488763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.437628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.06, Y:-5.44, Z:0.50 [[ 9.64783134e-01 2.62424213e-01 -1.80841744e-02 3.50570424e+01] [-2.62378983e-01 9.64952605e-01 4.87223418e-03 -5.44076622e+00] [ 1.87289634e-02 4.42579384e-05 9.99824597e-01 4.98224685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.467628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.09, Y:-5.45, Z:0.50 [[ 9.63988387e-01 2.65320048e-01 -1.82115956e-02 3.50886685e+01] [-2.65274591e-01 9.64160393e-01 4.91206333e-03 -5.44747744e+00] [ 1.88621680e-02 9.59015645e-05 9.99822089e-01 4.98491345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.497628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.12, Y:-5.45, Z:0.50 [[ 9.63290100e-01 2.67843993e-01 -1.82148026e-02 3.51199160e+01] [-2.67798875e-01 9.63462285e-01 4.91802100e-03 -5.45441880e+00] [ 1.88665377e-02 1.40422707e-04 9.99822001e-01 4.98657022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.52762800000001 meters Centerline goodness [0,1] 0.999913670306902 Centerline is valid? [True, True] Translation: X:35.15, Y:-5.46, Z:0.50 [[ 9.62658850e-01 2.70001096e-01 -1.96811224e-02 3.51506754e+01] [-2.69948759e-01 9.62859996e-01 5.31941842e-03 -5.46277342e+00] [ 2.03864142e-02 1.92109337e-04 9.99792157e-01 4.97004045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.55762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.18, Y:-5.47, Z:0.50 [[ 9.62525683e-01 2.70511384e-01 -1.91807267e-02 3.51825170e+01] [-2.70461674e-01 9.62716757e-01 5.18934412e-03 -5.47279248e+00] [ 1.98693837e-02 1.92774447e-04 9.99802566e-01 4.98807075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.587628 meters Centerline goodness [0,1] 0.9998701130016885 Centerline is valid? [True, True] Translation: X:35.21, Y:-5.48, Z:0.50 [[ 9.62537364e-01 2.70326908e-01 -2.10994406e-02 3.52134769e+01] [-2.70266558e-01 9.62768572e-01 5.71534732e-03 -5.48297166e+00] [ 2.18588904e-02 2.01237839e-04 9.99761046e-01 4.96475203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.24, Y:-5.50, Z:0.50 [[ 9.63193570e-01 2.67888112e-01 -2.22284993e-02 3.52422370e+01] [-2.67820344e-01 9.63450018e-01 6.02708279e-03 -5.49574519e+00] [ 2.30306319e-02 1.47996928e-04 9.99734749e-01 4.95951311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.647628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.27, Y:-5.51, Z:0.49 [[ 9.63628758e-01 2.66204926e-01 -2.35489791e-02 3.52719350e+01] [-2.66128266e-01 9.63916451e-01 6.38910251e-03 -5.50703578e+00] [ 2.44000590e-02 1.10326080e-04 9.99702268e-01 4.94831231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.677628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.30, Y:-5.52, Z:0.49 [[ 9.64124214e-01 2.64323861e-01 -2.44416809e-02 3.53028100e+01] [-2.64240527e-01 9.64433975e-01 6.63710515e-03 -5.51913537e+00] [ 2.53267327e-02 5.94888370e-05 9.99679225e-01 4.94691414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.70762800000001 meters Centerline goodness [0,1] 0.9998908892525914 Centerline is valid? [True, True] Translation: X:35.33, Y:-5.53, Z:0.49 [[ 9.64748177e-01 2.61877057e-01 -2.61029159e-02 3.53320149e+01] [-2.61780935e-01 9.65101242e-01 7.09472824e-03 -5.53099491e+00] [ 2.70499031e-02 -1.13804076e-05 9.99634084e-01 4.92220701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.73762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.36, Y:-5.55, Z:0.49 [[ 9.65997128e-01 2.57227692e-01 -2.61431183e-02 3.53601038e+01] [-2.57129438e-01 9.66350812e-01 7.11049819e-03 -5.54787008e+00] [ 2.70924407e-02 -1.46555496e-04 9.99632922e-01 4.93691101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.39, Y:-5.56, Z:0.49 [[ 9.66548678e-01 2.55174438e-01 -2.58777694e-02 3.53897859e+01] [-2.55077263e-01 9.66895011e-01 7.04462527e-03 -5.56118639e+00] [ 2.68186944e-02 -2.08142655e-04 9.99640292e-01 4.94877374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.42, Y:-5.57, Z:0.50 [[ 9.67223752e-01 2.52669686e-01 -2.52238703e-02 3.54199839e+01] [-2.52576343e-01 9.67552558e-01 6.87298854e-03 -5.57392933e+00] [ 2.61420161e-02 -2.76764850e-04 9.99658201e-01 4.97115730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.827628000000004 meters Centerline goodness [0,1] 0.9999338522258726 Centerline is valid? [True, True] Translation: X:35.45, Y:-5.59, Z:0.50 [[ 9.67792821e-01 2.50500717e-01 -2.50289023e-02 3.54497301e+01] [-2.50407917e-01 9.68116354e-01 6.82639375e-03 -5.58681015e+00] [ 2.59409062e-02 -3.39099575e-04 9.99663421e-01 4.97642130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.857628000000005 meters Centerline goodness [0,1] 0.999867197875166 Centerline is valid? [True, True] Translation: X:35.48, Y:-5.60, Z:0.50 [[ 9.69204663e-01 2.45097825e-01 -2.38616413e-02 3.54786000e+01] [-2.45011730e-01 9.69498241e-01 6.51247395e-03 -5.60414998e+00] [ 2.47300125e-02 -4.65538094e-04 9.99694058e-01 4.98724283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.88762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.51, Y:-5.62, Z:0.50 [[ 9.69855912e-01 2.42622322e-01 -2.26697595e-02 3.55068767e+01] [-2.42543870e-01 9.70120690e-01 6.19011285e-03 -5.61704006e+00] [ 2.34942623e-02 -5.05106361e-04 9.99723844e-01 5.01507056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.91762800000001 meters Centerline goodness [0,1] 0.9999110696102625 Centerline is valid? [True, True] Translation: X:35.54, Y:-5.63, Z:0.50 [[ 9.70461925e-01 2.40220507e-01 -2.23105234e-02 3.55370859e+01] [-2.40143759e-01 9.70718185e-01 6.09756760e-03 -5.62813494e+00] [ 2.31219916e-02 -5.59724234e-04 9.99732494e-01 5.01286235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.56, Y:-5.65, Z:0.50 [[ 9.71703216e-01 2.35291898e-01 -2.07504755e-02 3.55630143e+01] [-2.35224305e-01 9.71924545e-01 5.67495197e-03 -5.64567861e+00] [ 2.15031667e-02 -6.33352913e-04 9.99768580e-01 5.04485347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.59, Y:-5.66, Z:0.50 [[ 9.72007371e-01 2.34028897e-01 -2.07881347e-02 3.55926503e+01] [-2.33960736e-01 9.72229415e-01 5.68677780e-03 -5.65807719e+00] [ 2.15417064e-02 -6.63982642e-04 9.99767730e-01 5.04907645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.007628000000004 meters Centerline goodness [0,1] 0.9998202085580726 Centerline is valid? [True, True] Translation: X:35.62, Y:-5.67, Z:0.50 [[ 9.72182325e-01 2.33188980e-01 -2.20096991e-02 3.56229470e+01] [-2.33112219e-01 9.72431164e-01 6.02699964e-03 -5.66945999e+00] [ 2.28083472e-02 -7.28612727e-04 9.99739590e-01 5.02827912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.037628000000005 meters Centerline goodness [0,1] 0.9999100537428887 Centerline is valid? [True, True] Translation: X:35.65, Y:-5.68, Z:0.50 [[ 9.72166498e-01 2.33151230e-01 -2.30825377e-02 3.56528876e+01] [-2.33066641e-01 9.72440183e-01 6.32705581e-03 -5.67991634e+00] [ 2.39215480e-02 -7.71182165e-04 9.99713541e-01 5.03011983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.067628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.68, Y:-5.69, Z:0.50 [[ 9.71802673e-01 2.34618029e-01 -2.35360347e-02 3.56829487e+01] [-2.34530358e-01 9.72087347e-01 6.45765720e-03 -5.69016331e+00] [ 2.43941643e-02 -7.55653884e-04 9.99702133e-01 5.03725745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.71, Y:-5.70, Z:0.50 [[ 9.71735964e-01 2.34894340e-01 -2.35343458e-02 3.57141780e+01] [-2.34806602e-01 9.72020616e-01 6.46380731e-03 -5.69880317e+00] [ 2.43941811e-02 -7.55094256e-04 9.99702133e-01 5.04232009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.127628 meters Centerline goodness [0,1] 0.9998870898538943 Centerline is valid? [True, True] Translation: X:35.74, Y:-5.71, Z:0.50 [[ 9.71427533e-01 2.36139604e-01 -2.38041127e-02 3.57437804e+01] [-2.36050048e-01 9.71718859e-01 6.54470664e-03 -5.70999793e+00] [ 2.46763697e-02 -7.38746274e-04 9.99695219e-01 5.02388821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.157628 meters Centerline goodness [0,1] 0.9998640781097796 Centerline is valid? [True, True] Translation: X:35.77, Y:-5.72, Z:0.50 [[ 9.71045620e-01 2.37665494e-01 -2.41974458e-02 3.57733466e+01] [-2.37573277e-01 9.71346796e-01 6.65880556e-03 -5.72035355e+00] [ 2.50866797e-02 -7.17337504e-04 9.99685022e-01 5.02574272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.187628000000004 meters Centerline goodness [0,1] 0.9998183881952327 Centerline is valid? [True, True] Translation: X:35.80, Y:-5.73, Z:0.50 [[ 9.70303481e-01 2.40673642e-01 -2.42353557e-02 3.58038164e+01] [-2.40581921e-01 9.70605883e-01 6.67525402e-03 -5.72969285e+00] [ 2.51295365e-02 -6.46433784e-04 9.99683994e-01 5.03413311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.217628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.83, Y:-5.74, Z:0.51 [[ 9.69907165e-01 2.42409016e-01 -2.27587481e-02 3.58334894e+01] [-2.42328479e-01 9.70173976e-01 6.27410722e-03 -5.73993864e+00] [ 2.36008453e-02 -5.70208741e-04 9.99721299e-01 5.05992811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.247628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.86, Y:-5.75, Z:0.51 [[ 9.69481844e-01 2.44182805e-01 -2.19023286e-02 3.58648291e+01] [-2.44108548e-01 9.69729083e-01 6.04331207e-03 -5.74741050e+00] [ 2.27149980e-02 -5.12335696e-04 9.99741850e-01 5.07332163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.27762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.89, Y:-5.76, Z:0.51 [[ 9.69082637e-01 2.45841695e-01 -2.09929362e-02 3.58943333e+01] [-2.45773751e-01 9.69309884e-01 5.79764139e-03 -5.75632458e+00] [ 2.17739625e-02 -4.58880934e-04 9.99762814e-01 5.08193067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.30762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.93, Y:-5.77, Z:0.51 [[ 9.68324387e-01 2.48917076e-01 -1.97020363e-02 3.59252759e+01] [-2.48857773e-01 9.68524730e-01 5.44579063e-03 -5.76520597e+00] [ 2.04374596e-02 -3.70287012e-04 9.99791065e-01 5.09607143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.337628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.96, Y:-5.78, Z:0.51 [[ 9.67912705e-01 2.50530564e-01 -1.94790288e-02 3.59552013e+01] [-2.50472820e-01 9.68108632e-01 5.38920414e-03 -5.77548587e+00] [ 2.02079763e-02 -3.37311876e-04 9.99795741e-01 5.09710203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.99, Y:-5.78, Z:0.51 [[ 9.67508372e-01 2.52082268e-01 -1.95468919e-02 3.59857446e+01] [-2.52024335e-01 9.67705758e-01 5.41304425e-03 -5.78481529e+00] [ 2.02801723e-02 -3.10873204e-04 9.99794288e-01 5.10166267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.397628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.02, Y:-5.79, Z:0.51 [[ 9.66718744e-01 2.55054940e-01 -2.00461536e-02 3.60158801e+01] [-2.54994540e-01 9.66926528e-01 5.55645548e-03 -5.79481382e+00] [ 2.08003591e-02 -2.59869946e-04 9.99783615e-01 5.10081242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.427628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.05, Y:-5.80, Z:0.51 [[ 9.66350163e-01 2.56406665e-01 -2.05665844e-02 3.60464593e+01] [-2.56343281e-01 9.66568965e-01 5.70603124e-03 -5.80320887e+00] [ 2.13420866e-02 -2.41918491e-04 9.99772202e-01 5.09864228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.45762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.08, Y:-5.81, Z:0.51 [[ 9.65986204e-01 2.57766689e-01 -2.06636716e-02 3.60776666e+01] [-2.57702902e-01 9.66207165e-01 5.73829298e-03 -5.81169300e+00] [ 2.14445284e-02 -2.18023728e-04 9.99770016e-01 5.08934218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.48762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.11, Y:-5.82, Z:0.51 [[ 9.65456286e-01 2.59723719e-01 -2.09224839e-02 3.61094534e+01] [-2.59658665e-01 9.65682948e-01 5.81558947e-03 -5.81839805e+00] [ 2.17149325e-02 -1.81993167e-04 9.99764186e-01 5.08431519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.14, Y:-5.83, Z:0.51 [[ 9.64809730e-01 2.62015487e-01 -2.21375116e-02 3.61413831e+01] [-2.61943116e-01 9.65063658e-01 6.15957081e-03 -5.82611080e+00] [ 2.29780109e-02 -1.44045073e-04 9.99735960e-01 5.07950068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.17, Y:-5.83, Z:0.51 [[ 9.64533908e-01 2.63030634e-01 -2.21184541e-02 3.61723733e+01] [-2.62958506e-01 9.64787474e-01 6.16072338e-03 -5.83419641e+00] [ 2.29600664e-02 -1.25990958e-04 9.99736375e-01 5.09156295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.577628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.20, Y:-5.84, Z:0.51 [[ 9.65090948e-01 2.60942446e-01 -2.25499748e-02 3.62033163e+01] [-2.60866758e-01 9.65354342e-01 6.28717087e-03 -5.84403713e+00] [ 2.34093058e-02 -1.85152871e-04 9.99725948e-01 5.10564561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.607628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.23, Y:-5.85, Z:0.51 [[ 9.65865073e-01 2.58081472e-01 -2.23296832e-02 3.62319987e+01] [-2.58006364e-01 9.66123122e-01 6.23122720e-03 -5.85487505e+00] [ 2.31813875e-02 -2.57324334e-04 9.99731242e-01 5.11152764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.63762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.26, Y:-5.86, Z:0.51 [[ 9.66672784e-01 2.55137386e-01 -2.11812110e-02 3.62627904e+01] [-2.55069000e-01 9.66904760e-01 5.91529501e-03 -5.86498265e+00] [ 2.19894267e-02 -3.15484391e-04 9.99758154e-01 5.12645927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.66762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.29, Y:-5.88, Z:0.51 [[ 9.68655827e-01 2.47727010e-01 -1.83634546e-02 3.62912546e+01] [-2.47674211e-01 9.68829784e-01 5.13178960e-03 -5.87618152e+00] [ 1.90623446e-02 -4.22783762e-04 9.99818208e-01 5.14738872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.32, Y:-5.88, Z:0.52 [[ 9.69644441e-01 2.43929851e-01 -1.69672088e-02 3.63222999e+01] [-2.43884188e-01 9.69792770e-01 4.74200524e-03 -5.88409858e+00] [ 1.76113930e-02 -4.60025085e-04 9.99844802e-01 5.15958835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.35, Y:-5.89, Z:0.52 [[ 9.70756519e-01 2.39490046e-01 -1.66222108e-02 3.63510388e+01] [-2.39445551e-01 9.70898674e-01 4.64672913e-03 -5.89463244e+00] [ 1.72513278e-02 -5.30728167e-04 9.99851044e-01 5.16620931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.757628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.38, Y:-5.90, Z:0.52 [[ 9.71839185e-01 2.35042061e-01 -1.68472010e-02 3.63803816e+01] [-2.34995679e-01 9.71985004e-01 4.70994841e-03 -5.90328589e+00] [ 1.74822627e-02 -6.18292979e-04 9.99846982e-01 5.17050309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.787628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.41, Y:-5.91, Z:0.52 [[ 9.73471437e-01 2.28006621e-01 -1.91400670e-02 3.64101222e+01] [-2.27945385e-01 9.73659214e-01 5.35139805e-03 -5.91342200e+00] [ 1.98560567e-02 -8.46543221e-04 9.99802491e-01 5.17007498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.817628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.44, Y:-5.92, Z:0.52 [[ 9.73889916e-01 2.26116218e-01 -2.02456671e-02 3.64403197e+01] [-2.26047271e-01 9.74099881e-01 5.66161305e-03 -5.92302374e+00] [ 2.10014844e-02 -9.37310071e-04 9.99779005e-01 5.16963528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.84762800000001 meters Centerline goodness [0,1] 0.9998858395360519 Centerline is valid? [True, True] Translation: X:36.47, Y:-5.93, Z:0.52 [[ 9.74269738e-01 2.24290403e-01 -2.21876817e-02 3.64717528e+01] [-2.24207059e-01 9.74521762e-01 6.20731724e-03 -5.93080030e+00] [ 2.30146204e-02 -1.07296648e-03 9.99734553e-01 5.15283466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.877628 meters Centerline goodness [0,1] 0.9998634594816012 Centerline is valid? [True, True] Translation: X:36.50, Y:-5.94, Z:0.51 [[ 9.74383429e-01 2.23687691e-01 -2.32540385e-02 3.65028543e+01] [-2.23595889e-01 9.74660203e-01 6.50904463e-03 -5.93866270e+00] [ 2.41207790e-02 -1.14279782e-03 9.99708399e-01 5.14538894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.907628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.53, Y:-5.94, Z:0.52 [[ 9.74041651e-01 2.25066806e-01 -2.42444818e-02 3.65333355e+01] [-2.24967280e-01 9.74342641e-01 6.79270815e-03 -5.94469459e+00] [ 2.51512455e-02 -1.16216554e-03 9.99682982e-01 5.15481496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.937628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.57, Y:-5.95, Z:0.52 [[ 9.73585846e-01 2.26962984e-01 -2.48677403e-02 3.65650747e+01] [-2.26858726e-01 9.73902709e-01 6.97371469e-03 -5.95093813e+00] [ 2.58015347e-02 -1.14804605e-03 9.99666426e-01 5.15827444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.967628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.59, Y:-5.96, Z:0.51 [[ 9.72963479e-01 2.29542059e-01 -2.55443246e-02 3.65941761e+01] [-2.29432817e-01 9.73298106e-01 7.16792640e-03 -5.96117988e+00] [ 2.65075833e-02 -1.11342426e-03 9.99647992e-01 5.14596431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.997628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.63, Y:-5.96, Z:0.51 [[ 9.71280924e-01 2.36453222e-01 -2.65186668e-02 3.66263460e+01] [-2.36338030e-01 9.71642398e-01 7.44215547e-03 -5.96281232e+00] [ 2.75263826e-02 -9.61054197e-04 9.99620615e-01 5.14882104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.02762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.66, Y:-5.97, Z:0.52 [[ 9.70189918e-01 2.40868540e-01 -2.67183400e-02 3.66584242e+01] [-2.40753249e-01 9.70557384e-01 7.49915423e-03 -5.96589004e+00] [ 2.77379925e-02 -8.43076683e-04 9.99614872e-01 5.16329714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.05762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.69, Y:-5.97, Z:0.52 [[ 9.69024468e-01 2.45538886e-01 -2.64997457e-02 3.66884992e+01] [-2.45427182e-01 9.69386486e-01 7.43906043e-03 -5.97334301e+00] [ 2.75150740e-02 -7.04873659e-04 9.99621140e-01 5.16538706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.087628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.72, Y:-5.98, Z:0.52 [[ 9.67861004e-01 2.50188942e-01 -2.55062816e-02 3.67199861e+01] [-2.50087045e-01 9.68196875e-01 7.16109808e-03 -5.97776812e+00] [ 2.64867297e-02 -5.52156992e-04 9.99649013e-01 5.18898910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.75, Y:-5.98, Z:0.52 [[ 9.65493231e-01 2.59453294e-01 -2.25124080e-02 3.67509610e+01] [-2.59376417e-01 9.65755620e-01 6.32104359e-03 -5.97945486e+00] [ 2.33815002e-02 -2.63737054e-04 9.99726581e-01 5.21647024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.147628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.78, Y:-5.98, Z:0.52 [[ 9.64246420e-01 2.64192770e-01 -2.07610388e-02 3.67832324e+01] [-2.64128456e-01 9.64469886e-01 5.83076941e-03 -5.98416755e+00] [ 2.15638439e-02 -1.38717398e-04 9.99767464e-01 5.23219183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.177628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.82, Y:-5.99, Z:0.52 [[ 9.63046526e-01 2.68664750e-01 -1.89905593e-02 3.68151235e+01] [-2.68611718e-01 9.63233747e-01 5.33799743e-03 -5.98896306e+00] [ 1.97264793e-02 -3.96531237e-05 9.99805413e-01 5.24660521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.20762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.85, Y:-5.99, Z:0.53 [[ 9.60912266e-01 2.76370766e-01 -1.63345531e-02 3.68471087e+01] [-2.76332581e-01 9.61051086e-01 4.59504820e-03 -5.99166517e+00] [ 1.69682770e-02 9.83310519e-05 9.99856024e-01 5.27312155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.23762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.88, Y:-6.00, Z:0.53 [[ 9.60048990e-01 2.79384004e-01 -1.58276464e-02 3.68787110e+01] [-2.79348494e-01 9.60179440e-01 4.45658264e-03 -5.99928732e+00] [ 1.64424786e-02 1.42891526e-04 9.99864803e-01 5.28332853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.267628 meters Centerline goodness [0,1] 0.9998883355294013 Centerline is valid? [True, True] Translation: X:36.91, Y:-6.01, Z:0.53 [[ 9.59434631e-01 2.81458384e-01 -1.63207596e-02 3.69091523e+01] [-2.81420853e-01 9.59573419e-01 4.59976714e-03 -6.00688811e+00] [ 1.69556101e-02 1.79826201e-04 9.99856227e-01 5.27163813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.94, Y:-6.02, Z:0.53 [[ 9.58969452e-01 2.83078573e-01 -1.56240632e-02 3.69394997e+01] [-2.83044334e-01 9.59096702e-01 4.40701683e-03 -6.01567117e+00] [ 1.62325195e-02 1.96108054e-04 9.99868225e-01 5.29373576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.327628000000004 meters Centerline goodness [0,1] 0.9998430985789214 Centerline is valid? [True, True] Translation: X:36.97, Y:-6.03, Z:0.53 [[ 9.58863125e-01 2.83305974e-01 -1.78670693e-02 3.69704212e+01] [-2.83261146e-01 9.59029548e-01 5.04467294e-03 -6.02561708e+00] [ 1.85642334e-02 2.23895655e-04 9.99827645e-01 5.25768267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.357628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.00, Y:-6.04, Z:0.53 [[ 9.58769923e-01 2.83616125e-01 -1.79479127e-02 3.70016146e+01] [-2.83570875e-01 9.58937872e-01 5.07115687e-03 -6.03541397e+00] [ 1.86491950e-02 2.27432621e-04 9.99826063e-01 5.27392301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.38762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.03, Y:-6.05, Z:0.53 [[ 9.58956163e-01 2.82924349e-01 -1.88915348e-02 3.70333536e+01] [-2.82873967e-01 9.59142202e-01 5.34363468e-03 -6.04585387e+00] [ 1.96315126e-02 2.19611976e-04 9.99807259e-01 5.25917758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.41762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.06, Y:-6.06, Z:0.52 [[ 9.59723356e-01 2.80119516e-01 -2.15438139e-02 3.70616459e+01] [-2.80053150e-01 9.59965116e-01 6.09988429e-03 -6.05950459e+00] [ 2.23900065e-02 1.79211527e-04 9.99749296e-01 5.22918072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.09, Y:-6.07, Z:0.52 [[ 9.60179812e-01 2.78450386e-01 -2.28059359e-02 3.70923314e+01] [-2.78375436e-01 9.60450603e-01 6.46182869e-03 -6.07239059e+00] [ 2.37032736e-02 1.44094877e-04 9.99719028e-01 5.22146474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.12, Y:-6.09, Z:0.52 [[ 9.60740927e-01 2.76424421e-01 -2.37993747e-02 3.71226485e+01] [-2.76342000e-01 9.61035655e-01 6.75041683e-03 -6.08601653e+00] [ 2.47380278e-02 9.13650888e-05 9.99693964e-01 5.22009721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.507628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.15, Y:-6.10, Z:0.52 [[ 9.62003770e-01 2.71882737e-01 -2.50703886e-02 3.71505195e+01] [-2.71789541e-01 9.62330388e-01 7.11823256e-03 -6.10449764e+00] [ 2.60613214e-02 -3.38971529e-05 9.99660346e-01 5.21163727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.537628000000005 meters Centerline goodness [0,1] 0.9998397179035102 Centerline is valid? [True, True] Translation: X:37.18, Y:-6.12, Z:0.52 [[ 9.62729443e-01 2.69162313e-01 -2.65267412e-02 3.71798114e+01] [-2.69056742e-01 9.63094821e-01 7.53888903e-03 -6.11774043e+00] [ 2.75769519e-02 -1.20711884e-04 9.99619676e-01 5.19215956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.567628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.21, Y:-6.12, Z:0.52 [[ 9.62095754e-01 2.71677889e-01 -2.37252046e-02 3.72110538e+01] [-2.71594071e-01 9.62388239e-01 6.74820182e-03 -6.12498584e+00] [ 2.46661951e-02 -4.87914075e-05 9.99695742e-01 5.23409076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.59762800000001 meters Centerline goodness [0,1] 0.9998398279294327 Centerline is valid? [True, True] Translation: X:37.24, Y:-6.13, Z:0.52 [[ 9.61812885e-01 2.72698459e-01 -2.34845619e-02 3.72429096e+01] [-2.72616489e-01 9.62099553e-01 6.68583950e-03 -6.13314977e+00] [ 2.44177047e-02 -2.82477544e-05 9.99701843e-01 5.22435026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.62762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.27, Y:-6.14, Z:0.53 [[ 9.61181464e-01 2.75035649e-01 -2.20359958e-02 3.72723147e+01] [-2.74963966e-01 9.61434029e-01 6.27903059e-03 -6.14244039e+00] [ 2.29131134e-02 2.38169715e-05 9.99737460e-01 5.26732671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.657628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.30, Y:-6.15, Z:0.53 [[ 9.61040189e-01 2.75591313e-01 -2.12410754e-02 3.73035160e+01] [-2.75524733e-01 9.61274897e-01 6.05757100e-03 -6.15158528e+00] [ 2.20879265e-02 3.08724559e-05 9.99756032e-01 5.28400121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.687628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.33, Y:-6.16, Z:0.53 [[ 9.60904650e-01 2.76145400e-01 -2.01487599e-02 3.73348934e+01] [-2.76085501e-01 9.61115871e-01 5.75148369e-03 -6.16038004e+00] [ 2.09535387e-02 3.61530524e-05 9.99780450e-01 5.30043029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.717628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.36, Y:-6.17, Z:0.53 [[ 9.61120221e-01 2.75540287e-01 -1.80407864e-02 3.73643004e+01] [-2.75492077e-01 9.61289524e-01 5.15419690e-03 -6.16910092e+00] [ 1.87626079e-02 1.62908388e-05 9.99823967e-01 5.32059991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.747628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.40, Y:-6.18, Z:0.53 [[ 9.61234307e-01 2.75188609e-01 -1.73157575e-02 3.73954712e+01] [-2.75144069e-01 9.61390259e-01 4.95093429e-03 -6.17800435e+00] [ 1.80096413e-02 5.32007139e-06 9.99837813e-01 5.32882684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.77762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.43, Y:-6.19, Z:0.53 [[ 9.61345891e-01 2.74815791e-01 -1.70399192e-02 3.74274559e+01] [-2.74772519e-01 9.61496896e-01 4.87665100e-03 -6.18691002e+00] [ 1.77240101e-02 -6.04687623e-06 9.99842917e-01 5.33144695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.80762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.46, Y:-6.20, Z:0.53 [[ 9.61832611e-01 2.73049961e-01 -1.79372896e-02 3.74581108e+01] [-2.73001610e-01 9.61999853e-01 5.13849548e-03 -6.19587678e+00] [ 1.86587359e-02 -4.54635892e-05 9.99825910e-01 5.31556774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.837628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.49, Y:-6.21, Z:0.53 [[ 9.62137964e-01 2.71943198e-01 -1.83694185e-02 3.74888836e+01] [-2.71892197e-01 9.62313302e-01 5.26700766e-03 -6.20563909e+00] [ 1.91094627e-02 -7.30864616e-05 9.99817395e-01 5.31606279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.52, Y:-6.22, Z:0.53 [[ 9.62452816e-01 2.70819891e-01 -1.84706074e-02 3.75197917e+01] [-2.70768037e-01 9.62630031e-01 5.30036860e-03 -6.21550554e+00] [ 1.92158066e-02 -1.00104581e-04 9.99815354e-01 5.31941405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.897628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.55, Y:-6.22, Z:0.53 [[ 9.62701252e-01 2.69910548e-01 -1.88307194e-02 3.75518953e+01] [-2.69856405e-01 9.62885393e-01 5.40740913e-03 -6.22386640e+00] [ 1.95913414e-02 -1.24129312e-04 9.99808064e-01 5.32861442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.927628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.58, Y:-6.23, Z:0.53 [[ 9.63332439e-01 2.67553934e-01 -2.01371404e-02 3.75808453e+01] [-2.67491377e-01 9.63542867e-01 5.78848515e-03 -6.23471610e+00] [ 2.09517299e-02 -1.89724107e-04 9.99780470e-01 5.31584337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.95762800000001 meters Centerline goodness [0,1] 0.999817738591575 Centerline is valid? [True, True] Translation: X:37.61, Y:-6.24, Z:0.53 [[ 9.63833618e-01 2.65656339e-01 -2.12477497e-02 3.76118371e+01] [-2.65586110e-01 9.64067761e-01 6.11312600e-03 -6.24180930e+00] [ 2.21082612e-02 -2.48929158e-04 9.99755552e-01 5.31158374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.98762800000001 meters Centerline goodness [0,1] 0.999817738591575 Centerline is valid? [True, True] Translation: X:37.64, Y:-6.25, Z:0.53 [[ 9.63759175e-01 2.65926404e-01 -2.12461883e-02 3.76429412e+01] [-2.65856122e-01 9.63993302e-01 6.11854874e-03 -6.25084005e+00] [ 2.21082668e-02 -2.48378259e-04 9.99755552e-01 5.31664416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.67, Y:-6.26, Z:0.53 [[ 9.63924139e-01 2.65400015e-01 -2.03245224e-02 3.76723844e+01] [-2.65335458e-01 9.64138355e-01 5.85898141e-03 -6.26385680e+00] [ 2.11506253e-02 -2.54797153e-04 9.99776268e-01 5.32848783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.70, Y:-6.27, Z:0.53 [[ 9.64245867e-01 2.64266391e-01 -1.98288595e-02 3.77025480e+01] [-2.64204598e-01 9.64449686e-01 5.72124161e-03 -6.27319212e+00] [ 2.06358692e-02 -2.77807725e-04 9.99787019e-01 5.33577078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.077628000000004 meters Centerline goodness [0,1] 0.9998180536286929 Centerline is valid? [True, True] Translation: X:37.73, Y:-6.28, Z:0.53 [[ 9.65028982e-01 2.61350218e-01 -2.03746789e-02 3.77321283e+01] [-2.61284233e-01 9.65243979e-01 5.88309081e-03 -6.28251302e+00] [ 2.12040832e-02 -3.53770793e-04 9.99775106e-01 5.31095964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.107628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.77, Y:-6.29, Z:0.54 [[ 9.65102637e-01 2.61153222e-01 -1.93879837e-02 3.77651986e+01] [-2.61093348e-01 9.65297299e-01 5.60252300e-03 -6.28545844e+00] [ 2.01782853e-02 -3.44936150e-04 9.99796338e-01 5.35795100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.13762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.79, Y:-6.30, Z:0.54 [[ 9.65341756e-01 2.60246450e-01 -1.96743105e-02 3.77947953e+01] [-2.60184496e-01 9.65542151e-01 5.69062644e-03 -6.29570979e+00] [ 2.04773414e-02 -3.74448762e-04 9.99790247e-01 5.36152117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.16762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.83, Y:-6.30, Z:0.54 [[ 9.65704717e-01 2.58918905e-01 -1.93752639e-02 3.78260131e+01] [-2.58858485e-01 9.65898981e-01 5.60747414e-03 -6.30407564e+00] [ 2.01664287e-02 -3.99712766e-04 9.99796557e-01 5.37539697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.86, Y:-6.32, Z:0.54 [[ 9.65737745e-01 2.58820319e-01 -1.90434005e-02 3.78560834e+01] [-2.58761831e-01 9.65925402e-01 5.51655808e-03 -6.31602324e+00] [ 1.98223016e-02 -3.99843187e-04 9.99803439e-01 5.38022940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.89, Y:-6.32, Z:0.54 [[ 9.65637860e-01 2.59230024e-01 -1.85288688e-02 3.78880199e+01] [-2.59174628e-01 9.65815534e-01 5.37276187e-03 -6.32308456e+00] [ 1.92882505e-02 -3.85929591e-04 9.99813890e-01 5.39240412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.257628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.92, Y:-6.33, Z:0.54 [[ 9.65045861e-01 2.61428934e-01 -1.84769875e-02 3.79180566e+01] [-2.61374147e-01 9.65222665e-01 5.36309450e-03 -6.33145203e+00] [ 1.92364752e-02 -3.46225310e-04 9.99814902e-01 5.39168211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.287628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.95, Y:-6.34, Z:0.54 [[ 9.64418643e-01 2.63745683e-01 -1.83001844e-02 3.79503196e+01] [-2.63692270e-01 9.64592206e-01 5.31627313e-03 -6.33655884e+00] [ 1.90543594e-02 -3.01495739e-04 9.99818404e-01 5.39987987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.317628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.98, Y:-6.34, Z:0.54 [[ 9.63637723e-01 2.66582507e-01 -1.83332025e-02 3.79821612e+01] [-2.66529332e-01 9.63812069e-01 5.33014179e-03 -6.34376995e+00] [ 1.90906844e-02 -2.49989469e-04 9.99817725e-01 5.40576390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.01, Y:-6.35, Z:0.54 [[ 9.61935365e-01 2.72695531e-01 -1.78185686e-02 3.80145119e+01] [-2.72646307e-01 9.62100375e-01 5.18264729e-03 -6.34809979e+00] [ 1.85565363e-02 -1.27204784e-04 9.99827805e-01 5.40819349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.37762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.05, Y:-6.35, Z:0.54 [[ 9.61064440e-01 2.75744911e-01 -1.78853631e-02 3.80460566e+01] [-2.75695756e-01 9.61230846e-01 5.20684732e-03 -6.35490711e+00] [ 1.86277244e-02 -7.31971017e-05 9.99826486e-01 5.41056185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.407628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.08, Y:-6.36, Z:0.54 [[ 9.60217059e-01 2.78666036e-01 -1.81229343e-02 3.80782122e+01] [-2.78615992e-01 9.60388067e-01 5.28102763e-03 -6.36261407e+00] [ 1.88766929e-02 -2.15935080e-05 9.99821819e-01 5.41436322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.437628000000004 meters Centerline goodness [0,1] 0.9998645567620037 Centerline is valid? [True, True] Translation: X:38.11, Y:-6.37, Z:0.54 [[ 9.59327833e-01 2.81672010e-01 -1.87346767e-02 3.81099492e+01] [-2.81618988e-01 9.59510749e-01 5.46517370e-03 -6.36980169e+00] [ 1.95155101e-02 3.31474386e-05 9.99809554e-01 5.39541289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.467628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.14, Y:-6.38, Z:0.54 [[ 9.58964642e-01 2.82915798e-01 -1.85867339e-02 3.81405696e+01] [-2.82863734e-01 9.59144749e-01 5.42765629e-03 -6.37870044e+00] [ 1.93629379e-02 5.25824745e-05 9.99812519e-01 5.41900963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.497628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.17, Y:-6.39, Z:0.54 [[ 9.58911374e-01 2.83063920e-01 -1.90733810e-02 3.81722153e+01] [-2.83009010e-01 9.59101045e-01 5.57543099e-03 -6.38882178e+00] [ 1.98715030e-02 5.15944853e-05 9.99802541e-01 5.42065498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.52762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.20, Y:-6.40, Z:0.54 [[ 9.59083917e-01 2.82444016e-01 -1.95810891e-02 3.82036831e+01] [-2.82385890e-01 9.59283783e-01 5.72993657e-03 -6.39989921e+00] [ 2.04022075e-02 3.39332614e-05 9.99791853e-01 5.42445782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.55762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.23, Y:-6.41, Z:0.54 [[ 9.59823602e-01 2.79894825e-01 -1.99384055e-02 3.82343454e+01] [-2.79833881e-01 9.60030669e-01 5.84065293e-03 -6.41340973e+00] [ 2.07762493e-02 -2.65551527e-05 9.99784150e-01 5.42493886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.587628 meters Centerline goodness [0,1] 0.9999772598067084 Centerline is valid? [True, True] Translation: X:38.26, Y:-6.43, Z:0.54 [[ 9.60340380e-01 2.78080318e-01 -2.04374856e-02 3.82642095e+01] [-2.78015739e-01 9.60557823e-01 5.99311797e-03 -6.42500779e+00] [ 2.12979549e-02 -7.34905043e-05 9.99773170e-01 5.42250535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.30, Y:-6.44, Z:0.54 [[ 9.60720983e-01 2.76775042e-01 -2.02674221e-02 3.82955200e+01] [-2.76711119e-01 9.60934735e-01 5.94910295e-03 -6.43626249e+00] [ 2.11222331e-02 -1.07206989e-04 9.99776895e-01 5.43497907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.647628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.33, Y:-6.45, Z:0.54 [[ 9.60868248e-01 2.76322709e-01 -1.94414923e-02 3.83265094e+01] [-2.76263683e-01 9.61064902e-01 5.71230622e-03 -6.44562836e+00] [ 2.02629758e-02 -1.17795398e-04 9.99794678e-01 5.44193458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.677628000000006 meters Centerline goodness [0,1] 0.9998176139342955 Centerline is valid? [True, True] Translation: X:38.36, Y:-6.45, Z:0.54 [[ 9.61097656e-01 2.75427753e-01 -2.07568842e-02 3.83572101e+01] [-2.75360130e-01 9.61321762e-01 6.10485263e-03 -6.45457300e+00] [ 2.16354903e-02 -1.51741222e-04 9.99765914e-01 5.42255620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.70762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.39, Y:-6.46, Z:0.54 [[ 9.61180977e-01 2.75124061e-01 -2.09256083e-02 3.83884766e+01] [-2.75055135e-01 9.61408718e-01 6.16027321e-03 -6.46466875e+00] [ 2.18129016e-02 -1.65441396e-04 9.99762057e-01 5.44921423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.73762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.42, Y:-6.48, Z:0.55 [[ 9.61653806e-01 2.73379260e-01 -2.20394666e-02 3.84182082e+01] [-2.73302192e-01 9.61906300e-01 6.49470207e-03 -6.47562277e+00] [ 2.29754186e-02 -2.22220435e-04 9.99736006e-01 5.45762694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.767628 meters Centerline goodness [0,1] 0.9998172556365215 Centerline is valid? [True, True] Translation: X:38.45, Y:-6.49, Z:0.54 [[ 9.61806084e-01 2.72816537e-01 -2.23650129e-02 3.84496023e+01] [-2.72736883e-01 9.62066046e-01 6.59663410e-03 -6.48536752e+00] [ 2.33162904e-02 -2.44918906e-04 9.99728108e-01 5.44234889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.48, Y:-6.49, Z:0.55 [[ 9.61611937e-01 2.73606157e-01 -2.10274616e-02 3.84798179e+01] [-2.73535810e-01 9.61841787e-01 6.20786255e-03 -6.49391643e+00] [ 2.19236006e-02 -2.17791008e-04 9.99759625e-01 5.47787792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.827628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.51, Y:-6.50, Z:0.55 [[ 9.61562106e-01 2.73789368e-01 -2.09212301e-02 3.85115820e+01] [-2.73719654e-01 9.61789652e-01 6.18193965e-03 -6.50204491e+00] [ 2.18143720e-02 -2.17767051e-04 9.99762015e-01 5.48532692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.857628000000005 meters Centerline goodness [0,1] 0.9998859228838695 Centerline is valid? [True, True] Translation: X:38.54, Y:-6.51, Z:0.55 [[ 9.61891382e-01 2.72553720e-01 -2.18961101e-02 3.85424004e+01] [-2.72476886e-01 9.62140530e-01 6.47657476e-03 -6.50972235e+00] [ 2.28323496e-02 -2.63577534e-04 9.99739273e-01 5.45339741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.88762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.57, Y:-6.52, Z:0.55 [[ 9.62029962e-01 2.72077550e-01 -2.17292076e-02 3.85726170e+01] [-2.72001629e-01 9.62275288e-01 6.43306295e-03 -6.51934936e+00] [ 2.26597715e-02 -2.78419426e-04 9.99743196e-01 5.47390110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.91762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.60, Y:-6.53, Z:0.55 [[ 9.62404819e-01 2.70720608e-01 -2.20752678e-02 3.86023322e+01] [-2.70641754e-01 9.62657909e-01 6.54153212e-03 -6.52983122e+00] [ 2.30218587e-02 -3.21112833e-04 9.99734910e-01 5.47565196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.63, Y:-6.54, Z:0.55 [[ 9.62849465e-01 2.69121489e-01 -2.22380513e-02 3.86334535e+01] [-2.69040912e-01 9.63106167e-01 6.59535156e-03 -6.53884537e+00] [ 2.31925552e-02 -3.67385125e-04 9.99730949e-01 5.49131633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.66, Y:-6.55, Z:0.55 [[ 9.64166219e-01 2.64397414e-01 -2.18520025e-02 3.86638859e+01] [-2.64318295e-01 9.64413697e-01 6.48529522e-03 -6.54992602e+00] [ 2.27890658e-02 -4.77018517e-04 9.99740182e-01 5.50562219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.007628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.69, Y:-6.56, Z:0.55 [[ 9.64812627e-01 2.62074617e-01 -2.12952903e-02 3.86938665e+01] [-2.61998853e-01 9.65047472e-01 6.32274762e-03 -6.55960096e+00] [ 2.22079977e-02 -5.20925126e-04 9.99753236e-01 5.51357950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.037628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.72, Y:-6.57, Z:0.55 [[ 9.65747617e-01 2.58655668e-01 -2.07071168e-02 3.87246388e+01] [-2.58583160e-01 9.65969410e-01 6.15212321e-03 -6.56940313e+00] [ 2.15937229e-02 -5.86886635e-04 9.99766656e-01 5.52425494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.067628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.76, Y:-6.58, Z:0.55 [[ 9.65959413e-01 2.57894598e-01 -2.03171985e-02 3.87557096e+01] [-2.57824573e-01 9.66172874e-01 6.03883327e-03 -6.57738321e+00] [ 2.11873085e-02 -5.94994825e-04 9.99775347e-01 5.53230235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.79, Y:-6.59, Z:0.55 [[ 9.66038027e-01 2.57558572e-01 -2.08353538e-02 3.87854844e+01] [-2.57484729e-01 9.66262487e-01 6.19842273e-03 -6.58703827e+00] [ 2.17288777e-02 -6.23126633e-04 9.99763706e-01 5.53393606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.12762800000001 meters Centerline goodness [0,1] 0.9998863119599818 Centerline is valid? [True, True] Translation: X:38.82, Y:-6.60, Z:0.55 [[ 9.66105951e-01 2.57234139e-01 -2.16769268e-02 3.88160949e+01] [-2.57154001e-01 9.66348881e-01 6.45443659e-03 -6.59601918e+00] [ 2.26077754e-02 -6.61361151e-04 9.99744193e-01 5.51393563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.157628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.85, Y:-6.60, Z:0.55 [[ 9.66080678e-01 2.57310615e-01 -2.18945397e-02 3.88476820e+01] [-2.57228738e-01 9.66328513e-01 6.52538222e-03 -6.60445044e+00] [ 2.28363681e-02 -6.72140873e-04 9.99738990e-01 5.53446413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.187628000000004 meters Centerline goodness [0,1] 0.9998188036511064 Centerline is valid? [True, True] Translation: X:38.88, Y:-6.61, Z:0.55 [[ 9.66085735e-01 2.57236483e-01 -2.25331928e-02 3.88785334e+01] [-2.57149581e-01 9.66348230e-01 6.72242394e-03 -6.61311145e+00] [ 2.35041636e-02 -7.00036788e-04 9.99723494e-01 5.50902361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.217628000000005 meters Centerline goodness [0,1] 0.9998641212038861 Centerline is valid? [True, True] Translation: X:38.91, Y:-6.62, Z:0.55 [[ 9.65981240e-01 2.57674661e-01 -2.20002840e-02 3.89099717e+01] [-2.57591804e-01 9.66231498e-01 6.56919572e-03 -6.62084099e+00] [ 2.29500826e-02 -6.78626999e-04 9.99736382e-01 5.51898107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.247628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.94, Y:-6.63, Z:0.55 [[ 9.65794500e-01 2.58447450e-01 -2.11163054e-02 3.89394515e+01] [-2.58371197e-01 9.66025107e-01 6.31002628e-03 -6.63075973e+00] [ 2.20296914e-02 -6.38343577e-04 9.99757113e-01 5.54856493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.27762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.97, Y:-6.64, Z:0.56 [[ 9.65245958e-01 2.60509704e-01 -2.08550977e-02 3.89694219e+01] [-2.60435727e-01 9.65471050e-01 6.23564004e-03 -6.63945875e+00] [ 2.17594378e-02 -5.87513816e-04 9.99763063e-01 5.56440482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.30762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.00, Y:-6.64, Z:0.56 [[ 9.64731427e-01 2.62429000e-01 -2.05984039e-02 3.90009828e+01] [-2.62357162e-01 9.64951152e-01 6.16394126e-03 -6.64471124e+00] [ 2.14940505e-02 -5.42409077e-04 9.99768829e-01 5.57099313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.337628 meters Centerline goodness [0,1] 0.999932369981289 Centerline is valid? [True, True] Translation: X:39.03, Y:-6.65, Z:0.56 [[ 9.63588980e-01 2.66541437e-01 -2.12589054e-02 3.90322257e+01] [-2.66465819e-01 9.63823346e-01 6.36594379e-03 -6.64911029e+00] [ 2.21866172e-02 -4.69381642e-04 9.99753737e-01 5.55645824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.367628 meters Centerline goodness [0,1] 0.9999099646611295 Centerline is valid? [True, True] Translation: X:39.06, Y:-6.66, Z:0.56 [[ 9.62878399e-01 2.69119523e-01 -2.09731031e-02 3.90626379e+01] [-2.69046490e-01 9.63106701e-01 6.28244974e-03 -6.65675225e+00] [ 2.18900660e-02 -4.06495365e-04 9.99760301e-01 5.55264745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.397628000000005 meters Centerline goodness [0,1] 0.9999101648475048 Centerline is valid? [True, True] Translation: X:39.09, Y:-6.66, Z:0.56 [[ 9.62019158e-01 2.72203925e-01 -2.05952149e-02 3.90939547e+01] [-2.72134095e-01 9.62239529e-01 6.17442207e-03 -6.66403335e+00] [ 2.14982318e-02 -3.35252150e-04 9.99768830e-01 5.55632768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.427628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.13, Y:-6.67, Z:0.56 [[ 9.60393236e-01 2.77968081e-01 -1.94570743e-02 3.91254985e+01] [-2.77906856e-01 9.60590291e-01 5.83720035e-03 -6.66900404e+00] [ 2.03128321e-02 -1.98753382e-04 9.99793653e-01 5.58125533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.45762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.16, Y:-6.68, Z:0.56 [[ 9.59669626e-01 2.80472444e-01 -1.92202539e-02 3.91563893e+01] [-2.80413162e-01 9.59862067e-01 5.76813640e-03 -6.67620726e+00] [ 2.00665959e-02 -1.45893138e-04 9.99798635e-01 5.58508724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.48762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.19, Y:-6.68, Z:0.56 [[ 9.58909950e-01 2.83067938e-01 -1.90853492e-02 3.91864697e+01] [-2.83009900e-01 9.59099856e-01 5.73262624e-03 -6.68420087e+00] [ 1.99274783e-02 -9.57295844e-05 9.99801424e-01 5.58720772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.22, Y:-6.69, Z:0.56 [[ 9.57668488e-01 2.87258274e-01 -1.88082744e-02 3.92176814e+01] [-2.87202625e-01 9.57853164e-01 5.65406357e-03 -6.69069582e+00] [ 1.96397417e-02 -1.29327288e-05 9.99807122e-01 5.59112151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.547628 meters Centerline goodness [0,1] 0.9998881706962492 Centerline is valid? [True, True] Translation: X:39.25, Y:-6.70, Z:0.56 [[ 9.57244896e-01 2.88607746e-01 -1.96920636e-02 3.92494917e+01] [-2.88546912e-01 9.57447423e-01 5.92543278e-03 -6.69946478e+00] [ 2.05642413e-02 9.99384140e-06 9.99788534e-01 5.56935267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.577628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.28, Y:-6.71, Z:0.56 [[ 9.56684831e-01 2.90494842e-01 -1.91541629e-02 3.92801194e+01] [-2.90437549e-01 9.56876557e-01 5.76933461e-03 -6.70826081e+00] [ 2.00041314e-02 4.36532172e-05 9.99799896e-01 5.58462310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.607628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.31, Y:-6.72, Z:0.56 [[ 9.56262362e-01 2.91854583e-01 -1.95754256e-02 3.93116330e+01] [-2.91794907e-01 9.56462701e-01 5.90208312e-03 -6.71806566e+00] [ 2.04457144e-02 6.80695514e-05 9.99790962e-01 5.58739576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.63762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.34, Y:-6.73, Z:0.56 [[ 9.56096118e-01 2.92389884e-01 -1.97070873e-02 3.93421236e+01] [-2.92329401e-01 9.56299195e-01 5.94733528e-03 -6.72852273e+00] [ 2.05848124e-02 7.47368592e-05 9.99788108e-01 5.58037259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.66762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.37, Y:-6.74, Z:0.56 [[ 9.56054307e-01 2.92505692e-01 -2.00145391e-02 3.93734808e+01] [-2.92443239e-01 9.56263779e-01 6.04460210e-03 -6.73949014e+00] [ 2.09072593e-02 7.41487766e-05 9.99781417e-01 5.58646524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.40, Y:-6.75, Z:0.56 [[ 9.56031043e-01 2.92579560e-01 -2.00460936e-02 3.94043903e+01] [-2.92516797e-01 9.56241181e-01 6.06028810e-03 -6.75091539e+00] [ 2.09420166e-02 6.99955235e-05 9.99780689e-01 5.59098985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.43, Y:-6.76, Z:0.56 [[ 9.56188164e-01 2.92059640e-01 -2.01335813e-02 3.94345089e+01] [-2.91996086e-01 9.56400107e-01 6.09278959e-03 -6.76267588e+00] [ 2.10352172e-02 5.30736230e-05 9.99778734e-01 5.59764897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.757628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.46, Y:-6.78, Z:0.56 [[ 9.56588088e-01 2.90695228e-01 -2.08689779e-02 3.94635714e+01] [-2.90626488e-01 9.56815700e-01 6.32141290e-03 -6.77672754e+00] [ 2.18053702e-02 1.80894667e-05 9.99762234e-01 5.59568543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.787628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.49, Y:-6.79, Z:0.56 [[ 9.56758004e-01 2.90139990e-01 -2.08064162e-02 3.94946659e+01] [-2.90071400e-01 9.56984214e-01 6.30845671e-03 -6.78863566e+00] [ 2.17417474e-02 -3.20165141e-07 9.99763620e-01 5.60109327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.817628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.52, Y:-6.80, Z:0.56 [[ 9.56877713e-01 2.89785523e-01 -2.02334765e-02 3.95249737e+01] [-2.89720452e-01 9.57091610e-01 6.14078951e-03 -6.80028153e+00] [ 2.11448025e-02 -1.39326615e-05 9.99776424e-01 5.60725103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.56, Y:-6.81, Z:0.56 [[ 9.56746494e-01 2.90332192e-01 -1.85301034e-02 3.95557051e+01] [-2.90277617e-01 9.56925921e-01 5.62909323e-03 -6.81155375e+00] [ 1.93662432e-02 -6.74094708e-06 9.99812457e-01 5.63050695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.87762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.59, Y:-6.82, Z:0.56 [[ 9.56551680e-01 2.90999450e-01 -1.81163776e-02 3.95860857e+01] [-2.90947307e-01 9.56723220e-01 5.50858062e-03 -6.82069123e+00] [ 1.89353530e-02 1.66921611e-06 9.99820710e-01 5.63475601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.907628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.62, Y:-6.83, Z:0.56 [[ 9.56472772e-01 2.91258772e-01 -1.81153066e-02 3.96170503e+01] [-2.91206609e-01 9.56644306e-01 5.51210046e-03 -6.83020271e+00] [ 1.89353525e-02 3.12300695e-06 9.99820710e-01 5.63981198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.937628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.65, Y:-6.84, Z:0.56 [[ 9.56206343e-01 2.92119598e-01 -1.83185555e-02 3.96483299e+01] [-2.92066310e-01 9.56381796e-01 5.57942254e-03 -6.83957743e+00] [ 1.91493917e-02 1.51536794e-05 9.99816633e-01 5.64387339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.967628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.68, Y:-6.85, Z:0.56 [[ 9.55967103e-01 2.92818395e-01 -1.96031756e-02 3.96788352e+01] [-2.92757395e-01 9.56168074e-01 5.97672481e-03 -6.84925892e+00] [ 2.04940257e-02 2.54223151e-05 9.99789975e-01 5.63739489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.997628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.71, Y:-6.86, Z:0.56 [[ 9.56082708e-01 2.92394440e-01 -2.02816999e-02 3.97102747e+01] [-2.92328923e-01 9.56297805e-01 6.18944469e-03 -6.85979802e+00] [ 2.12051043e-02 1.13064469e-05 9.99775146e-01 5.63750265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.02762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.74, Y:-6.87, Z:0.56 [[ 9.56806386e-01 2.90005980e-01 -2.04467744e-02 3.97411361e+01] [-2.89938716e-01 9.57024832e-01 6.24592164e-03 -6.87194489e+00] [ 2.13794255e-02 -4.78261965e-05 9.99771433e-01 5.64236581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.05762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.77, Y:-6.88, Z:0.57 [[ 9.57248035e-01 2.88568907e-01 -2.01043760e-02 3.97709077e+01] [-2.88503444e-01 9.57459127e-01 6.14682567e-03 -6.88239202e+00] [ 2.10229011e-02 -8.38550608e-05 9.99778991e-01 5.65275647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.087628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.80, Y:-6.89, Z:0.57 [[ 9.57536347e-01 2.87644242e-01 -1.96197274e-02 3.98023592e+01] [-2.87581618e-01 9.57737322e-01 6.00285683e-03 -6.89260854e+00] [ 2.05172324e-02 -1.05680662e-04 9.99789494e-01 5.66584789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.117628 meters Centerline goodness [0,1] 0.9998636487592037 Centerline is valid? [True, True] Translation: X:39.83, Y:-6.90, Z:0.57 [[ 9.57901990e-01 2.86436458e-01 -1.94404826e-02 3.98342745e+01] [-2.86374605e-01 9.58099231e-01 5.95388993e-03 -6.90244047e+00] [ 2.03313226e-02 -1.35982482e-04 9.99793288e-01 5.65581213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.147628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.86, Y:-6.91, Z:0.57 [[ 9.58249443e-01 2.85292086e-01 -1.91423641e-02 3.98646093e+01] [-2.85231773e-01 9.58440608e-01 5.86830284e-03 -6.91216032e+00] [ 2.00209995e-02 -1.63287481e-04 9.99799546e-01 5.68947736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.177628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.90, Y:-6.92, Z:0.57 [[ 9.58485400e-01 2.84458300e-01 -1.97284955e-02 3.98951451e+01] [-2.84393941e-01 9.58688395e-01 6.05368207e-03 -6.92128608e+00] [ 2.06354998e-02 -1.91701287e-04 9.99787047e-01 5.69886181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.20762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.93, Y:-6.93, Z:0.57 [[ 9.58734096e-01 2.83583359e-01 -2.02339471e-02 3.99254338e+01] [-2.83515347e-01 9.58947564e-01 6.21436312e-03 -6.93053713e+00] [ 2.11655843e-02 -2.21287257e-04 9.99775959e-01 5.69699011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.23762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.96, Y:-6.94, Z:0.57 [[ 9.59270251e-01 2.81786750e-01 -1.99201780e-02 3.99559926e+01] [-2.81720333e-01 9.59477024e-01 6.12332791e-03 -6.93898952e+00] [ 2.08384257e-02 -2.62007141e-04 9.99782822e-01 5.70625413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.99, Y:-6.95, Z:0.57 [[ 9.59555701e-01 2.80844766e-01 -1.94698048e-02 3.99858585e+01] [-2.80781029e-01 9.59753165e-01 5.98957998e-03 -6.94923658e+00] [ 2.03683490e-02 -2.80583793e-04 9.99792504e-01 5.71437202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.02, Y:-6.96, Z:0.57 [[ 9.59750768e-01 2.80204579e-01 -1.90750328e-02 4.00159792e+01] [-2.80143207e-01 9.59940263e-01 5.87153054e-03 -6.95948490e+00] [ 1.99561217e-02 -2.91465087e-04 9.99800814e-01 5.72562451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.327628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.05, Y:-6.97, Z:0.57 [[ 9.59913570e-01 2.79684919e-01 -1.85009321e-02 4.00478084e+01] [-2.79626988e-01 9.60091796e-01 5.70004890e-03 -6.96929539e+00] [ 1.93568108e-02 -2.98194380e-04 9.99812595e-01 5.74021501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.357628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.08, Y:-6.98, Z:0.58 [[ 9.60259562e-01 2.78561652e-01 -1.74636558e-02 4.00773852e+01] [-2.78509760e-01 9.60418300e-01 5.38538839e-03 -6.97872129e+00] [ 1.82725773e-02 -3.07572120e-04 9.99832995e-01 5.75298398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.38762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.11, Y:-6.99, Z:0.58 [[ 9.60273639e-01 2.78511773e-01 -1.74851299e-02 4.01094223e+01] [-2.78459663e-01 9.60432764e-01 5.39647774e-03 -6.98676434e+00] [ 1.82962742e-02 -3.13191946e-04 9.99832560e-01 5.75715407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.41762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.14, Y:-7.00, Z:0.58 [[ 9.60184315e-01 2.78794062e-01 -1.78872351e-02 4.01411092e+01] [-2.78739471e-01 9.60350857e-01 5.52619250e-03 -6.99628978e+00] [ 1.87186912e-02 -3.20284926e-04 9.99824739e-01 5.75915456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.17, Y:-7.01, Z:0.58 [[ 9.60050579e-01 2.79204877e-01 -1.86419555e-02 4.01715086e+01] [-2.79145552e-01 9.60231497e-01 5.76484464e-03 -7.00670885e+00] [ 1.95101655e-02 -3.30723489e-04 9.99809604e-01 5.75594116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.477628 meters Centerline goodness [0,1] 0.9997964537723901 Centerline is valid? [True, True] Translation: X:40.20, Y:-7.02, Z:0.57 [[ 9.60116375e-01 2.78877194e-01 -2.01011709e-02 4.02023691e+01] [-2.78808052e-01 9.60326702e-01 6.22053523e-03 -7.01563559e+00] [ 2.10384566e-02 -3.68069438e-04 9.99778599e-01 5.73050573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.507628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.23, Y:-7.02, Z:0.58 [[ 9.59747140e-01 2.80125749e-01 -2.03713689e-02 4.02333436e+01] [-2.80054900e-01 9.59963250e-01 6.30963479e-03 -7.02357709e+00] [ 2.13232567e-02 -3.50552248e-04 9.99772572e-01 5.75969017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.537628000000005 meters Centerline goodness [0,1] 0.9998415859509369 Centerline is valid? [True, True] Translation: X:40.26, Y:-7.03, Z:0.57 [[ 9.59610334e-01 2.80485304e-01 -2.18174442e-02 4.02638161e+01] [-2.80403999e-01 9.59858248e-01 6.76326092e-03 -7.03223314e+00] [ 2.28386491e-02 -3.72396447e-04 9.99739095e-01 5.72388824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.567628000000006 meters Centerline goodness [0,1] 0.9998419900227986 Centerline is valid? [True, True] Translation: X:40.29, Y:-7.04, Z:0.57 [[ 9.59442116e-01 2.81054249e-01 -2.18937472e-02 4.02939138e+01] [-2.80972409e-01 9.59691813e-01 6.79184931e-03 -7.04137349e+00] [ 2.29201281e-02 -3.64847368e-04 9.99737233e-01 5.72226096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.32, Y:-7.05, Z:0.58 [[ 9.59120344e-01 2.82182757e-01 -2.14722304e-02 4.03241916e+01] [-2.82104187e-01 9.59360609e-01 6.66707125e-03 -7.05050803e+00] [ 2.24809445e-02 -3.37117583e-04 9.99747215e-01 5.75662375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.62762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.35, Y:-7.06, Z:0.58 [[ 9.59148080e-01 2.82099008e-01 -2.13333268e-02 4.03537114e+01] [-2.82021300e-01 9.59385237e-01 6.62981115e-03 -7.06256908e+00] [ 2.23371419e-02 -3.42518083e-04 9.99750436e-01 5.75924089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.657628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.39, Y:-7.07, Z:0.58 [[ 9.59222622e-01 2.81861631e-01 -2.11182968e-02 4.03855299e+01] [-2.81785287e-01 9.59455001e-01 6.56918021e-03 -7.07125175e+00] [ 2.21136553e-02 -3.50480947e-04 9.99755402e-01 5.78036072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.687628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.41, Y:-7.08, Z:0.58 [[ 9.59790789e-01 2.79956801e-01 -2.06356705e-02 4.04144939e+01] [-2.79883350e-01 9.60012519e-01 6.42441478e-03 -7.08362257e+00] [ 2.16090606e-02 -3.90513539e-04 9.99766421e-01 5.78195202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.717628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.45, Y:-7.09, Z:0.58 [[ 9.60153534e-01 2.78784493e-01 -1.96060514e-02 4.04452950e+01] [-2.78717877e-01 9.60353605e-01 6.10722114e-03 -7.09163842e+00] [ 2.05313407e-02 -3.99312948e-04 9.99789130e-01 5.79603839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.747628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.47, Y:-7.10, Z:0.58 [[ 9.60741524e-01 2.76858315e-01 -1.80332199e-02 4.04742114e+01] [-2.76801534e-01 9.60910665e-01 5.62181731e-03 -7.10315935e+00] [ 1.88847601e-02 -4.09490413e-04 9.99821583e-01 5.80776468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.77762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.50, Y:-7.11, Z:0.58 [[ 9.60915061e-01 2.76296647e-01 -1.73898756e-02 4.05042147e+01] [-2.76243676e-01 9.61072315e-01 5.42553379e-03 -7.11355539e+00] [ 1.82119848e-02 -4.09633963e-04 9.99834064e-01 5.81989395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.80762800000001 meters Centerline goodness [0,1] 0.9998867933072203 Centerline is valid? [True, True] Translation: X:40.54, Y:-7.12, Z:0.58 [[ 9.61152852e-01 2.75477641e-01 -1.72413604e-02 4.05351688e+01] [-2.75425357e-01 9.61307385e-01 5.38377130e-03 -7.12313035e+00] [ 1.80573557e-02 -4.25919305e-04 9.99836862e-01 5.80969643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.837628 meters Centerline goodness [0,1] 0.9998638622285754 Centerline is valid? [True, True] Translation: X:40.57, Y:-7.13, Z:0.58 [[ 9.61298110e-01 2.74972787e-01 -1.72020496e-02 4.05651563e+01] [-2.74920577e-01 9.61451909e-01 5.37612785e-03 -7.13295820e+00] [ 1.80172322e-02 -4.38864159e-04 9.99837580e-01 5.81476150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.60, Y:-7.14, Z:0.58 [[ 9.61010886e-01 2.75964340e-01 -1.73712105e-02 4.05950119e+01] [-2.75911179e-01 9.61167779e-01 5.43345095e-03 -7.14274730e+00] [ 1.81960865e-02 -4.28694355e-04 9.99834346e-01 5.83470663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.897628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.63, Y:-7.15, Z:0.58 [[ 9.60618360e-01 2.77260589e-01 -1.84101338e-02 4.06265843e+01] [-2.77201032e-01 9.60794660e-01 5.76273009e-03 -7.15102482e+00] [ 1.92861361e-02 -4.32476251e-04 9.99813912e-01 5.82067666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.927628000000006 meters Centerline goodness [0,1] 0.9998638745831159 Centerline is valid? [True, True] Translation: X:40.66, Y:-7.16, Z:0.58 [[ 9.60342024e-01 2.78154403e-01 -1.93216067e-02 4.06558934e+01] [-2.78088929e-01 9.60536276e-01 6.05067819e-03 -7.16014806e+00] [ 2.02421269e-02 -4.37595631e-04 9.99795011e-01 5.79350329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.95762800000001 meters Centerline goodness [0,1] 0.9998639980053041 Centerline is valid? [True, True] Translation: X:40.69, Y:-7.17, Z:0.58 [[ 9.59894938e-01 2.79661006e-01 -1.97845599e-02 4.06865845e+01] [-2.79592570e-01 9.60098716e-01 6.20080708e-03 -7.16850146e+00] [ 2.07292545e-02 -4.20507394e-04 9.99785037e-01 5.79267923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.98762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.72, Y:-7.18, Z:0.58 [[ 9.59316224e-01 2.81606703e-01 -2.02496027e-02 4.07170660e+01] [-2.81535326e-01 9.59529838e-01 6.35213591e-03 -7.17727632e+00] [ 2.12189021e-02 -3.92728540e-04 9.99774777e-01 5.81978201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.017628 meters Centerline goodness [0,1] 0.9998640719512472 Centerline is valid? [True, True] Translation: X:40.75, Y:-7.18, Z:0.58 [[ 9.58602835e-01 2.83903217e-01 -2.18990319e-02 4.07474720e+01] [-2.83820194e-01 9.58852868e-01 6.87567134e-03 -7.18471455e+00] [ 2.29499747e-02 -3.75650561e-04 9.99736544e-01 5.78956454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.78, Y:-7.19, Z:0.58 [[ 9.58094342e-01 2.85629905e-01 -2.16976886e-02 4.07771827e+01] [-2.85548723e-01 9.58339942e-01 6.81784320e-03 -7.19377828e+00] [ 2.27411416e-02 -3.36389719e-04 9.99741330e-01 5.81212813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.077628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.81, Y:-7.20, Z:0.58 [[ 9.57754608e-01 2.86757470e-01 -2.18234619e-02 4.08077614e+01] [-2.86675509e-01 9.58003159e-01 6.86291722e-03 -7.20228669e+00] [ 2.28749382e-02 -3.16738547e-04 9.99738284e-01 5.82317309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.107628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.84, Y:-7.21, Z:0.58 [[ 9.57585774e-01 2.87435785e-01 -2.02522892e-02 4.08383587e+01] [-2.87365246e-01 9.57799869e-01 6.37390803e-03 -7.21103501e+00] [ 2.12297292e-02 -2.83759597e-04 9.99774584e-01 5.84595095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.13762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.87, Y:-7.22, Z:0.59 [[ 9.57690299e-01 2.87136073e-01 -1.95490954e-02 4.08701657e+01] [-2.87070176e-01 9.57889761e-01 6.15791047e-03 -7.22100705e+00] [ 2.04940366e-02 -2.85408852e-04 9.99789934e-01 5.85852068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.16762800000001 meters Centerline goodness [0,1] 0.9997959322495068 Centerline is valid? [True, True] Translation: X:40.90, Y:-7.23, Z:0.58 [[ 9.58110721e-01 2.85739577e-01 -1.94098076e-02 4.08997519e+01] [-2.85674213e-01 9.58307254e-01 6.11975260e-03 -7.23148441e+00] [ 2.03492150e-02 -3.18519060e-04 9.99792883e-01 5.83302434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.19762800000001 meters Centerline goodness [0,1] 0.9998416970080735 Centerline is valid? [True, True] Translation: X:40.93, Y:-7.24, Z:0.58 [[ 9.59000694e-01 2.82812367e-01 -1.82984482e-02 4.09303187e+01] [-2.82753657e-01 9.59175184e-01 5.77376523e-03 -7.24229479e+00] [ 1.91843097e-02 -3.63091707e-04 9.99815898e-01 5.83854858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.96, Y:-7.25, Z:0.59 [[ 9.59412925e-01 2.81451750e-01 -1.76564840e-02 4.09607130e+01] [-2.81396773e-01 9.59575306e-01 5.57575282e-03 -7.25370634e+00] [ 1.85120314e-02 -3.80971705e-04 9.99828565e-01 5.88017587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.257628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.99, Y:-7.26, Z:0.59 [[ 9.60112112e-01 2.79103336e-01 -1.69133467e-02 4.09912294e+01] [-2.79052448e-01 9.60260984e-01 5.34540660e-03 -7.26433389e+00] [ 1.77331477e-02 -4.12478825e-04 9.99842670e-01 5.89338884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.287628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.02, Y:-7.28, Z:0.59 [[ 9.61540797e-01 2.74266503e-01 -1.47370725e-02 4.10178985e+01] [-2.74227246e-01 9.61653623e-01 4.66109525e-03 -7.27831326e+00] [ 1.54503414e-02 -4.40526437e-04 9.99880539e-01 5.92751432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.317628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.05, Y:-7.29, Z:0.59 [[ 9.62270446e-01 2.71740771e-01 -1.38759440e-02 4.10477441e+01] [-2.71705709e-01 9.62370380e-01 4.38853738e-03 -7.28907147e+00] [ 1.45463420e-02 -4.52786622e-04 9.99894094e-01 5.94137875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.08, Y:-7.30, Z:0.59 [[ 9.63007556e-01 2.69152535e-01 -1.31666546e-02 4.10780793e+01] [-2.69120679e-01 9.63097447e-01 4.16749653e-03 -7.29967927e+00] [ 1.38024637e-02 -4.69911620e-04 9.99904631e-01 5.94673913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.37762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.11, Y:-7.31, Z:0.59 [[ 9.64514470e-01 2.63681725e-01 -1.35567267e-02 4.11081814e+01] [-2.63647397e-01 9.64609573e-01 4.29203026e-03 -7.30639810e+00] [ 1.42086783e-02 -5.65529573e-04 9.99898892e-01 5.93809563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.407628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.14, Y:-7.32, Z:0.59 [[ 9.65094443e-01 2.61529261e-01 -1.39699948e-02 4.11383815e+01] [-2.61492574e-01 9.65195351e-01 4.42359064e-03 -7.31682861e+00] [ 1.46406725e-02 -6.16132846e-04 9.99892630e-01 5.93956107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.437628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.17, Y:-7.33, Z:0.59 [[ 9.65563028e-01 2.59764985e-01 -1.44979910e-02 4.11694600e+01] [-2.59725255e-01 9.65671635e-01 4.59194123e-03 -7.32636894e+00] [ 1.51931242e-02 -6.68314269e-04 9.99884354e-01 5.94347330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.467628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.20, Y:-7.34, Z:0.59 [[ 9.66193259e-01 2.57301346e-01 -1.63280231e-02 4.11991401e+01] [-2.57250577e-01 9.66330886e-01 5.17293743e-03 -7.33620512e+00] [ 1.71092768e-02 -7.97663908e-04 9.99853307e-01 5.93899446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.497628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.23, Y:-7.35, Z:0.59 [[ 9.66278900e-01 2.56898094e-01 -1.75629649e-02 4.12283202e+01] [-2.56839262e-01 9.66438109e-01 5.56560606e-03 -7.34833952e+00] [ 1.84033122e-02 -8.67068750e-04 9.99830269e-01 5.93300736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.52762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.26, Y:-7.35, Z:0.59 [[ 9.66156751e-01 2.57307174e-01 -1.82797619e-02 4.12613736e+01] [-2.57243421e-01 9.66329245e-01 5.79764107e-03 -7.35329726e+00] [ 1.91560431e-02 -8.99081589e-04 9.99816102e-01 5.92539772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.55762800000001 meters Centerline goodness [0,1] 0.9998198725598361 Centerline is valid? [True, True] Translation: X:41.29, Y:-7.36, Z:0.59 [[ 9.66028385e-01 2.57664080e-01 -1.99594664e-02 4.12940463e+01] [-2.57588011e-01 9.66234061e-01 6.33685484e-03 -7.36088563e+00] [ 2.09182962e-02 -9.80262392e-04 9.99780708e-01 5.89131430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.587628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.33, Y:-7.36, Z:0.59 [[ 9.65114159e-01 2.61158385e-01 -1.87338549e-02 4.13267678e+01] [-2.61091941e-01 9.65295587e-01 5.95218614e-03 -7.36233201e+00] [ 1.96381708e-02 -8.53280588e-04 9.99806788e-01 5.92595722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.36, Y:-7.37, Z:0.59 [[ 9.64434415e-01 2.63722051e-01 -1.78027930e-02 4.13561921e+01] [-2.63662467e-01 9.64598413e-01 5.65725148e-03 -7.37008780e+00] [ 1.86644878e-02 -7.62119700e-04 9.99825513e-01 5.94123727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.647628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.39, Y:-7.38, Z:0.60 [[ 9.63699489e-01 2.66440427e-01 -1.71112224e-02 4.13876165e+01] [-2.66385803e-01 9.63851147e-01 5.43789884e-03 -7.37638012e+00] [ 1.79415475e-02 -6.82313612e-04 9.99838805e-01 5.96177012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.677628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.42, Y:-7.38, Z:0.60 [[ 9.62790319e-01 2.69739345e-01 -1.65978231e-02 4.14169345e+01] [-2.69688424e-01 9.62933187e-01 5.27561196e-03 -7.38321961e+00] [ 1.74056348e-02 -6.03067371e-04 9.99848329e-01 5.97928271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.70762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.45, Y:-7.38, Z:0.60 [[ 9.60422650e-01 2.78117675e-01 -1.54561672e-02 4.14494885e+01] [-2.78074594e-01 9.60546918e-01 4.91302028e-03 -7.38358148e+00] [ 1.62127716e-02 -4.20608524e-04 9.99868476e-01 5.99607255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.73762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.48, Y:-7.39, Z:0.60 [[ 9.59079548e-01 2.82739769e-01 -1.49881355e-02 4.14795234e+01] [-2.82699816e-01 9.59196597e-01 4.76460637e-03 -7.38854517e+00] [ 1.57237123e-02 -3.32493368e-04 9.99876320e-01 6.00107281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.51, Y:-7.39, Z:0.60 [[ 9.57688447e-01 2.87426434e-01 -1.47947391e-02 4.15113441e+01] [-2.87388059e-01 9.57802684e-01 4.70341111e-03 -7.39150426e+00] [ 1.55223255e-02 -2.52571137e-04 9.99879490e-01 6.00462429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.54, Y:-7.40, Z:0.60 [[ 9.57607749e-01 2.87695187e-01 -1.47945763e-02 4.15422010e+01] [-2.87656836e-01 9.57721994e-01 4.70392299e-03 -7.40138777e+00] [ 1.55223871e-02 -2.48752097e-04 9.99879490e-01 6.00967143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.827628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.57, Y:-7.40, Z:0.60 [[ 9.54968653e-01 2.96400528e-01 -1.34758582e-02 4.15740844e+01] [-2.96369518e-01 9.55063724e-01 4.28865797e-03 -7.40186519e+00] [ 1.41414638e-02 -1.01700337e-04 9.99899999e-01 6.01920770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.857628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.61, Y:-7.41, Z:0.60 [[ 9.53815176e-01 3.00094738e-01 -1.34073813e-02 4.16053596e+01] [-3.00064388e-01 9.53909401e-01 4.26816697e-03 -7.40803901e+00] [ 1.40702815e-02 -4.79647792e-05 9.99901008e-01 6.03197466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.88762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.64, Y:-7.41, Z:0.60 [[ 9.52190006e-01 3.05212905e-01 -1.33893807e-02 4.16378571e+01] [-3.05183090e-01 9.52284139e-01 4.26612469e-03 -7.41267939e+00] [ 1.40525712e-02 2.40512678e-05 9.99901257e-01 6.03417469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.91762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.67, Y:-7.42, Z:0.60 [[ 9.51702934e-01 3.06715258e-01 -1.36849198e-02 4.16701026e+01] [-3.06684207e-01 9.51801318e-01 4.36442450e-03 -7.42109452e+00] [ 1.43639603e-02 4.33131857e-05 9.99896832e-01 6.02950931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.94762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.70, Y:-7.43, Z:0.60 [[ 9.51436288e-01 3.07527496e-01 -1.39939011e-02 4.17005479e+01] [-3.07495049e-01 9.51539193e-01 4.46748888e-03 -7.42934754e+00] [ 1.46896211e-02 5.25242844e-05 9.99892100e-01 6.02747968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.73, Y:-7.44, Z:0.60 [[ 9.51341883e-01 3.07782067e-01 -1.47926185e-02 4.17319916e+01] [-3.07745795e-01 9.51456881e-01 4.72547280e-03 -7.43863522e+00] [ 1.55289544e-02 5.68259473e-05 9.99879417e-01 6.01565521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.007628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.76, Y:-7.45, Z:0.60 [[ 9.51345087e-01 3.07740763e-01 -1.54320646e-02 4.17635074e+01] [-3.07701200e-01 9.51470241e-01 4.93471721e-03 -7.44922120e+00] [ 1.62017639e-02 5.38458335e-05 9.99868741e-01 6.01153816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.037628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.79, Y:-7.46, Z:0.60 [[ 9.51415793e-01 3.07470214e-01 -1.64334035e-02 4.17933117e+01] [-3.07425218e-01 9.51557705e-01 5.26027090e-03 -7.45982563e+00] [ 1.72547083e-02 4.73378459e-05 9.99851125e-01 6.01217877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.067628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.82, Y:-7.47, Z:0.60 [[ 9.51773243e-01 3.06319128e-01 -1.72129749e-02 4.18238381e+01] [-3.06269503e-01 9.51928879e-01 5.51363773e-03 -7.47246067e+00] [ 1.80744606e-02 2.40764082e-05 9.99836643e-01 6.01362564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.86, Y:-7.48, Z:0.60 [[ 9.51864279e-01 3.06023952e-01 -1.74280190e-02 4.18550663e+01] [-3.05972930e-01 9.52023813e-01 5.58798240e-03 -7.48353084e+00] [ 1.83019456e-02 1.35012131e-05 9.99832505e-01 6.01240688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.12762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.89, Y:-7.49, Z:0.60 [[ 9.51957473e-01 3.05692399e-01 -1.81418546e-02 4.18856230e+01] [-3.05636940e-01 9.52130326e-01 5.82267136e-03 -7.49449549e+00] [ 1.90533563e-02 1.88541366e-06 9.99818468e-01 6.00930897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.157628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.92, Y:-7.51, Z:0.60 [[ 9.52031645e-01 3.05437059e-01 -1.85458800e-02 4.19161224e+01] [-3.05378939e-01 9.52212268e-01 5.95821067e-03 -7.50561253e+00] [ 1.94794728e-02 -8.88395201e-06 9.99810257e-01 6.00424493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.187628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.95, Y:-7.52, Z:0.60 [[ 9.52022486e-01 3.05412188e-01 -1.94057051e-02 4.19469269e+01] [-3.05348422e-01 9.52220245e-01 6.24069308e-03 -7.51707890e+00] [ 2.03844890e-02 -1.57787101e-05 9.99792215e-01 6.00434748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.217628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.98, Y:-7.53, Z:0.60 [[ 9.51995298e-01 3.05438862e-01 -2.02991050e-02 4.19777843e+01] [-3.05368954e-01 9.52211689e-01 6.53458126e-03 -7.53012815e+00] [ 2.13249602e-02 -2.21741595e-05 9.99772597e-01 5.99676424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.247628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.01, Y:-7.54, Z:0.60 [[ 9.51911562e-01 3.05683808e-01 -2.05374723e-02 4.20085444e+01] [-3.05612166e-01 9.52133084e-01 6.61777630e-03 -7.54166589e+00] [ 2.15773539e-02 -2.30363734e-05 9.99767182e-01 5.99611496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.27762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.04, Y:-7.56, Z:0.60 [[ 9.51894681e-01 3.05712798e-01 -2.08854640e-02 4.20386675e+01] [-3.05638570e-01 9.52123776e-01 6.73648288e-03 -7.55521025e+00] [ 2.19449758e-02 -2.90188884e-05 9.99759180e-01 5.99989391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.30762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.07, Y:-7.57, Z:0.60 [[ 9.51952079e-01 3.05536180e-01 -2.08538207e-02 4.20692240e+01] [-3.05461993e-01 9.52180467e-01 6.73274425e-03 -7.56750281e+00] [ 2.19136977e-02 -3.92002584e-05 9.99759865e-01 6.00923428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.337628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.10, Y:-7.58, Z:0.60 [[ 9.52033464e-01 3.05306955e-01 -2.04925980e-02 4.20996713e+01] [-3.05235128e-01 9.52253990e-01 6.62240543e-03 -7.57989898e+00] [ 2.15360247e-02 -4.96908069e-05 9.99768072e-01 6.01663803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.13, Y:-7.59, Z:0.60 [[ 9.52286522e-01 3.04514649e-01 -2.05233624e-02 4.21289724e+01] [-3.04442287e-01 9.52507650e-01 6.63858412e-03 -7.59441176e+00] [ 2.15702058e-02 -7.36548030e-05 9.99767333e-01 6.02195979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.397628000000005 meters Centerline goodness [0,1] 0.9998222301231057 Centerline is valid? [True, True] Translation: X:42.16, Y:-7.61, Z:0.60 [[ 9.52491047e-01 3.03761880e-01 -2.21252104e-02 4.21574469e+01] [-3.03677428e-01 9.52747978e-01 7.16312975e-03 -7.60615699e+00] [ 2.32556352e-02 -1.03889981e-04 9.99729546e-01 5.99679539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.427628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.19, Y:-7.62, Z:0.60 [[ 9.52311434e-01 3.04350121e-01 -2.17700811e-02 4.21867820e+01] [-3.04268381e-01 9.52560232e-01 7.05384793e-03 -7.62081612e+00] [ 2.28841529e-02 -9.35127107e-05 9.99738119e-01 6.01789496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.45762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.22, Y:-7.63, Z:0.60 [[ 9.52293597e-01 3.04353998e-01 -2.24844048e-02 4.22168319e+01] [-3.04266645e-01 9.52558992e-01 7.29214679e-03 -7.63318937e+00] [ 2.36371160e-02 -1.03010286e-04 9.99720599e-01 6.02167262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.48762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.25, Y:-7.65, Z:0.60 [[ 9.52291854e-01 3.04305007e-01 -2.32096265e-02 4.22468769e+01] [-3.04211740e-01 9.52574642e-01 7.53445625e-03 -7.64565772e+00] [ 2.44016744e-02 -1.14360464e-04 9.99702228e-01 6.02836827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.517628 meters Centerline goodness [0,1] 0.9998876202463364 Centerline is valid? [True, True] Translation: X:42.28, Y:-7.66, Z:0.60 [[ 9.52572120e-01 3.03335013e-01 -2.43767473e-02 4.22758562e+01] [-3.03231622e-01 9.52883963e-01 7.92067310e-03 -7.65814103e+00] [ 2.56308291e-02 -1.53211739e-04 9.99671465e-01 6.00143318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.30, Y:-7.67, Z:0.60 [[ 9.52917461e-01 3.02417098e-01 -2.21858190e-02 4.23047555e+01] [-3.02331084e-01 9.53175677e-01 7.21422091e-03 -7.67319881e+00] [ 2.33286868e-02 -1.67094350e-04 9.99727835e-01 6.03697055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.577628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.33, Y:-7.69, Z:0.60 [[ 9.53217767e-01 3.01520190e-01 -2.14816862e-02 4.23335943e+01] [-3.01439189e-01 9.53459773e-01 6.99112744e-03 -7.68616439e+00] [ 2.25898898e-02 -1.88644802e-04 9.99744798e-01 6.04751370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.607628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.36, Y:-7.70, Z:0.61 [[ 9.53575037e-01 3.00428843e-01 -2.09083583e-02 4.23640279e+01] [-3.00351712e-01 9.53804206e-01 6.81064116e-03 -7.69995735e+00] [ 2.19885931e-02 -2.14596194e-04 9.99758199e-01 6.06027818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.63762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.39, Y:-7.71, Z:0.61 [[ 9.53481642e-01 3.00877547e-01 -1.85865526e-02 4.23924457e+01] [-3.00816584e-01 9.53662764e-01 6.05937894e-03 -7.71139237e+00] [ 1.95484342e-02 -1.86363316e-04 9.99808894e-01 6.09203946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.66762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.42, Y:-7.72, Z:0.61 [[ 9.53192960e-01 3.01832978e-01 -1.78895182e-02 4.24226331e+01] [-3.01776587e-01 9.53360806e-01 5.83653705e-03 -7.72068628e+00] [ 1.88168248e-02 -1.64708282e-04 9.99822934e-01 6.10198995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.69762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.45, Y:-7.73, Z:0.61 [[ 9.53031132e-01 3.02353348e-01 -1.77232636e-02 4.24536404e+01] [-3.02298000e-01 9.53195902e-01 5.78715145e-03 -7.73093949e+00] [ 1.86435069e-02 -1.57628368e-04 9.99826182e-01 6.10603942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.49, Y:-7.74, Z:0.61 [[ 9.52669819e-01 3.03446016e-01 -1.84588914e-02 4.24851891e+01] [-3.03386069e-01 9.52848621e-01 6.03319781e-03 -7.73969881e+00] [ 1.94192791e-02 -1.47474968e-04 9.99811417e-01 6.10287819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.757628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.52, Y:-7.75, Z:0.61 [[ 9.52717242e-01 3.03285803e-01 -1.86434566e-02 4.25159657e+01] [-3.03224507e-01 9.52899626e-01 6.09926863e-03 -7.74991562e+00] [ 1.96151644e-02 -1.57725425e-04 9.99807592e-01 6.09995638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.787628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.54, Y:-7.76, Z:0.61 [[ 9.53043091e-01 3.02253419e-01 -1.87546790e-02 4.25449925e+01] [-3.02191087e-01 9.53227589e-01 6.14087247e-03 -7.76024825e+00] [ 1.97335772e-02 -1.85019234e-04 9.99805257e-01 6.10415736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.817628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.58, Y:-7.77, Z:0.61 [[ 9.54277123e-01 2.98361526e-01 -1.83186580e-02 4.25750622e+01] [-2.98301281e-01 9.54452896e-01 6.00119951e-03 -7.77109096e+00] [ 1.92748232e-02 -2.62328263e-04 9.99814189e-01 6.10928069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.60, Y:-7.78, Z:0.61 [[ 9.55409188e-01 2.94704969e-01 -1.85004128e-02 4.26049440e+01] [-2.94642740e-01 9.55588229e-01 6.06573137e-03 -7.78235547e+00] [ 1.94663779e-02 -3.44243175e-04 9.99810453e-01 6.11327900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.87762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.64, Y:-7.79, Z:0.61 [[ 9.56804099e-01 2.90144989e-01 -1.84878883e-02 4.26350255e+01] [-2.90081910e-01 9.56982597e-01 6.06585237e-03 -7.79324701e+00] [ 1.94525641e-02 -4.40830445e-04 9.99810684e-01 6.11542156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.907628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.66, Y:-7.80, Z:0.61 [[ 9.58311949e-01 2.85119471e-01 -1.85767392e-02 4.26643454e+01] [-2.85054814e-01 9.58491830e-01 6.09628726e-03 -7.80412526e+00] [ 1.95438229e-02 -5.46755988e-04 9.99808852e-01 6.11178574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.937628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.69, Y:-7.82, Z:0.61 [[ 9.61277952e-01 2.74923513e-01 -1.90200304e-02 4.26914837e+01] [-2.74853720e-01 9.61465790e-01 6.24241039e-03 -7.81917309e+00] [ 2.00032940e-02 -7.72965348e-04 9.99799615e-01 6.11102779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.967628000000005 meters Centerline goodness [0,1] 0.9998639887564038 Centerline is valid? [True, True] Translation: X:42.72, Y:-7.83, Z:0.61 [[ 9.62741264e-01 2.69703352e-01 -1.97322387e-02 4.27212710e+01] [-2.69627130e-01 9.62943023e-01 6.47653490e-03 -7.82770933e+00] [ 2.07477648e-02 -9.14880485e-04 9.99784323e-01 6.10030902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.997628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.75, Y:-7.84, Z:0.61 [[ 9.63709617e-01 2.66271570e-01 -1.90584803e-02 4.27506603e+01] [-2.66199787e-01 9.63897577e-01 6.25582227e-03 -7.83772955e+00] [ 2.00361706e-02 -9.55432691e-04 9.99798799e-01 6.12671813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.02762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.78, Y:-7.86, Z:0.61 [[ 9.65201997e-01 2.60835212e-01 -1.87109061e-02 4.27763195e+01] [-2.60764992e-01 9.65382769e-01 6.14227663e-03 -7.85500763e+00] [ 1.96653084e-02 -1.04938837e-03 9.99806068e-01 6.11512595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.05762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.81, Y:-7.85, Z:0.61 [[ 9.65489539e-01 2.59763906e-01 -1.87793545e-02 4.28104969e+01] [-2.59692929e-01 9.65671556e-01 6.16681371e-03 -7.85475485e+00] [ 1.97366040e-02 -1.07712856e-03 9.99804634e-01 6.12298855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.087628 meters Centerline goodness [0,1] 0.9998190004298739 Centerline is valid? [True, True] Translation: X:42.84, Y:-7.86, Z:0.61 [[ 9.65640045e-01 2.59125952e-01 -1.98253622e-02 4.28415474e+01] [-2.59046595e-01 9.65842846e-01 6.51598884e-03 -7.86426718e+00] [ 2.08366461e-02 -1.15640719e-03 9.99782225e-01 6.10481809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.87, Y:-7.87, Z:0.61 [[ 9.64629164e-01 2.62951560e-01 -1.86293779e-02 4.28710606e+01] [-2.62882124e-01 9.64808505e-01 6.12677024e-03 -7.87179201e+00] [ 1.95848260e-02 -1.01273083e-03 9.99807686e-01 6.13323680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.147628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.90, Y:-7.88, Z:0.61 [[ 9.63816246e-01 2.65938559e-01 -1.83009995e-02 4.29028539e+01] [-2.65872080e-01 9.63989527e-01 6.01910667e-03 -7.87668091e+00] [ 1.92426844e-02 -9.35588014e-04 9.99814405e-01 6.14461225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.177628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.93, Y:-7.88, Z:0.61 [[ 9.62785649e-01 2.69646679e-01 -1.82883214e-02 4.29318930e+01] [-2.69580940e-01 9.62958943e-01 6.01587872e-03 -7.88458307e+00] [ 1.92330643e-02 -8.61818830e-04 9.99814656e-01 6.14929621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.20762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.96, Y:-7.89, Z:0.61 [[ 9.61479464e-01 2.74288613e-01 -1.79721261e-02 4.29616629e+01] [-2.74225931e-01 9.61647121e-01 5.91214487e-03 -7.89089739e+00] [ 1.89044774e-02 -7.55982863e-04 9.99821009e-01 6.14914712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.23762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.99, Y:-7.89, Z:0.61 [[ 9.58550178e-01 2.84312404e-01 -1.86551277e-02 4.29944227e+01] [-2.84246752e-01 9.58731517e-01 6.13704957e-03 -7.89103234e+00] [ 1.96300982e-02 -5.80010496e-04 9.99807143e-01 6.14808103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.03, Y:-7.90, Z:0.62 [[ 9.57007613e-01 2.89490952e-01 -1.82048828e-02 4.30254021e+01] [-2.89429357e-01 9.57180638e-01 5.98939772e-03 -7.89652264e+00] [ 1.91592378e-02 -4.62871674e-04 9.99816338e-01 6.15454257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.06, Y:-7.90, Z:0.62 [[ 9.55512459e-01 2.94395559e-01 -1.80885549e-02 4.30552779e+01] [-2.94335614e-01 9.55683589e-01 5.95176569e-03 -7.90224652e+00] [ 1.90391085e-02 -3.62880361e-04 9.99818674e-01 6.16076466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.327628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.09, Y:-7.90, Z:0.62 [[ 9.53013931e-01 3.02411440e-01 -1.76569583e-02 4.30875707e+01] [-3.02355686e-01 9.53177466e-01 5.81014945e-03 -7.90423529e+00] [ 1.85872705e-02 -1.98471621e-04 9.99827222e-01 6.15770551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.357628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.12, Y:-7.91, Z:0.62 [[ 9.51967834e-01 3.05668896e-01 -1.79935977e-02 4.31186967e+01] [-3.05611548e-01 9.52137861e-01 5.92236824e-03 -7.91183016e+00] [ 1.89426694e-02 -1.38852813e-04 9.99820562e-01 6.15678932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.38762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.15, Y:-7.92, Z:0.62 [[ 9.51177117e-01 3.08117614e-01 -1.80451671e-02 4.31501809e+01] [-3.08060285e-01 9.51348268e-01 5.94420184e-03 -7.92006628e+00] [ 1.89987518e-02 -9.49894362e-05 9.99819503e-01 6.15944419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.41762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.18, Y:-7.93, Z:0.62 [[ 9.50446233e-01 3.10393116e-01 -1.75519691e-02 4.31811983e+01] [-3.10339181e-01 9.50608285e-01 5.78636191e-03 -7.92816825e+00] [ 1.84810942e-02 -5.25621537e-05 9.99829209e-01 6.16094961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.44762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.21, Y:-7.94, Z:0.62 [[ 9.50282659e-01 3.10923608e-01 -1.70111454e-02 4.32119954e+01] [-3.10872949e-01 9.50434905e-01 5.61259283e-03 -7.93873491e+00] [ 1.79130740e-02 -4.52446915e-05 9.99839547e-01 6.16724090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.24, Y:-7.95, Z:0.62 [[ 9.50437674e-01 3.10453206e-01 -1.69421122e-02 4.32433089e+01] [-3.10402791e-01 9.50588661e-01 5.59502789e-03 -7.95003347e+00] [ 1.78419741e-02 -5.88463756e-05 9.99840818e-01 6.17110113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.507628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.27, Y:-7.96, Z:0.62 [[ 9.51384490e-01 3.07520838e-01 -1.72767469e-02 4.32712937e+01] [-3.07467829e-01 9.51541339e-01 5.71092526e-03 -7.96353727e+00] [ 1.81957674e-02 -1.21241846e-04 9.99834436e-01 6.17493646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.537628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.30, Y:-7.98, Z:0.62 [[ 9.52035290e-01 3.05487596e-01 -1.74967408e-02 4.33007791e+01] [-3.05432801e-01 9.52196041e-01 5.78818704e-03 -7.97620305e+00] [ 1.84285467e-02 -1.66479770e-04 9.99830166e-01 6.17889256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.567628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.33, Y:-7.99, Z:0.62 [[ 9.52671780e-01 3.03480873e-01 -1.77718837e-02 4.33284713e+01] [-3.03423901e-01 9.52837507e-01 5.88406023e-03 -7.99016855e+00] [ 1.87194171e-02 -2.13163845e-04 9.99824754e-01 6.17792695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.36, Y:-8.00, Z:0.62 [[ 9.53204874e-01 3.01768672e-01 -1.83340226e-02 4.33579610e+01] [-3.01707629e-01 9.53381142e-01 6.07498374e-03 -8.00209231e+00] [ 1.93125511e-02 -2.59189630e-04 9.99813462e-01 6.18522407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.62762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.39, Y:-8.02, Z:0.62 [[ 9.54035140e-01 2.99096284e-01 -1.89305460e-02 4.33870226e+01] [-2.99030571e-01 9.54222880e-01 6.27792788e-03 -8.01720514e+00] [ 1.99416650e-02 -3.28551833e-04 9.99801091e-01 6.18826329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.657628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.42, Y:-8.03, Z:0.62 [[ 9.54233170e-01 2.98449532e-01 -1.91555374e-02 4.34168286e+01] [-2.98382012e-01 9.54425352e-01 6.35777577e-03 -8.02891688e+00] [ 2.01800057e-02 -3.51132740e-04 9.99796301e-01 6.18561183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.687628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.45, Y:-8.04, Z:0.62 [[ 9.54415785e-01 2.97768579e-01 -2.06005526e-02 4.34462649e+01] [-2.97690200e-01 9.54638002e-01 6.84327652e-03 -8.04186322e+00] [ 2.17037831e-02 -3.98748510e-04 9.99764366e-01 6.17467384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.717628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.48, Y:-8.05, Z:0.62 [[ 9.54332053e-01 2.98036948e-01 -2.05988012e-02 4.34769877e+01] [-2.97958517e-01 9.54554252e-01 6.84854483e-03 -8.05214865e+00] [ 2.17037927e-02 -3.98197579e-04 9.99764366e-01 6.17973492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.747628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.51, Y:-8.06, Z:0.62 [[ 9.54417275e-01 2.97700705e-01 -2.14931390e-02 4.35064626e+01] [-2.97615080e-01 9.54659157e-01 7.15254966e-03 -8.06429810e+00] [ 2.26479410e-02 -4.29834679e-04 9.99743410e-01 6.18145047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.77762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.54, Y:-8.08, Z:0.62 [[ 9.54540397e-01 2.97294309e-01 -2.16500252e-02 4.35363976e+01] [-2.97207188e-01 9.54785784e-01 7.21074232e-03 -8.07737190e+00] [ 2.28148490e-02 -4.48401722e-04 9.99739607e-01 6.18470520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.80762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.57, Y:-8.09, Z:0.62 [[ 9.54976621e-01 2.95873526e-01 -2.18748618e-02 4.35650686e+01] [-2.95784073e-01 9.55226996e-01 7.29168587e-03 -8.09236526e+00] [ 2.30528754e-02 -4.93153802e-04 9.99734126e-01 6.18812011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.837628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.59, Y:-8.10, Z:0.62 [[ 9.55088984e-01 2.95487708e-01 -2.21821273e-02 4.35945983e+01] [-2.95395476e-01 9.55346403e-01 7.40028085e-03 -8.10416736e+00] [ 2.33783076e-02 -5.15426662e-04 9.99726557e-01 6.19185556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.867628 meters Centerline goodness [0,1] 0.9999091280839657 Centerline is valid? [True, True] Translation: X:43.62, Y:-8.12, Z:0.62 [[ 9.54960469e-01 2.95851111e-01 -2.28609513e-02 4.36240978e+01] [-2.95753092e-01 9.55233920e-01 7.63332227e-03 -8.11595604e+00] [ 2.40958830e-02 -5.28323985e-04 9.99709512e-01 6.17867846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.897628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.65, Y:-8.13, Z:0.62 [[ 9.54180981e-01 2.98426418e-01 -2.19163971e-02 4.36538550e+01] [-2.98336873e-01 9.54432539e-01 7.32388895e-03 -8.12525820e+00] [ 2.31033645e-02 -4.49846165e-04 9.99732980e-01 6.20292315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.927628000000006 meters Centerline goodness [0,1] 0.9999089729877341 Centerline is valid? [True, True] Translation: X:43.68, Y:-8.13, Z:0.62 [[ 9.52896751e-01 3.02436580e-01 -2.28012468e-02 4.36847662e+01] [-3.02340658e-01 9.53169437e-01 7.62565668e-03 -8.13428872e+00] [ 2.40397291e-02 -3.72719528e-04 9.99710934e-01 6.19684845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.95762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.71, Y:-8.14, Z:0.62 [[ 9.52042721e-01 3.05166852e-01 -2.20873339e-02 4.37141651e+01] [-3.05077443e-01 9.52298851e-01 7.39267888e-03 -8.14313678e+00] [ 2.32897433e-02 -2.99798761e-04 9.99728712e-01 6.22086637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.98762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.74, Y:-8.15, Z:0.62 [[ 9.51289154e-01 3.07534699e-01 -2.17107075e-02 4.37448750e+01] [-3.07448801e-01 9.51536836e-01 7.27219908e-03 -8.15179944e+00] [ 2.28949914e-02 -2.43033133e-04 9.99737846e-01 6.23028874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.78, Y:-8.16, Z:0.62 [[ 9.49939454e-01 3.11762716e-01 -2.04705546e-02 4.37764174e+01] [-3.11687238e-01 9.50159981e-01 6.86116549e-03 -8.16012437e+00] [ 2.15893574e-02 -1.37281173e-04 9.99766913e-01 6.24251078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.81, Y:-8.17, Z:0.62 [[ 9.49282910e-01 3.13797029e-01 -1.98338438e-02 4.38059363e+01] [-3.13726562e-01 9.49490082e-01 6.65041689e-03 -8.16878170e+00] [ 2.09189190e-02 -9.07234778e-05 9.99781171e-01 6.24671444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.077628000000004 meters Centerline goodness [0,1] 0.9998641119717353 Centerline is valid? [True, True] Translation: X:43.84, Y:-8.18, Z:0.62 [[ 9.48992349e-01 3.14677887e-01 -1.97825334e-02 4.38375005e+01] [-3.14607865e-01 9.49198515e-01 6.63849405e-03 -8.17764356e+00] [ 2.08665387e-02 -7.61394503e-05 9.99782267e-01 6.23198382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.107628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.87, Y:-8.18, Z:0.63 [[ 9.48175460e-01 3.17346495e-01 -1.59530610e-02 4.38678822e+01] [-3.17301269e-01 9.48309655e-01 5.35750181e-03 -8.18437781e+00] [ 1.68286262e-02 -1.79252509e-05 9.99858388e-01 6.27090308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.13762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.90, Y:-8.19, Z:0.63 [[ 9.47827203e-01 3.18440975e-01 -1.47965774e-02 4.38989203e+01] [-3.18402148e-01 9.47942691e-01 4.97262458e-03 -8.19390606e+00] [ 1.56097948e-02 -1.92682364e-06 9.99878160e-01 6.28597309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.16762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.93, Y:-8.20, Z:0.63 [[ 9.47354670e-01 3.19931089e-01 -1.27760858e-02 4.39304083e+01] [-3.19902231e-01 9.47440815e-01 4.29699507e-03 -8.20351493e+00] [ 1.34793274e-02 1.63199981e-05 9.99909150e-01 6.30890341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.19762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.96, Y:-8.21, Z:0.63 [[ 9.47166857e-01 3.20502606e-01 -1.23702947e-02 4.39613224e+01] [-3.20475552e-01 9.47247633e-01 4.16432754e-03 -8.21311085e+00] [ 1.30524102e-02 2.00639918e-05 9.99914813e-01 6.31931378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.99, Y:-8.22, Z:0.63 [[ 9.47033826e-01 3.20898919e-01 -1.22807179e-02 4.39923160e+01] [-3.20872242e-01 9.47113448e-01 4.13773291e-03 -8.22301557e+00] [ 1.29590271e-02 2.19684760e-05 9.99916028e-01 6.31807839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.257628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.02, Y:-8.23, Z:0.63 [[ 9.46882013e-01 3.21322836e-01 -1.28875547e-02 4.40235456e+01] [-3.21293441e-01 9.46969711e-01 4.34632225e-03 -8.23320519e+00] [ 1.36006966e-02 2.52324383e-05 9.99907506e-01 6.31989676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.287628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.06, Y:-8.24, Z:0.63 [[ 9.46942703e-01 3.21103126e-01 -1.38671803e-02 4.40551919e+01] [-3.21069003e-01 9.47044234e-01 4.68121251e-03 -8.24348392e+00] [ 1.46359852e-02 1.94817300e-05 9.99892888e-01 6.30007202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.317628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.09, Y:-8.25, Z:0.63 [[ 9.47030484e-01 3.20810600e-01 -1.46226167e-02 4.40860051e+01] [-3.20772549e-01 9.47143368e-01 4.94096072e-03 -8.25402911e+00] [ 1.54348270e-02 1.12936299e-05 9.99880876e-01 6.29269105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.12, Y:-8.27, Z:0.63 [[ 9.47196056e-01 3.20276711e-01 -1.55711112e-02 4.41170926e+01] [-3.20233408e-01 9.47324036e-01 5.26650123e-03 -8.26524795e+00] [ 1.64376256e-02 -2.01917919e-06 9.99864893e-01 6.28861660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.37762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.15, Y:-8.28, Z:0.63 [[ 9.47430297e-01 3.19536353e-01 -1.65030765e-02 4.41471153e+01] [-3.19487507e-01 9.47574018e-01 5.58696887e-03 -8.27704026e+00] [ 1.74231261e-02 -2.07368163e-05 9.99848206e-01 6.28714341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.407628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.18, Y:-8.29, Z:0.63 [[ 9.48462519e-01 3.16421283e-01 -1.72168963e-02 4.41759171e+01] [-3.16367514e-01 9.48618767e-01 5.83365895e-03 -8.29055706e+00] [ 1.81781648e-02 -8.61401647e-05 9.99834760e-01 6.28180379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.437628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.20, Y:-8.30, Z:0.63 [[ 9.49117042e-01 3.14440720e-01 -1.74319981e-02 4.42044753e+01] [-3.14385178e-01 9.49277102e-01 5.91128146e-03 -8.30286608e+00] [ 1.84065442e-02 -1.30136145e-04 9.99830577e-01 6.27891005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.467628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.23, Y:-8.32, Z:0.63 [[ 9.50463888e-01 3.10382145e-01 -1.67726713e-02 4.42337430e+01] [-3.10330020e-01 9.50611846e-01 5.69182080e-03 -8.31516581e+00] [ 1.77109396e-02 -2.04806704e-04 9.99843128e-01 6.28668714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.497628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.26, Y:-8.33, Z:0.63 [[ 9.50975081e-01 3.08839898e-01 -1.62576949e-02 4.42621369e+01] [-3.08790625e-01 9.51114012e-01 5.52137752e-03 -8.32796568e+00] [ 1.71681431e-02 -2.30468684e-04 9.99852590e-01 6.28722528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.52762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.29, Y:-8.34, Z:0.63 [[ 9.51413282e-01 3.07500572e-01 -1.60051723e-02 4.42927115e+01] [-3.07452560e-01 9.51547862e-01 5.43964072e-03 -8.33806877e+00] [ 1.69023802e-02 -2.54515225e-04 9.99857112e-01 6.29387929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.55762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.32, Y:-8.35, Z:0.63 [[ 9.51745002e-01 3.06479903e-01 -1.58593916e-02 4.43208886e+01] [-3.06432548e-01 9.51877090e-01 5.39439689e-03 -8.35045182e+00] [ 1.67494657e-02 -2.74256519e-04 9.99859680e-01 6.29886154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.587628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.35, Y:-8.36, Z:0.63 [[ 9.52208404e-01 3.05024578e-01 -1.60984888e-02 4.43512018e+01] [-3.04975506e-01 9.52344429e-01 5.47988903e-03 -8.36052538e+00] [ 1.70028070e-02 -3.08351621e-04 9.99855394e-01 6.30988987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.38, Y:-8.37, Z:0.63 [[ 9.52242895e-01 3.04931915e-01 -1.58112601e-02 4.43813855e+01] [-3.04884495e-01 9.52374103e-01 5.38633499e-03 -8.37097395e+00] [ 1.67007001e-02 -3.08491158e-04 9.99860486e-01 6.31036419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.647628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.41, Y:-8.38, Z:0.63 [[ 9.52227352e-01 3.04986817e-01 -1.56879392e-02 4.44125340e+01] [-3.04940089e-01 9.52356523e-01 5.34749970e-03 -8.38132234e+00] [ 1.65714281e-02 -3.08153911e-04 9.99862637e-01 6.31351004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.677628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.44, Y:-8.39, Z:0.63 [[ 9.52240105e-01 3.04950840e-01 -1.56130230e-02 4.44436049e+01] [-3.04904473e-01 9.52368042e-01 5.32678787e-03 -8.39153052e+00] [ 1.64937526e-02 -3.11900485e-04 9.99863920e-01 6.31411761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.70762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.48, Y:-8.40, Z:0.63 [[ 9.52138282e-01 3.05244781e-01 -1.60721989e-02 4.44754027e+01] [-3.05195600e-01 9.52273869e-01 5.48859426e-03 -8.40112242e+00] [ 1.69804997e-02 -3.20736329e-04 9.99855769e-01 6.31484353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.73762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.51, Y:-8.41, Z:0.63 [[ 9.51950015e-01 3.05814716e-01 -1.63868237e-02 4.45066187e+01] [-3.05763585e-01 9.52090991e-01 5.60128078e-03 -8.41134959e+00] [ 1.73147013e-02 -3.21645364e-04 9.99850038e-01 6.31863533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.76762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.54, Y:-8.42, Z:0.63 [[ 9.51835893e-01 3.06160841e-01 -1.65521215e-02 4.45380682e+01] [-3.06108634e-01 9.51979745e-01 5.66300282e-03 -8.42150806e+00] [ 1.74910741e-02 -3.23502054e-04 9.99846967e-01 6.32400880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.57, Y:-8.43, Z:0.63 [[ 9.51622981e-01 3.06831414e-01 -1.63763745e-02 4.45694610e+01] [-3.06780321e-01 9.51763829e-01 5.60794184e-03 -8.43004758e+00] [ 1.73071336e-02 -3.12696896e-04 9.99850171e-01 6.33444420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.827628000000004 meters Centerline goodness [0,1] 0.999865029018761 Centerline is valid? [True, True] Translation: X:44.60, Y:-8.44, Z:0.63 [[ 9.51650450e-01 3.06700751e-01 -1.72067123e-02 4.46009296e+01] [-3.06644220e-01 9.51805934e-01 5.89795685e-03 -8.44032237e+00] [ 1.81863587e-02 -3.36454397e-04 9.99834558e-01 6.32613947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.857628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.63, Y:-8.45, Z:0.64 [[ 9.51495269e-01 3.07254851e-01 -1.58495886e-02 4.46319809e+01] [-3.07206887e-01 9.51627219e-01 5.43735438e-03 -8.44978092e+00] [ 1.67535535e-02 -3.04514177e-04 9.99859603e-01 6.35327273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.88762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.66, Y:-8.46, Z:0.64 [[ 9.51466445e-01 3.07325334e-01 -1.62093736e-02 4.46641254e+01] [-3.07275099e-01 9.51604456e-01 5.56536646e-03 -8.45876813e+00] [ 1.71352903e-02 -3.14522555e-04 9.99853131e-01 6.35350664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.91762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.70, Y:-8.47, Z:0.64 [[ 9.51376256e-01 3.07574776e-01 -1.67623399e-02 4.46959425e+01] [-3.07520998e-01 9.51523857e-01 5.76060950e-03 -8.46820375e+00] [ 1.77215845e-02 -3.25735593e-04 9.99842907e-01 6.35271682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.94762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.73, Y:-8.48, Z:0.64 [[ 9.51216614e-01 3.08039200e-01 -1.72859404e-02 4.47262771e+01] [-3.07981985e-01 9.51373607e-01 5.94610777e-03 -8.47830001e+00] [ 1.82770218e-02 -3.32278266e-04 9.99832906e-01 6.35117891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.76, Y:-8.49, Z:0.64 [[ 9.50710206e-01 3.09591004e-01 -1.74216584e-02 4.47567604e+01] [-3.09533053e-01 9.50869767e-01 5.99789737e-03 -8.48797492e+00] [ 1.84226233e-02 -3.09683154e-04 9.99830241e-01 6.36099529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.007628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.79, Y:-8.50, Z:0.64 [[ 9.50345976e-01 3.10721507e-01 -1.71659604e-02 4.47857165e+01] [-3.10665346e-01 9.50500953e-01 5.91445031e-03 -8.49852924e+00] [ 1.81540087e-02 -2.87905023e-04 9.99835161e-01 6.36725813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.037628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.82, Y:-8.51, Z:0.64 [[ 9.50093195e-01 3.11513250e-01 -1.68052445e-02 4.48170978e+01] [-3.11459480e-01 9.50241770e-01 5.79400514e-03 -8.50758580e+00] [ 1.77739546e-02 -2.70692152e-04 9.99841994e-01 6.37142526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.067628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.85, Y:-8.52, Z:0.64 [[ 9.49337031e-01 3.13816069e-01 -1.66936120e-02 4.48476765e+01] [-3.13763332e-01 9.49483767e-01 5.75746443e-03 -8.51760040e+00] [ 1.76570985e-02 -2.27930863e-04 9.99844075e-01 6.38259576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.88, Y:-8.53, Z:0.64 [[ 9.48835024e-01 3.15306822e-01 -1.71378419e-02 4.48780837e+01] [-3.15251397e-01 9.48989760e-01 5.91545388e-03 -8.52786213e+00] [ 1.81288194e-02 -2.10061224e-04 9.99835637e-01 6.38800753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.12762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.91, Y:-8.54, Z:0.64 [[ 9.48156751e-01 3.17326588e-01 -1.73957345e-02 4.49074229e+01] [-3.17269735e-01 9.48316300e-01 6.00923362e-03 -8.53811165e+00] [ 1.84035482e-02 -1.78555361e-04 9.99830624e-01 6.39363632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.157628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.94, Y:-8.55, Z:0.64 [[ 9.47291130e-01 3.19887853e-01 -1.76430071e-02 4.49381937e+01] [-3.19829731e-01 9.47455404e-01 6.09920150e-03 -8.54791522e+00] [ 1.86670229e-02 -1.34961259e-04 9.99825747e-01 6.39938306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.187628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.97, Y:-8.56, Z:0.64 [[ 9.45597466e-01 3.24789383e-01 -1.89020760e-02 4.49693939e+01] [-3.24723538e-01 9.45786368e-01 6.53981932e-03 -8.55600067e+00] [ 2.00013897e-02 -4.60876072e-05 9.99799951e-01 6.39211651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.217628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.00, Y:-8.57, Z:0.64 [[ 9.44597624e-01 3.27669510e-01 -1.91838510e-02 4.49995549e+01] [-3.27602173e-01 9.44792407e-01 6.64257588e-03 -8.56505048e+00] [ 2.03013264e-02 1.01098935e-05 9.99793907e-01 6.39229434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.247628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.03, Y:-8.57, Z:0.64 [[ 9.43647625e-01 3.30369015e-01 -1.96335020e-02 4.50309718e+01] [-3.30298948e-01 9.43851847e-01 6.80405241e-03 -8.57478500e+00] [ 2.07789653e-02 6.42971745e-05 9.99784092e-01 6.39585253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.27762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.06, Y:-8.58, Z:0.64 [[ 9.42095145e-01 3.34739798e-01 -2.01495780e-02 4.50604973e+01] [-3.34666875e-01 9.42310587e-01 6.98859441e-03 -8.58303190e+00] [ 2.13265214e-02 1.59475448e-04 9.99772551e-01 6.39377779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.30762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.09, Y:-8.59, Z:0.64 [[ 9.41437603e-01 3.36590651e-01 -2.00492683e-02 4.50912413e+01] [-3.36518778e-01 9.41651047e-01 6.95823756e-03 -8.59370713e+00] [ 2.12214922e-02 1.96208776e-04 9.99774780e-01 6.40148553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.337628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.12, Y:-8.61, Z:0.64 [[ 9.40812505e-01 3.38339168e-01 -1.99608827e-02 4.51210273e+01] [-3.38268209e-01 9.41024205e-01 6.93282975e-03 -8.60540393e+00] [ 2.11293217e-02 2.29639124e-04 9.99776725e-01 6.41678077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.15, Y:-8.62, Z:0.64 [[ 9.39934862e-01 3.40790972e-01 -1.95951289e-02 4.51502007e+01] [-3.40723013e-01 9.40139052e-01 6.81107585e-03 -8.61795775e+00] [ 2.07432990e-02 2.74543705e-04 9.99784797e-01 6.43781169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.397628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.18, Y:-8.63, Z:0.64 [[ 9.39654574e-01 3.41564585e-01 -1.95682255e-02 4.51802687e+01] [-3.41496866e-01 9.39858262e-01 6.80724334e-03 -8.62851906e+00] [ 2.07164717e-02 2.86030337e-04 9.99785350e-01 6.44237324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.427628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.21, Y:-8.64, Z:0.64 [[ 9.39813360e-01 3.41065656e-01 -2.06171383e-02 4.52110642e+01] [-3.40990221e-01 9.40039434e-01 7.17854066e-03 -8.64103018e+00] [ 2.18292767e-02 2.83754117e-04 9.99761673e-01 6.43776923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.45762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.24, Y:-8.65, Z:0.64 [[ 9.40138272e-01 3.40126448e-01 -2.13079684e-02 4.52405889e+01] [-3.40045484e-01 9.40379673e-01 7.42560427e-03 -8.65301802e+00] [ 2.25632248e-02 2.64583660e-04 9.99745383e-01 6.44195269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.48762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.27, Y:-8.66, Z:0.64 [[ 9.40548650e-01 3.38913265e-01 -2.24952518e-02 4.52704088e+01] [-3.38822521e-01 9.40817591e-01 7.84598944e-03 -8.66354690e+00] [ 2.38230385e-02 2.42363130e-04 9.99716162e-01 6.43119303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.51762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.30, Y:-8.67, Z:0.64 [[ 9.41630308e-01 3.35711610e-01 -2.51013656e-02 4.53011113e+01] [-3.35597263e-01 9.41964801e-01 8.76307458e-03 -8.67442776e+00] [ 2.65864687e-02 1.72372985e-04 9.99646503e-01 6.41210656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.33, Y:-8.69, Z:0.64 [[ 9.42202469e-01 3.34002545e-01 -2.63971140e-02 4.53320879e+01] [-3.33875179e-01 9.42572164e-01 9.22390479e-03 -8.68565043e+00] [ 2.79619925e-02 1.22555285e-04 9.99608980e-01 6.40856282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.577628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.36, Y:-8.70, Z:0.64 [[ 9.42680437e-01 3.32587783e-01 -2.71838377e-02 4.53629369e+01] [-3.32451871e-01 9.43072299e-01 9.50748351e-03 -8.69722000e+00] [ 2.87983972e-02 7.47990064e-05 9.99585237e-01 6.41851700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.607628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.39, Y:-8.71, Z:0.64 [[ 9.42586555e-01 3.32853978e-01 -2.71811528e-02 4.53934902e+01] [-3.32717956e-01 9.42978379e-01 9.51515483e-03 -8.70798888e+00] [ 2.87983965e-02 7.48005865e-05 9.99585237e-01 6.42357995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.63762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.42, Y:-8.72, Z:0.64 [[ 9.43227219e-01 3.31003638e-01 -2.75500387e-02 4.54233713e+01] [-3.30862860e-01 9.43629478e-01 9.65280014e-03 -8.71930067e+00] [ 2.91921406e-02 1.05007813e-05 9.99573819e-01 6.42704081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.66762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.45, Y:-8.73, Z:0.65 [[ 9.44367558e-01 3.27759663e-01 -2.72675362e-02 4.54536096e+01] [-3.27620163e-01 9.44761131e-01 9.56212885e-03 -8.73283316e+00] [ 2.88953885e-02 -9.67695970e-05 9.99582436e-01 6.45892723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.69762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.48, Y:-8.75, Z:0.65 [[ 9.44935768e-01 3.26164482e-01 -2.67043922e-02 4.54832361e+01] [-3.26029818e-01 9.45313021e-01 9.37281812e-03 -8.74527896e+00] [ 2.83010900e-02 -1.50282968e-04 9.99599433e-01 6.46651283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.51, Y:-8.76, Z:0.65 [[ 9.45494769e-01 3.24561579e-01 -2.64466033e-02 4.55140787e+01] [-3.24428651e-01 9.45864546e-01 9.29037999e-03 -8.75751876e+00] [ 2.80302048e-02 -2.03969875e-04 9.99607056e-01 6.48548223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.757628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.54, Y:-8.77, Z:0.65 [[ 9.46174964e-01 3.22650754e-01 -2.54838868e-02 4.55448872e+01] [-3.22526422e-01 9.46518053e-01 8.96007903e-03 -8.76932302e+00] [ 2.70119351e-02 -2.58575633e-04 9.99635078e-01 6.49496075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.787628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.57, Y:-8.78, Z:0.65 [[ 9.47497721e-01 3.18887175e-01 -2.36440017e-02 4.55749037e+01] [-3.18778808e-01 9.47792620e-01 8.31995346e-03 -8.78132775e+00] [ 2.50627367e-02 -3.45930273e-04 9.99685820e-01 6.50142781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.817628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.61, Y:-8.79, Z:0.65 [[ 9.48047532e-01 3.17273250e-01 -2.33144015e-02 4.56050396e+01] [-3.17167238e-01 9.48334083e-01 8.21034227e-03 -8.79241464e+00] [ 2.47147635e-02 -3.89230401e-04 9.99694468e-01 6.51026366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.63, Y:-8.80, Z:0.65 [[ 9.48600345e-01 3.15648087e-01 -2.28838732e-02 4.56343395e+01] [-3.15545334e-01 9.48876231e-01 8.06480965e-03 -8.80408112e+00] [ 2.42596051e-02 -4.29381789e-04 9.99705600e-01 6.52010946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.87762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.66, Y:-8.82, Z:0.65 [[ 9.49520756e-01 3.12929313e-01 -2.20358548e-02 4.56645256e+01] [-3.12833171e-01 9.49776294e-01 7.77158669e-03 -8.81606430e+00] [ 2.33610898e-02 -4.85736531e-04 9.99726975e-01 6.54678193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.907628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.69, Y:-8.83, Z:0.66 [[ 9.49700883e-01 3.12358517e-01 -2.23694074e-02 4.56944052e+01] [-3.12259137e-01 9.49964154e-01 7.89544029e-03 -8.82723538e+00] [ 2.37163432e-02 -5.13254750e-04 9.99718596e-01 6.55557513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.937628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.72, Y:-8.84, Z:0.66 [[ 9.49831232e-01 3.11959105e-01 -2.24086595e-02 4.57249467e+01] [-3.11859119e-01 9.50095383e-01 7.91543311e-03 -8.83752752e+00] [ 2.37596553e-02 -5.29980776e-04 9.99717559e-01 6.55576758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.967628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.75, Y:-8.85, Z:0.66 [[ 9.49815028e-01 3.11975478e-01 -2.28629283e-02 4.57547096e+01] [-3.11871267e-01 9.50089998e-01 8.08142168e-03 -8.84772144e+00] [ 2.42430449e-02 -5.45565354e-04 9.99705945e-01 6.55234208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.997628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.79, Y:-8.86, Z:0.65 [[ 9.49535190e-01 3.12725447e-01 -2.42015946e-02 4.57859707e+01] [-3.12608776e-01 9.49843397e-01 8.56004864e-03 -8.85548892e+00] [ 2.56646699e-02 -5.62436541e-04 9.99670450e-01 6.53359046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.02762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.82, Y:-8.87, Z:0.65 [[ 9.49235023e-01 3.13589119e-01 -2.47938643e-02 4.58172123e+01] [-3.13466767e-01 9.49558609e-01 8.77689743e-03 -8.86528272e+00] [ 2.62955668e-02 -5.59285934e-04 9.99654055e-01 6.52859535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.05762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.85, Y:-8.88, Z:0.65 [[ 9.48987768e-01 3.14289594e-01 -2.53824101e-02 4.58475914e+01] [-3.14161438e-01 9.49326992e-01 8.99180210e-03 -8.87533140e+00] [ 2.69222369e-02 -5.58935761e-04 9.99637375e-01 6.52875447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.087628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.88, Y:-8.88, Z:0.65 [[ 9.48566510e-01 3.15534442e-01 -2.56825206e-02 4.58782523e+01] [-3.15403538e-01 9.48913974e-01 9.10377345e-03 -8.88467365e+00] [ 2.72430567e-02 -5.35176750e-04 9.99628696e-01 6.54056313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.91, Y:-8.89, Z:0.66 [[ 9.48366887e-01 3.16126056e-01 -2.57791419e-02 4.59100902e+01] [-3.15994187e-01 9.48717049e-01 9.14519418e-03 -8.89473615e+00] [ 2.73481456e-02 -5.26940367e-04 9.99625831e-01 6.55560535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.147628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.94, Y:-8.90, Z:0.66 [[ 9.47675622e-01 3.18273465e-01 -2.47571715e-02 4.59417647e+01] [-3.18152394e-01 9.47998838e-01 8.78964619e-03 -8.90121954e+00] [ 2.62672809e-02 -4.53180041e-04 9.99654853e-01 6.58340833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.177628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.97, Y:-8.91, Z:0.66 [[ 9.47146005e-01 3.19892122e-01 -2.41552364e-02 4.59712573e+01] [-3.19777232e-01 9.47453886e-01 8.58224205e-03 -8.91155104e+00] [ 2.56313642e-02 -4.04341650e-04 9.99671381e-01 6.57658717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.20762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.00, Y:-8.92, Z:0.66 [[ 9.46581925e-01 3.21631320e-01 -2.31506726e-02 4.60028331e+01] [-3.21526164e-01 9.46864918e-01 8.23120267e-03 -8.91824855e+00] [ 2.45679723e-02 -3.47960708e-04 9.99698101e-01 6.60002740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.23762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.03, Y:-8.93, Z:0.66 [[ 9.45233327e-01 3.25627924e-01 -2.23698825e-02 4.60337326e+01] [-3.25530717e-01 9.45497962e-01 7.95963089e-03 -8.92637071e+00] [ 2.37425564e-02 -2.41624493e-04 9.99718077e-01 6.61949116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.26762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.06, Y:-8.94, Z:0.66 [[ 9.44580378e-01 3.27522490e-01 -2.22918832e-02 4.60636374e+01] [-3.27426344e-01 9.44843362e-01 7.93789058e-03 -8.93624610e+00] [ 2.36621755e-02 -1.99025868e-04 9.99719992e-01 6.61971255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.09, Y:-8.95, Z:0.66 [[ 9.43906632e-01 3.29437588e-01 -2.26085183e-02 4.60945029e+01] [-3.29339096e-01 9.44177341e-01 8.05664089e-03 -8.94531195e+00] [ 2.40006110e-02 -1.58847792e-04 9.99711931e-01 6.62597595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.327628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.13, Y:-8.95, Z:0.66 [[ 9.42670789e-01 3.32965009e-01 -2.24963587e-02 4.61254473e+01] [-3.32868347e-01 9.42939180e-01 8.02283641e-03 -8.95276503e+00] [ 2.38840218e-02 -7.45678065e-05 9.99714733e-01 6.61896599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.357628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.16, Y:-8.96, Z:0.66 [[ 9.41997716e-01 3.34881614e-01 -2.22397830e-02 4.61565678e+01] [-3.34787529e-01 9.42260210e-01 7.93766965e-03 -8.96267570e+00] [ 2.36138422e-02 -3.16646859e-05 9.99721154e-01 6.62196920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.38762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.19, Y:-8.97, Z:0.66 [[ 9.41232501e-01 3.37052608e-01 -2.18384599e-02 4.61868270e+01] [-3.36962320e-01 9.41485815e-01 7.80102015e-03 -8.97261675e+00] [ 2.31899544e-02 1.61644197e-05 9.99731077e-01 6.62776164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.41762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.22, Y:-8.98, Z:0.66 [[ 9.40582212e-01 3.38895052e-01 -2.13365004e-02 4.62179262e+01] [-3.38809198e-01 9.40824182e-01 7.62799303e-03 -8.98299140e+00] [ 2.26589846e-02 5.42480308e-05 9.99743251e-01 6.64022690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.44762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.25, Y:-8.99, Z:0.66 [[ 9.39238600e-01 3.42554693e-01 -2.20711162e-02 4.62488200e+01] [-3.42463673e-01 9.39497878e-01 7.89747362e-03 -8.99311797e+00] [ 2.34410835e-02 1.40943467e-04 9.99725210e-01 6.63646349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.28, Y:-9.00, Z:0.66 [[ 9.38662486e-01 3.44095051e-01 -2.26126648e-02 4.62784729e+01] [-3.43999807e-01 9.38934803e-01 8.09741930e-03 -9.00283977e+00] [ 2.40180999e-02 1.78008605e-04 9.99711508e-01 6.62722632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.507628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.31, Y:-9.01, Z:0.66 [[ 9.37975740e-01 3.45904355e-01 -2.34880410e-02 4.63083190e+01] [-3.45802002e-01 9.38269751e-01 8.41722547e-03 -9.01373107e+00] [ 2.49496733e-02 2.27058306e-04 9.99688683e-01 6.62886343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.537628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.34, Y:-9.02, Z:0.66 [[ 9.37632844e-01 3.46763608e-01 -2.44877631e-02 4.63377069e+01] [-3.46652471e-01 9.37952523e-01 8.78229765e-03 -9.02420847e+00] [ 2.60137404e-02 2.54172869e-04 9.99661553e-01 6.61657186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.567628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.37, Y:-9.04, Z:0.66 [[ 9.37392753e-01 3.47288456e-01 -2.61830931e-02 4.63663333e+01] [-3.47161398e-01 9.37758311e-01 9.39758715e-03 -9.03822143e+00] [ 2.78170867e-02 2.80529099e-04 9.99612991e-01 6.61435400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.40, Y:-9.05, Z:0.66 [[ 9.37467064e-01 3.47087971e-01 -2.61810114e-02 4.63957850e+01] [-3.46960643e-01 9.37832538e-01 9.40441229e-03 -9.05060545e+00] [ 2.78175627e-02 2.67453765e-04 9.99612981e-01 6.62026956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.62762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.42, Y:-9.06, Z:0.66 [[ 9.37898220e-01 3.45996265e-01 -2.51697161e-02 4.64245707e+01] [-3.45878001e-01 9.38235864e-01 9.04829299e-03 -9.06494732e+00] [ 2.67458059e-02 2.19273209e-04 9.99642243e-01 6.63650496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.657628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.45, Y:-9.08, Z:0.67 [[ 9.38252943e-01 3.45090387e-01 -2.43729360e-02 4.64539794e+01] [-3.44979015e-01 9.38569439e-01 8.76854485e-03 -9.07826416e+00] [ 2.59016334e-02 1.81038435e-04 9.99664480e-01 6.65387766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.687628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.48, Y:-9.09, Z:0.67 [[ 9.38551954e-01 3.44311727e-01 -2.38676415e-02 4.64819015e+01] [-3.44204509e-01 9.38855373e-01 8.59323499e-03 -9.09115077e+00] [ 2.53670150e-02 1.50152333e-04 9.99678194e-01 6.66569768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.717628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.51, Y:-9.11, Z:0.67 [[ 9.39884703e-01 3.40726224e-01 -2.28557461e-02 4.65106460e+01] [-3.40626725e-01 9.40162560e-01 8.23382581e-03 -9.10762605e+00] [ 2.42935971e-02 4.64310192e-05 9.99704866e-01 6.68313228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.747628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.54, Y:-9.12, Z:0.67 [[ 9.40550735e-01 3.38913671e-01 -2.24017349e-02 4.65404438e+01] [-3.38817462e-01 9.40817476e-01 8.07489848e-03 -9.12104477e+00] [ 2.38126372e-02 -4.75272853e-06 9.99716439e-01 6.68697763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.77762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.57, Y:-9.13, Z:0.67 [[ 9.41376905e-01 3.36631440e-01 -2.21087314e-02 4.65695777e+01] [-3.36536942e-01 9.41636484e-01 7.97608299e-03 -9.13464021e+00] [ 2.35033884e-02 -6.80954648e-05 9.99723755e-01 6.68815680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.80762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.60, Y:-9.15, Z:0.67 [[ 9.42007575e-01 3.34902037e-01 -2.15024442e-02 4.65999095e+01] [-3.34812054e-01 9.42252945e-01 7.76373945e-03 -9.14643605e+00] [ 2.28608336e-02 -1.14223840e-04 9.99738650e-01 6.70212716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.837628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.63, Y:-9.16, Z:0.67 [[ 9.42430771e-01 3.33686177e-01 -2.18581191e-02 4.66303350e+01] [-3.33592702e-01 9.42684206e-01 7.89918957e-03 -9.15842278e+00] [ 2.32411540e-02 -1.52730298e-04 9.99729876e-01 6.71009243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.66, Y:-9.17, Z:0.67 [[ 9.42706602e-01 3.32868426e-01 -2.24248271e-02 4.66592659e+01] [-3.32769666e-01 9.42973264e-01 8.11000100e-03 -9.16985826e+00] [ 2.38455757e-02 -1.83049264e-04 9.99715637e-01 6.71082734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.897628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.69, Y:-9.18, Z:0.67 [[ 9.43823612e-01 3.29600428e-01 -2.36758867e-02 4.66890290e+01] [-3.29489187e-01 9.44120478e-01 8.56732531e-03 -9.18186733e+00] [ 2.51766835e-02 -2.85095260e-04 9.99682976e-01 6.71760258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.927628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.72, Y:-9.19, Z:0.67 [[ 9.44666270e-01 3.27172864e-01 -2.37393183e-02 4.67185436e+01] [-3.27060092e-01 9.44964438e-01 8.59688484e-03 -9.19386501e+00] [ 2.52454790e-02 -3.57003514e-04 9.99681218e-01 6.72350803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.95762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.75, Y:-9.21, Z:0.67 [[ 9.45517536e-01 3.24711479e-01 -2.36441096e-02 4.67479776e+01] [-3.24598674e-01 9.45813022e-01 8.56899486e-03 -9.20580491e+00] [ 2.51453577e-02 -4.27288289e-04 9.99683714e-01 6.72948399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.98762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.78, Y:-9.22, Z:0.67 [[ 9.46270950e-01 3.22529515e-01 -2.33666635e-02 4.67769031e+01] [-3.22418521e-01 9.46559283e-01 8.47472853e-03 -9.21675663e+00] [ 2.48512824e-02 -4.85544324e-04 9.99691041e-01 6.73397403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.01762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.81, Y:-9.23, Z:0.67 [[ 9.48247247e-01 3.16730724e-01 -2.25567629e-02 4.68050572e+01] [-3.16625537e-01 9.48515294e-01 8.18568206e-03 -9.22826776e+00] [ 2.39880916e-02 -6.20003310e-04 9.99712052e-01 6.73235815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.047628 meters Centerline goodness [0,1] 0.9998419828890043 Centerline is valid? [True, True] Translation: X:46.83, Y:-9.24, Z:0.67 [[ 9.49489337e-01 3.12939924e-01 -2.32078341e-02 4.68344182e+01] [-3.12827381e-01 9.49772635e-01 8.42444634e-03 -9.24027134e+00] [ 2.46785113e-02 -7.38876015e-04 9.99695166e-01 6.71159635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.077628000000004 meters Centerline goodness [0,1] 0.9998197467441756 Centerline is valid? [True, True] Translation: X:46.86, Y:-9.25, Z:0.67 [[ 9.50650664e-01 3.09424162e-01 -2.28035707e-02 4.68635098e+01] [-3.09314463e-01 9.50923772e-01 8.27901892e-03 -9.25268604e+00] [ 2.42461860e-02 -8.16980599e-04 9.99705684e-01 6.71504592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.107628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.89, Y:-9.27, Z:0.68 [[ 9.52417926e-01 3.04041625e-01 -2.14192630e-02 4.68908179e+01] [-3.03943456e-01 9.52658326e-01 7.77754729e-03 -9.26635857e+00] [ 2.27699373e-02 -8.97230650e-04 9.99740329e-01 6.76449877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.13762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.92, Y:-9.28, Z:0.68 [[ 9.52922054e-01 3.02533164e-01 -2.03284206e-02 4.69197202e+01] [-3.02444356e-01 9.53138446e-01 7.38337488e-03 -9.27829063e+00] [ 2.16095149e-02 -8.87564675e-04 9.99766093e-01 6.78145487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.16762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.95, Y:-9.29, Z:0.68 [[ 9.53153906e-01 3.01859604e-01 -1.94528126e-02 4.69504430e+01] [-3.01778046e-01 9.53351994e-01 7.07005399e-03 -9.28885854e+00] [ 2.06795413e-02 -8.68417818e-04 9.99785778e-01 6.79657627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.19762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.98, Y:-9.29, Z:0.68 [[ 9.52683480e-01 3.03430521e-01 -1.80029113e-02 4.69839288e+01] [-3.03360862e-01 9.52853250e-01 6.54760486e-03 -9.29040808e+00] [ 1.91408757e-02 -7.76416280e-04 9.99816495e-01 6.81205961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.02, Y:-9.30, Z:0.68 [[ 9.52005121e-01 3.05572785e-01 -1.76500065e-02 4.70155600e+01] [-3.05506107e-01 9.52168446e-01 6.42412982e-03 -9.29759366e+00] [ 1.87688185e-02 -7.23619710e-04 9.99823588e-01 6.81387199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.257628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.05, Y:-9.30, Z:0.68 [[ 9.51185216e-01 3.08134740e-01 -1.73109054e-02 4.70462786e+01] [-3.08070947e-01 9.51342494e-01 6.30485077e-03 -9.30478452e+00] [ 1.84113435e-02 -6.64093827e-04 9.99830276e-01 6.81305194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.287628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.08, Y:-9.31, Z:0.68 [[ 9.48987455e-01 3.14831928e-01 -1.74260647e-02 4.70763075e+01] [-3.14768396e-01 9.49147284e-01 6.34741841e-03 -9.31002911e+00] [ 1.85382720e-02 -5.38446011e-04 9.99828006e-01 6.81515837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.317628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.11, Y:-9.32, Z:0.68 [[ 9.47760845e-01 3.18479868e-01 -1.78872766e-02 4.71076411e+01] [-3.18413568e-01 9.47929503e-01 6.51586162e-03 -9.31691489e+00] [ 1.90310480e-02 -4.79926947e-04 9.99818778e-01 6.82393067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.14, Y:-9.32, Z:0.68 [[ 9.46569011e-01 3.21969317e-01 -1.85166235e-02 4.71389676e+01] [-3.21898906e-01 9.46750008e-01 6.74662758e-03 -9.32373584e+00] [ 1.97028206e-02 -4.25667742e-04 9.99805790e-01 6.82495615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.37762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.17, Y:-9.33, Z:0.68 [[ 9.44454359e-01 3.28067827e-01 -1.94284665e-02 4.71705752e+01] [-3.27991575e-01 9.44654118e-01 7.07987573e-03 -9.32566498e+00] [ 2.06758604e-02 -3.14246169e-04 9.99786182e-01 6.80683554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.407628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.20, Y:-9.33, Z:0.68 [[ 9.43333011e-01 3.31246588e-01 -1.99631765e-02 4.72018698e+01] [-3.31166753e-01 9.43544188e-01 7.27649475e-03 -9.33243326e+00] [ 2.12464532e-02 -2.53017357e-04 9.99774237e-01 6.80047243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.437628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.23, Y:-9.34, Z:0.68 [[ 9.42304465e-01 3.34146518e-01 -2.02089172e-02 4.72324272e+01] [-3.34065254e-01 9.42521122e-01 7.37155378e-03 -9.34006458e+00] [ 2.15105103e-02 -1.95150985e-04 9.99768603e-01 6.79839042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.467628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.26, Y:-9.35, Z:0.68 [[ 9.41346193e-01 3.36825101e-01 -2.04008858e-02 4.72633362e+01] [-3.36742798e-01 9.41567221e-01 7.44691567e-03 -9.34820197e+00] [ 2.17171135e-02 -1.40274337e-04 9.99764146e-01 6.80087872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.497628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.29, Y:-9.36, Z:0.68 [[ 9.40268398e-01 3.39794448e-01 -2.08583871e-02 4.72949296e+01] [-3.39709011e-01 9.40499722e-01 7.61977715e-03 -9.35608767e+00] [ 2.22064652e-02 -7.88536282e-05 9.99753403e-01 6.80887122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.52762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.33, Y:-9.37, Z:0.68 [[ 9.40172078e-01 3.40060986e-01 -2.08564181e-02 4.73253393e+01] [-3.39975495e-01 9.40403381e-01 7.62516337e-03 -9.36727709e+00] [ 2.22064666e-02 -7.82946299e-05 9.99753403e-01 6.81393164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.55762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.36, Y:-9.38, Z:0.68 [[ 9.39860160e-01 3.40898358e-01 -2.12412332e-02 4.73553085e+01] [-3.40809743e-01 9.40100157e-01 7.77261795e-03 -9.37735334e+00] [ 2.26185593e-02 -6.59547280e-05 9.99744165e-01 6.80647711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.587628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.39, Y:-9.39, Z:0.68 [[ 9.39508565e-01 3.41818187e-01 -2.19996364e-02 4.73866220e+01] [-3.41723224e-01 9.39766101e-01 8.05693757e-03 -9.38738898e+00] [ 2.34285203e-02 -5.17751957e-05 9.99725513e-01 6.80528597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.42, Y:-9.40, Z:0.68 [[ 9.39255642e-01 3.42514894e-01 -2.19633114e-02 4.74182752e+01] [-3.42420274e-01 9.39512398e-01 8.05044353e-03 -9.39763036e+00] [ 2.33922002e-02 -4.07413774e-05 9.99726364e-01 6.80922203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.647628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.45, Y:-9.41, Z:0.68 [[ 9.38648953e-01 3.44259446e-01 -2.05809827e-02 4.74481702e+01] [-3.44176655e-01 9.38874557e-01 7.54958103e-03 -9.40722487e+00] [ 2.19219756e-02 -2.91254155e-06 9.99759685e-01 6.82320200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.677628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.48, Y:-9.42, Z:0.68 [[ 9.38260280e-01 3.45358573e-01 -1.98772138e-02 4.74790774e+01] [-3.45281485e-01 9.38470807e-01 7.29657944e-03 -9.41860363e+00] [ 2.11741212e-02 1.71432417e-05 9.99775803e-01 6.84323010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.70762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.51, Y:-9.43, Z:0.69 [[ 9.37956141e-01 3.46274164e-01 -1.82340663e-02 4.75095139e+01] [-3.46209368e-01 9.38133361e-01 6.69860143e-03 -9.43074060e+00] [ 1.94255385e-02 2.98102173e-05 9.99811306e-01 6.87439478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.73762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.54, Y:-9.44, Z:0.69 [[ 9.37909233e-01 3.46422421e-01 -1.78263089e-02 4.75398438e+01] [-3.46360411e-01 9.38078624e-01 6.55438499e-03 -9.44250023e+00] [ 1.89930652e-02 2.69094835e-05 9.99819615e-01 6.88577658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.76762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.57, Y:-9.45, Z:0.69 [[ 9.37989279e-01 3.46207161e-01 -1.77964651e-02 4.75702425e+01] [-3.46145212e-01 9.38158090e-01 6.54912569e-03 -9.45442432e+00] [ 1.89632519e-02 1.71515096e-05 9.99820181e-01 6.88703061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.60, Y:-9.47, Z:0.69 [[ 9.38064877e-01 3.45991952e-01 -1.79959572e-02 4.75996615e+01] [-3.45928456e-01 9.38237480e-01 6.62829425e-03 -9.46670431e+00] [ 1.91778180e-02 7.54365624e-06 9.99816089e-01 6.89329501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.827628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.63, Y:-9.48, Z:0.69 [[ 9.38656822e-01 3.44351876e-01 -1.85783774e-02 4.76287414e+01] [-3.44283767e-01 9.38840660e-01 6.84860499e-03 -9.48164408e+00] [ 1.98004661e-02 -3.22560296e-05 9.99803951e-01 6.89420304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.857628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.66, Y:-9.49, Z:0.69 [[ 9.38959823e-01 3.43478140e-01 -1.94220881e-02 4.76575572e+01] [-3.43403394e-01 9.39160670e-01 7.16554138e-03 -9.49473464e+00] [ 2.07016681e-02 -5.85445083e-05 9.99785696e-01 6.88890886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.88762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.69, Y:-9.51, Z:0.69 [[ 9.39288680e-01 3.42512911e-01 -2.05348763e-02 4.76867878e+01] [-3.42429017e-01 9.39513117e-01 7.58095148e-03 -9.50816112e+00] [ 2.18893594e-02 -8.89644216e-05 9.99760395e-01 6.88443293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.91762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.72, Y:-9.52, Z:0.69 [[ 9.39672600e-01 3.41397493e-01 -2.15210882e-02 4.77158845e+01] [-3.41304906e-01 9.39919005e-01 7.95143729e-03 -9.52157477e+00] [ 2.29426806e-02 -1.26494765e-04 9.99736774e-01 6.88194065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.94762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.74, Y:-9.54, Z:0.69 [[ 9.40953794e-01 3.37749998e-01 -2.30411756e-02 4.77437467e+01] [-3.37642609e-01 9.41235827e-01 8.51971694e-03 -9.53783190e+00] [ 2.45647144e-02 -2.36977319e-04 9.99698214e-01 6.88373436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.77, Y:-9.55, Z:0.69 [[ 9.41670692e-01 3.35703524e-01 -2.36527233e-02 4.77726952e+01] [-3.35589540e-01 9.41967649e-01 8.75267978e-03 -9.55192762e+00] [ 2.52184056e-02 -3.04535484e-04 9.99681919e-01 6.88930855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.007628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.80, Y:-9.57, Z:0.69 [[ 9.43286602e-01 3.31129324e-01 -2.37435675e-02 4.77994923e+01] [-3.31012845e-01 9.43585281e-01 8.79286618e-03 -9.56947242e+00] [ 2.53156567e-02 -4.34767024e-04 9.99679413e-01 6.89605855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.037628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.83, Y:-9.58, Z:0.69 [[ 9.44012765e-01 3.29060088e-01 -2.36507739e-02 4.78285488e+01] [-3.28943708e-01 9.44308855e-01 8.76485877e-03 -9.58411429e+00] [ 2.52178004e-02 -4.94365312e-04 9.99681858e-01 6.90605125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.067628000000006 meters Centerline goodness [0,1] 0.9998217349644584 Centerline is valid? [True, True] Translation: X:47.86, Y:-9.60, Z:0.69 [[ 9.44923193e-01 3.26433148e-01 -2.36972395e-02 4.78561111e+01] [-3.26315320e-01 9.45220119e-01 8.78854290e-03 -9.59903336e+00] [ 2.52679792e-02 -5.71725724e-04 9.99680550e-01 6.88751012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.88, Y:-9.62, Z:0.69 [[ 9.46024825e-01 3.23393169e-01 -2.13046708e-02 4.78820868e+01] [-3.23297067e-01 9.46264503e-01 7.90556173e-03 -9.61942012e+00] [ 2.27164584e-02 -5.91120073e-04 9.99741773e-01 6.93677545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.12762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.91, Y:-9.63, Z:0.70 [[ 9.46583535e-01 3.21818283e-01 -2.03126564e-02 4.79118067e+01] [-3.21730486e-01 9.46801262e-01 7.54088316e-03 -9.63025678e+00] [ 2.16588428e-02 -6.02875006e-04 9.99765238e-01 6.96083714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.157628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.94, Y:-9.64, Z:0.70 [[ 9.47101955e-01 3.20357307e-01 -1.92115508e-02 4.79408630e+01] [-3.20278374e-01 9.47296589e-01 7.13687815e-03 -9.64427474e+00] [ 2.04853876e-02 -6.06307001e-04 9.99789969e-01 6.97428619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.187628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.97, Y:-9.66, Z:0.70 [[ 9.48222095e-01 3.17104772e-01 -1.78723684e-02 4.79696412e+01] [-3.17035796e-01 9.48390301e-01 6.64393401e-03 -9.65800999e+00] [ 1.90568040e-02 -6.33744501e-04 9.99818202e-01 6.98668252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.217628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.00, Y:-9.67, Z:0.70 [[ 9.48588611e-01 3.16008626e-01 -1.78380175e-02 4.79994733e+01] [-3.15939633e-01 9.48756088e-01 6.63583832e-03 -9.66934079e+00] [ 1.90209099e-02 -6.58943955e-04 9.99818869e-01 6.98730230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.247628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.03, Y:-9.68, Z:0.70 [[ 9.48840938e-01 3.15225859e-01 -1.82628947e-02 4.80288906e+01] [-3.15153292e-01 9.49016425e-01 6.79914852e-03 -9.68123536e+00] [ 1.94750544e-02 -6.95699080e-04 9.99810101e-01 6.99034858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.27762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.06, Y:-9.69, Z:0.70 [[ 9.48985170e-01 3.14796042e-01 -1.81823665e-02 4.80579913e+01] [-3.14723936e-01 9.49159077e-01 6.77428900e-03 -9.69395521e+00] [ 1.93904776e-02 -7.06273849e-04 9.99811738e-01 6.99578559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.30762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.09, Y:-9.71, Z:0.70 [[ 9.49369884e-01 3.13641980e-01 -1.80424754e-02 4.80858320e+01] [-3.13570690e-01 9.49541036e-01 6.72639858e-03 -9.70682433e+00] [ 1.92417517e-02 -7.28248794e-04 9.99814595e-01 7.01353905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.33762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.12, Y:-9.72, Z:0.70 [[ 9.49434378e-01 3.13448776e-01 -1.80063119e-02 4.81152011e+01] [-3.13377706e-01 9.49604828e-01 6.71446994e-03 -9.71785025e+00] [ 1.92035231e-02 -7.32171867e-04 9.99815327e-01 7.01739857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.15, Y:-9.73, Z:0.70 [[ 9.49295552e-01 3.13883220e-01 -1.77561006e-02 4.81459137e+01] [-3.13814099e-01 9.49461326e-01 6.62584449e-03 -9.72864246e+00] [ 1.89384722e-02 -7.17769981e-04 9.99820393e-01 7.01841938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.397628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.18, Y:-9.74, Z:0.70 [[ 9.49035061e-01 3.14659371e-01 -1.79425235e-02 4.81762233e+01] [-3.14588824e-01 9.49204388e-01 6.70093371e-03 -9.73806792e+00] [ 1.91396336e-02 -7.14903665e-04 9.99816565e-01 7.02063246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.427628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.21, Y:-9.75, Z:0.70 [[ 9.47983458e-01 3.17771557e-01 -1.86708723e-02 4.82070494e+01] [-3.17695681e-01 9.48167059e-01 6.97733584e-03 -9.74624874e+00] [ 1.99203049e-02 -6.82743469e-04 9.99801338e-01 7.01854776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.45762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.24, Y:-9.75, Z:0.70 [[ 9.47255635e-01 3.19900973e-01 -1.92387333e-02 4.82381141e+01] [-3.19820804e-01 9.47450755e-01 7.19172886e-03 -9.75377123e+00] [ 2.05283934e-02 -6.59458555e-04 9.99789053e-01 7.02225833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.48762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.27, Y:-9.76, Z:0.70 [[ 9.45558267e-01 3.24851987e-01 -1.97673731e-02 4.82694474e+01] [-3.24768337e-01 9.45764696e-01 7.39374567e-03 -9.75916134e+00] [ 2.10971566e-02 -5.71400458e-04 9.99777267e-01 7.02127976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.51762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.30, Y:-9.77, Z:0.70 [[ 9.44683502e-01 3.27374711e-01 -1.99719769e-02 4.82991483e+01] [-3.27289852e-01 9.44894452e-01 7.47174393e-03 -9.76835488e+00] [ 2.13174702e-02 -5.21807859e-04 9.99772621e-01 7.01727311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.33, Y:-9.78, Z:0.70 [[ 9.43689155e-01 3.30218801e-01 -2.01574380e-02 4.83306475e+01] [-3.30132920e-01 9.43904300e-01 7.54505294e-03 -9.77544816e+00] [ 2.15182108e-02 -4.65550746e-04 9.99768348e-01 7.01344336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.577628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.36, Y:-9.78, Z:0.70 [[ 9.41881709e-01 3.35309469e-01 -2.06495790e-02 4.83611187e+01] [-3.35220470e-01 9.42107971e-01 7.73354688e-03 -9.78066731e+00] [ 2.20472644e-02 -3.61924785e-04 9.99756864e-01 7.00324714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.607628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.39, Y:-9.79, Z:0.70 [[ 9.41030999e-01 3.37676891e-01 -2.08560696e-02 4.83916218e+01] [-3.37586637e-01 9.41262036e-01 7.81293775e-03 -9.78980293e+00] [ 2.22692751e-02 -3.11486207e-04 9.99751960e-01 7.01232615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.63762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.42, Y:-9.80, Z:0.70 [[ 9.39295327e-01 3.42446426e-01 -2.13245203e-02 4.84229592e+01] [-3.42353159e-01 9.39537334e-01 7.99451043e-03 -9.79847396e+00] [ 2.27728745e-02 -2.08689387e-04 9.99740643e-01 7.02683329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.66762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.45, Y:-9.81, Z:0.70 [[ 9.38386086e-01 3.44925016e-01 -2.14076373e-02 4.84537557e+01] [-3.44831528e-01 9.38630230e-01 8.03167548e-03 -9.80785254e+00] [ 2.28641813e-02 -1.54784242e-04 9.99738568e-01 7.02829744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.69762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.49, Y:-9.82, Z:0.70 [[ 9.37505539e-01 3.47304076e-01 -2.15230860e-02 4.84850926e+01] [-3.47210064e-01 9.37752563e-01 8.08100562e-03 -9.81695983e+00] [ 2.29898952e-02 -1.02955469e-04 9.99735692e-01 7.02648969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.52, Y:-9.83, Z:0.70 [[ 9.36653970e-01 3.49594503e-01 -2.15179816e-02 4.85162859e+01] [-3.49500996e-01 9.36901105e-01 8.08534556e-03 -9.82639114e+00] [ 2.29868131e-02 -5.26150090e-05 9.99735767e-01 7.02307850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.757628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.55, Y:-9.84, Z:0.70 [[ 9.34971033e-01 3.54081650e-01 -2.13390009e-02 4.85477514e+01] [-3.53990705e-01 9.35214512e-01 8.02481788e-03 -9.83518405e+00] [ 2.27979841e-02 5.08357371e-05 9.99740091e-01 7.02500085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.787628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.58, Y:-9.85, Z:0.70 [[ 9.34346018e-01 3.55762696e-01 -2.07466499e-02 4.85782555e+01] [-3.55677019e-01 9.34576319e-01 7.80776782e-03 -9.84586897e+00] [ 2.21670402e-02 8.39498050e-05 9.99754277e-01 7.03316352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.817628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.61, Y:-9.86, Z:0.70 [[ 9.33748845e-01 3.57351521e-01 -2.03220225e-02 4.86086736e+01] [-3.57269592e-01 9.33969955e-01 7.65257375e-03 -9.85733722e+00] [ 2.17148173e-02 1.14858766e-04 9.99764199e-01 7.04433378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.64, Y:-9.87, Z:0.71 [[ 9.33247852e-01 3.58686846e-01 -1.98038679e-02 4.86389306e+01] [-3.58609214e-01 9.33457941e-01 7.46352438e-03 -9.86897223e+00] [ 2.11631458e-02 1.36531399e-04 9.99776026e-01 7.05875338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.87762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.67, Y:-9.88, Z:0.71 [[ 9.32903927e-01 3.59644165e-01 -1.86101459e-02 4.86692058e+01] [-3.59575690e-01 9.33089521e-01 7.01922914e-03 -9.88151444e+00] [ 1.98893570e-02 1.43489636e-04 9.99802177e-01 7.07287307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.907628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.70, Y:-9.89, Z:0.71 [[ 9.32745001e-01 3.60079240e-01 -1.81577755e-02 4.86993422e+01] [-3.60014026e-01 9.32921712e-01 6.85423459e-03 -9.89339356e+00] [ 1.94078506e-02 1.43800822e-04 9.99811640e-01 7.08248279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.937628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.73, Y:-9.91, Z:0.71 [[ 9.32647050e-01 3.60334725e-01 -1.81208591e-02 4.87289078e+01] [-3.60269727e-01 9.32823062e-01 6.84533457e-03 -9.90514468e+00] [ 1.93701670e-02 1.44115860e-04 9.99812370e-01 7.08801596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.967628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.76, Y:-9.92, Z:0.71 [[ 9.32457508e-01 3.60808617e-01 -1.84428007e-02 4.87586062e+01] [-3.60741300e-01 9.32639865e-01 6.97109186e-03 -9.91880287e+00] [ 1.97157212e-02 1.52832955e-04 9.99805615e-01 7.08953717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.997628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.79, Y:-9.93, Z:0.71 [[ 9.32298061e-01 3.61160328e-01 -1.95842384e-02 4.87885284e+01] [-3.61084360e-01 9.32503721e-01 7.40910762e-03 -9.93166546e+00] [ 2.09382510e-02 1.64065522e-04 9.99780757e-01 7.09029610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.02762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.82, Y:-9.94, Z:0.71 [[ 9.32271711e-01 3.61192100e-01 -2.02416481e-02 4.88184953e+01] [-3.61110808e-01 9.32491415e-01 7.66451875e-03 -9.94424499e+00] [ 2.16435267e-02 1.64063877e-04 9.99765738e-01 7.08816513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.05762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.85, Y:-9.96, Z:0.71 [[ 9.32199574e-01 3.61330440e-01 -2.10776633e-02 4.88488130e+01] [-3.61242171e-01 9.32437818e-01 7.98807379e-03 -9.95657827e+00] [ 2.25399446e-02 1.67661859e-04 9.99745929e-01 7.08866175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.08762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.88, Y:-9.97, Z:0.71 [[ 9.32602706e-01 3.60206074e-01 -2.24449934e-02 4.88783462e+01] [-3.60105477e-01 9.32872748e-01 8.51363035e-03 -9.96934596e+00] [ 2.40049840e-02 1.42730348e-04 9.99711829e-01 7.07613902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.91, Y:-9.98, Z:0.71 [[ 9.32973114e-01 3.59200245e-01 -2.31593000e-02 4.89082102e+01] [-3.59092651e-01 9.33260506e-01 8.79184518e-03 -9.98347586e+00] [ 2.47716930e-02 1.13779284e-04 9.99693128e-01 7.08054771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.147628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.94, Y:-10.00, Z:0.71 [[ 9.33554867e-01 3.57633656e-01 -2.39474083e-02 4.89378375e+01] [-3.57517896e-01 9.33861962e-01 9.09892872e-03 -9.99857526e+00] [ 2.56176568e-02 6.72778099e-05 9.99671812e-01 7.09180468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.177628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.97, Y:-10.02, Z:0.71 [[ 9.35477255e-01 3.52586681e-01 -2.37684188e-02 4.89660443e+01] [-3.52470817e-01 9.35779155e-01 9.03860351e-03 -1.00166944e+01] [ 2.54288821e-02 -7.77339840e-05 9.99676631e-01 7.11282222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.20762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.99, Y:-10.03, Z:0.71 [[ 9.36650025e-01 3.49513988e-01 -2.29500303e-02 4.89942295e+01] [-3.49404869e-01 9.36931132e-01 8.73449048e-03 -1.00313810e+01] [ 2.45554245e-02 -1.62308396e-04 9.99698457e-01 7.12106897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.23762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.02, Y:-10.05, Z:0.71 [[ 9.38050795e-01 3.45802825e-01 -2.19342662e-02 4.90228950e+01] [-3.45701990e-01 9.38307168e-01 8.35419453e-03 -1.00461431e+01] [ 2.34699833e-02 -2.53939337e-04 9.99724510e-01 7.13260459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.26762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.05, Y:-10.06, Z:0.71 [[ 9.39544211e-01 3.41746499e-01 -2.15871625e-02 4.90509234e+01] [-3.41647622e-01 9.39792107e-01 8.22788720e-03 -1.00613481e+01] [ 2.30992966e-02 -3.55261032e-04 9.99733113e-01 7.14071484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.08, Y:-10.08, Z:0.72 [[ 9.42924610e-01 3.32401239e-01 -2.00647749e-02 4.90769191e+01] [-3.32313594e-01 9.43137909e-01 7.65242075e-03 -1.00802297e+01] [ 2.14675240e-02 -5.47858388e-04 9.99769396e-01 7.15452625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.327628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.10, Y:-10.10, Z:0.72 [[ 9.44610314e-01 3.27625120e-01 -1.93167238e-02 4.91031964e+01] [-3.27542811e-01 9.44807587e-01 7.37090506e-03 -1.00958745e+01] [ 2.06654809e-02 -6.35578919e-04 9.99786244e-01 7.16753191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.357628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.13, Y:-10.12, Z:0.72 [[ 9.47717126e-01 3.18577687e-01 -1.84528118e-02 4.91283438e+01] [-3.18500822e-01 9.47896419e-01 7.04312617e-03 -1.01153608e+01] [ 1.97351371e-02 -7.97655571e-04 9.99804925e-01 7.18925478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.38762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.16, Y:-10.13, Z:0.72 [[ 9.48970905e-01 3.14849794e-01 -1.79952384e-02 4.91560537e+01] [-3.14776015e-01 9.49141126e-01 6.86894042e-03 -1.01286403e+01] [ 1.92427053e-02 -8.53955163e-04 9.99814477e-01 7.20605044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.41762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.19, Y:-10.14, Z:0.72 [[ 9.48884143e-01 3.15111215e-01 -1.79946083e-02 4.91863141e+01] [-3.15037452e-01 9.49054371e-01 6.87059053e-03 -1.01402698e+01] [ 1.92428618e-02 -8.50418836e-04 9.99814477e-01 7.21110139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.44762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.21, Y:-10.15, Z:0.72 [[ 9.49752546e-01 3.12524454e-01 -1.72790902e-02 4.92143583e+01] [-3.12455923e-01 9.49909315e-01 6.60228353e-03 -1.01532122e+01] [ 1.84769438e-02 -8.71581510e-04 9.99828907e-01 7.22398779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.24, Y:-10.17, Z:0.72 [[ 9.50798302e-01 3.09356716e-01 -1.67633805e-02 4.92417168e+01] [-3.09291679e-01 9.50945634e-01 6.40770977e-03 -1.01656933e+01] [ 1.79233316e-02 -9.07665462e-04 9.99838952e-01 7.23390440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.507628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.27, Y:-10.18, Z:0.72 [[ 9.50849532e-01 3.09198640e-01 -1.67740620e-02 4.92722383e+01] [-3.09133484e-01 9.50997040e-01 6.41244738e-03 -1.01765473e+01] [ 1.79348033e-02 -9.11848367e-04 9.99838743e-01 7.23438851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.537628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.30, Y:-10.19, Z:0.72 [[ 9.50627150e-01 3.09889795e-01 -1.66233492e-02 4.93023615e+01] [-3.09825831e-01 9.50772062e-01 6.35930244e-03 -1.01871060e+01] [ 1.77756989e-02 -8.94982592e-04 9.99841599e-01 7.23951692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.567628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.33, Y:-10.20, Z:0.73 [[ 9.49929368e-01 3.12004215e-01 -1.69577443e-02 4.93319642e+01] [-3.11937912e-01 9.50080313e-01 6.49132095e-03 -1.01956245e+01] [ 1.81365385e-02 -8.76533058e-04 9.99835135e-01 7.25069770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.36, Y:-10.20, Z:0.73 [[ 9.49317653e-01 3.13842671e-01 -1.72849931e-02 4.93620812e+01] [-3.13774076e-01 9.49474613e-01 6.61726490e-03 -1.02047839e+01] [ 1.84884423e-02 -8.58303642e-04 9.99828706e-01 7.25388336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.62762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.39, Y:-10.21, Z:0.73 [[ 9.48706238e-01 3.15659048e-01 -1.77718576e-02 4.93922480e+01] [-3.15586824e-01 9.48872303e-01 6.80507339e-03 -1.02139855e+01] [ 1.90113064e-02 -8.47451475e-04 9.99818910e-01 7.25790981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.657628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.42, Y:-10.22, Z:0.73 [[ 9.48070181e-01 3.17527713e-01 -1.84142070e-02 4.94228699e+01] [-3.17450444e-01 9.48248617e-01 7.05514799e-03 -1.02222644e+01] [ 1.97014514e-02 -8.43177228e-04 9.99805552e-01 7.25713122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.687628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.45, Y:-10.23, Z:0.73 [[ 9.46426083e-01 3.22352830e-01 -1.91395562e-02 4.94536645e+01] [-3.22270323e-01 9.46619277e-01 7.33368394e-03 -1.02253597e+01] [ 2.04819066e-02 -7.72678821e-04 9.99789925e-01 7.25070365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.717628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.49, Y:-10.23, Z:0.73 [[ 9.45450794e-01 3.25186893e-01 -1.93979312e-02 4.94868045e+01] [-3.25102730e-01 9.45649493e-01 7.43307797e-03 -1.02258034e+01] [ 2.07607833e-02 -7.21289077e-04 9.99784212e-01 7.25965911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.747628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.52, Y:-10.23, Z:0.73 [[ 9.44421217e-01 3.28156806e-01 -1.95365014e-02 4.95168125e+01] [-3.28072053e-01 9.44623032e-01 7.48698152e-03 -1.02331621e+01] [ 2.09115331e-02 -6.61484084e-04 9.99781111e-01 7.25958153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.77762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.55, Y:-10.24, Z:0.73 [[ 9.43406760e-01 3.31036072e-01 -1.99700703e-02 4.95484035e+01] [-3.30948135e-01 9.43617902e-01 7.65421035e-03 -1.02392247e+01] [ 2.13779356e-02 -6.11976259e-04 9.99771279e-01 7.26003641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.80762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.58, Y:-10.24, Z:0.73 [[ 9.41580186e-01 3.36123686e-01 -2.11570373e-02 4.95801035e+01] [-3.36026229e-01 9.41817705e-01 8.11074968e-03 -1.02433485e+01] [ 2.26522874e-02 -5.27601749e-04 9.99743265e-01 7.25485944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.83762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.61, Y:-10.25, Z:0.73 [[ 9.40749071e-01 3.38422584e-01 -2.14788236e-02 4.96114784e+01] [-3.38322678e-01 9.40994114e-01 8.23669759e-03 -1.02521474e+01] [ 2.29989311e-02 -4.81892481e-04 9.99735373e-01 7.25832128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.64, Y:-10.26, Z:0.73 [[ 9.38991927e-01 3.43204004e-01 -2.24760653e-02 4.96431673e+01] [-3.43095812e-01 9.39260806e-01 8.62571610e-03 -1.02590249e+01] [ 2.40712675e-02 -3.88033926e-04 9.99710170e-01 7.26648797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.897628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.67, Y:-10.27, Z:0.73 [[ 9.38029130e-01 3.45816517e-01 -2.26337784e-02 4.96737606e+01] [-3.45707404e-01 9.38302099e-01 8.69268809e-03 -1.02680179e+01] [ 2.42433969e-02 -3.29329894e-04 9.99706031e-01 7.27181893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.927628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.70, Y:-10.28, Z:0.73 [[ 9.36831973e-01 3.49022162e-01 -2.30083735e-02 4.97044909e+01] [-3.48910211e-01 9.37114435e-01 8.84311117e-03 -1.02762426e+01] [ 2.46479207e-02 -2.56652845e-04 9.99696161e-01 7.27344496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.95762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.74, Y:-10.28, Z:0.73 [[ 9.34311348e-01 3.55719664e-01 -2.29309058e-02 4.97371584e+01] [-3.55610317e-01 9.34592699e-01 8.81980052e-03 -1.02798626e+01] [ 2.45684336e-02 -8.59730226e-05 9.99698147e-01 7.27567189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.98762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.77, Y:-10.29, Z:0.73 [[ 9.32981459e-01 3.59209922e-01 -2.26678009e-02 4.97674000e+01] [-3.59103948e-01 9.33256788e-01 8.72483808e-03 -1.02878385e+01] [ 2.42889275e-02 -1.53467863e-08 9.99704980e-01 7.27860661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.01762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.80, Y:-10.30, Z:0.73 [[ 9.31743754e-01 3.62427409e-01 -2.23595647e-02 4.97992834e+01] [-3.62325072e-01 9.32011999e-01 8.61251995e-03 -1.02967971e+01] [ 2.39607959e-02 7.67692141e-05 9.99712896e-01 7.28311051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.83, Y:-10.30, Z:0.73 [[ 9.29641517e-01 3.67793551e-01 -2.22385816e-02 4.98298716e+01] [-3.67693689e-01 9.29907447e-01 8.57266089e-03 -1.03036865e+01] [ 2.38327921e-02 2.07484645e-04 9.99715937e-01 7.29091489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.077628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.86, Y:-10.31, Z:0.73 [[ 9.28766252e-01 3.70017940e-01 -2.19082805e-02 4.98599279e+01] [-3.69921502e-01 9.29024574e-01 8.45120073e-03 -1.03142193e+01] [ 2.34804268e-02 2.55154007e-04 9.99724264e-01 7.30271509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.107628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.89, Y:-10.32, Z:0.73 [[ 9.28091243e-01 3.71722022e-01 -2.16652570e-02 4.98897218e+01] [-3.71628056e-01 9.28344039e-01 8.36265664e-03 -1.03244511e+01] [ 2.32213959e-02 2.90108958e-04 9.99730305e-01 7.31093033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.13762800000001 meters Centerline goodness [0,1] 0.9998476538695917 Centerline is valid? [True, True] Translation: X:49.92, Y:-10.34, Z:0.73 [[ 9.27409296e-01 3.73381390e-01 -2.23234467e-02 4.99202062e+01] [-3.73281997e-01 9.27677867e-01 8.62128027e-03 -1.03350396e+01] [ 2.39279930e-02 3.37485306e-04 9.99713628e-01 7.29411968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.16762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.95, Y:-10.35, Z:0.73 [[ 9.26912408e-01 3.74643243e-01 -2.18135014e-02 4.99493450e+01] [-3.74548568e-01 9.27168978e-01 8.42956453e-03 -1.03453485e+01] [ 2.33828812e-02 3.56747758e-04 9.99726519e-01 7.31629711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.19762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.98, Y:-10.36, Z:0.73 [[ 9.26823663e-01 3.74824560e-01 -2.24599107e-02 4.99790889e+01] [-3.74724147e-01 9.27095687e-01 8.68332114e-03 -1.03565245e+01] [ 2.40772084e-02 3.68363385e-04 9.99710034e-01 7.31024387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.01, Y:-10.37, Z:0.73 [[ 9.26823180e-01 3.74806587e-01 -2.27775379e-02 5.00092099e+01] [-3.74703170e-01 9.27102954e-01 8.81178228e-03 -1.03693445e+01] [ 2.44198367e-02 3.67851559e-04 9.99701724e-01 7.31266025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.257628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.04, Y:-10.38, Z:0.73 [[ 9.27582885e-01 3.72795509e-01 -2.47689093e-02 5.00373690e+01] [-3.72672319e-01 9.27913463e-01 9.58892376e-03 -1.03834663e+01] [ 2.65581121e-02 3.36165299e-04 9.99647215e-01 7.30162532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.287628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.07, Y:-10.40, Z:0.73 [[ 9.28073037e-01 3.71486111e-01 -2.60481733e-02 5.00667326e+01] [-3.71349177e-01 9.28438460e-01 1.00903188e-02 -1.03975144e+01] [ 2.79325392e-02 3.08414864e-04 9.99609763e-01 7.29408690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.317628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.10, Y:-10.41, Z:0.73 [[ 9.28676994e-01 3.69857143e-01 -2.76538428e-02 5.00966722e+01] [-3.69701807e-01 9.29088598e-01 1.07215537e-02 -1.04122479e+01] [ 2.96583133e-02 2.66815391e-04 9.99560060e-01 7.28972760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.12, Y:-10.43, Z:0.73 [[ 9.30462638e-01 3.65133181e-01 -3.02826445e-02 5.01230331e+01] [-3.64944146e-01 9.30955287e-01 1.17483935e-02 -1.04292052e+01] [ 3.24815163e-02 1.20032574e-04 9.99472329e-01 7.27377975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.37762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.15, Y:-10.44, Z:0.73 [[ 9.31571458e-01 3.62259414e-01 -3.07039939e-02 5.01517022e+01] [-3.62063335e-01 9.32077313e-01 1.19174044e-02 -1.04449151e+01] [ 3.29356880e-02 1.48766153e-05 9.99457473e-01 7.27140574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.407628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.18, Y:-10.46, Z:0.73 [[ 9.32820566e-01 3.59026767e-01 -3.07501665e-02 5.01808309e+01] [-3.58828069e-01 9.33327257e-01 1.19435227e-02 -1.04615523e+01] [ 3.29880129e-02 -1.07140746e-04 9.99455742e-01 7.29016348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.437628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.21, Y:-10.48, Z:0.73 [[ 9.34169719e-01 3.55514322e-01 -3.06023169e-02 5.02091315e+01] [-3.55315340e-01 9.34670803e-01 1.18953576e-02 -1.04783256e+01] [ 3.28320621e-02 -2.38810254e-04 9.99460854e-01 7.30539495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.467628000000005 meters Centerline goodness [0,1] 0.9999111012334704 Centerline is valid? [True, True] Translation: X:50.23, Y:-10.50, Z:0.73 [[ 9.37597137e-01 3.46454621e-01 -2.96783373e-02 5.02330115e+01] [-3.46262776e-01 9.38066575e-01 1.15408051e-02 -1.05013514e+01] [ 3.18386215e-02 -5.44122351e-04 9.99492874e-01 7.30035119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.497628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.26, Y:-10.52, Z:0.73 [[ 9.39080128e-01 3.42565103e-01 -2.78866162e-02 5.02612778e+01] [-3.42393883e-01 9.39493875e-01 1.08483537e-02 -1.05171215e+01] [ 2.99155725e-02 -6.39266543e-04 9.99552225e-01 7.34731547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.52762800000001 meters Centerline goodness [0,1] 0.9999553681015823 Centerline is valid? [True, True] Translation: X:50.29, Y:-10.53, Z:0.74 [[ 9.40839447e-01 3.37789106e-01 -2.68263967e-02 5.02886401e+01] [-3.37628513e-01 9.41221510e-01 1.04430102e-02 -1.05336800e+01] [ 2.87771167e-02 -7.67839522e-04 9.99585558e-01 7.35768397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.55762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.31, Y:-10.56, Z:0.74 [[ 9.44008834e-01 3.29027051e-01 -2.42594652e-02 5.03112037e+01] [-3.28892719e-01 9.44320028e-01 9.44796640e-03 -1.05577171e+01] [ 2.60173354e-02 -9.40202274e-04 9.99661050e-01 7.39832562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.58762800000001 meters Centerline goodness [0,1] 0.9998425373973682 Centerline is valid? [True, True] Translation: X:50.34, Y:-10.57, Z:0.74 [[ 9.45600578e-01 3.24459182e-01 -2.37862581e-02 5.03403685e+01] [-3.24328555e-01 9.45899119e-01 9.26524059e-03 -1.05694489e+01] [ 2.55055930e-02 -1.04665415e-03 9.99674132e-01 7.40248871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.617628 meters Centerline goodness [0,1] 0.9998419757545658 Centerline is valid? [True, True] Translation: X:50.37, Y:-10.58, Z:0.74 [[ 9.46795385e-01 3.21023176e-01 -2.28608793e-02 5.03681347e+01] [-3.20901493e-01 9.47070705e-01 8.90573482e-03 -1.05847350e+01] [ 2.45098163e-02 -1.09581834e-03 9.99698989e-01 7.41574344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.647628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.39, Y:-10.60, Z:0.75 [[ 9.48241418e-01 3.16870757e-01 -2.07638307e-02 5.03937187e+01] [-3.16769364e-01 9.48468095e-01 8.08969434e-03 -1.06026423e+01] [ 2.22572185e-02 -1.09363779e-03 9.99751679e-01 7.45452994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.677628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.42, Y:-10.62, Z:0.75 [[ 9.48450384e-01 3.16250549e-01 -2.06750987e-02 5.04231572e+01] [-3.16149817e-01 9.48675059e-01 8.05769233e-03 -1.06158992e+01] [ 2.21622001e-02 -1.10589272e-03 9.99753777e-01 7.46428358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.70762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.45, Y:-10.63, Z:0.75 [[ 9.48342221e-01 3.16546833e-01 -2.10981834e-02 5.04522416e+01] [-3.16441867e-01 9.48576213e-01 8.22880668e-03 -1.06300075e+01] [ 2.26180376e-02 -1.12737624e-03 9.99743544e-01 7.46143201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.73762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.48, Y:-10.64, Z:0.75 [[ 9.47887934e-01 3.17865206e-01 -2.16835265e-02 5.04822732e+01] [-3.17754526e-01 9.48135237e-01 8.46364319e-03 -1.06418520e+01] [ 2.32492132e-02 -1.13254659e-03 9.99729059e-01 7.46163480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.76762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.51, Y:-10.65, Z:0.75 [[ 9.46208748e-01 3.22766633e-01 -2.25988168e-02 5.05124970e+01] [-3.22647695e-01 9.46477987e-01 8.82529448e-03 -1.06491178e+01] [ 2.42377932e-02 -1.05911469e-03 9.99705661e-01 7.45320732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.54, Y:-10.66, Z:0.74 [[ 9.45162046e-01 3.25793669e-01 -2.29606796e-02 5.05401479e+01] [-3.25671770e-01 9.45440368e-01 8.96706586e-03 -1.06614971e+01] [ 2.46293666e-02 -9.97685166e-04 9.99696153e-01 7.43827399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.827628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.57, Y:-10.67, Z:0.74 [[ 9.44115841e-01 3.28774963e-01 -2.35011150e-02 5.05709401e+01] [-3.28648161e-01 9.44407823e-01 9.17880151e-03 -1.06682773e+01] [ 2.52123970e-02 -9.42253676e-04 9.99681673e-01 7.44304391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.857628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.60, Y:-10.68, Z:0.74 [[ 9.42445815e-01 3.33490694e-01 -2.40799445e-02 5.06001906e+01] [-3.33359078e-01 9.42753020e-01 9.40579306e-03 -1.06782193e+01] [ 2.58381848e-02 -8.37182210e-04 9.99665788e-01 7.44446712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.88762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.63, Y:-10.69, Z:0.75 [[ 9.41614307e-01 3.35844541e-01 -2.38943667e-02 5.06307838e+01] [-3.35715622e-01 9.41917115e-01 9.33643681e-03 -1.06878174e+01] [ 2.56421042e-02 -7.69610308e-04 9.99670891e-01 7.45529082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.91762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.66, Y:-10.70, Z:0.75 [[ 9.40771710e-01 3.38195418e-01 -2.39259156e-02 5.06617172e+01] [-3.38066787e-01 9.41075636e-01 9.35383876e-03 -1.06983638e+01] [ 2.56795216e-02 -7.11269484e-04 9.99669974e-01 7.45863972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.94762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.69, Y:-10.71, Z:0.75 [[ 9.38987830e-01 3.43203208e-01 -2.26586276e-02 5.06930080e+01] [-3.43089253e-01 9.39261018e-01 8.86027068e-03 -1.07054950e+01] [ 2.43232389e-02 -5.45754721e-04 9.99703997e-01 7.47285789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.72, Y:-10.71, Z:0.75 [[ 9.38047565e-01 3.45833350e-01 -2.15884183e-02 5.07235008e+01] [-3.45730536e-01 9.38295841e-01 8.44461483e-03 -1.07146754e+01] [ 2.31767525e-02 -4.57674939e-04 9.99731278e-01 7.48128437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.007628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.75, Y:-10.72, Z:0.75 [[ 9.36504742e-01 3.50101777e-01 -1.96878975e-02 5.07548949e+01] [-3.50017127e-01 9.36711610e-01 7.70523529e-03 -1.07211863e+01] [ 2.11394987e-02 -3.24888075e-04 9.99776483e-01 7.49523298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.037628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.79, Y:-10.73, Z:0.75 [[ 9.35834636e-01 3.51923959e-01 -1.90541761e-02 5.07853621e+01] [-3.51845005e-01 9.36028552e-01 7.45937496e-03 -1.07312573e+01] [ 2.04603856e-02 -2.76624772e-04 9.99790626e-01 7.50289217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.067628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.81, Y:-10.74, Z:0.75 [[ 9.35369985e-01 3.53179625e-01 -1.86317650e-02 5.08144041e+01] [-3.53104280e-01 9.35555498e-01 7.29912925e-03 -1.07410256e+01] [ 2.00089539e-02 -2.48430474e-04 9.99799770e-01 7.50948166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.85, Y:-10.75, Z:0.75 [[ 9.34970449e-01 3.54285562e-01 -1.76635522e-02 5.08451749e+01] [-3.54217955e-01 9.35137259e-01 6.92434350e-03 -1.07508456e+01] [ 1.89710407e-02 -2.17309209e-04 9.99820010e-01 7.51844242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.12762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.87, Y:-10.76, Z:0.75 [[ 9.34623041e-01 3.55216467e-01 -1.73503140e-02 5.08742394e+01] [-3.55151307e-01 9.34784051e-01 6.80641157e-03 -1.07616497e+01] [ 1.86365462e-02 -1.99442399e-04 9.99826305e-01 7.52186149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.157628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.91, Y:-10.77, Z:0.75 [[ 9.34387971e-01 3.55834712e-01 -1.73429163e-02 5.09053589e+01] [-3.55769625e-01 9.34548886e-01 6.80827495e-03 -1.07718323e+01] [ 1.86304236e-02 -1.91487394e-04 9.99826420e-01 7.52077328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.187628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.94, Y:-10.78, Z:0.75 [[ 9.34257273e-01 3.56139759e-01 -1.81058298e-02 5.09365463e+01] [-3.56068759e-01 9.34432680e-01 7.11380426e-03 -1.07837010e+01] [ 1.94521876e-02 -1.99203014e-04 9.99810768e-01 7.52071756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.217628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.97, Y:-10.80, Z:0.75 [[ 9.34772119e-01 3.54734070e-01 -1.91004210e-02 5.09665263e+01] [-3.54654633e-01 9.34967207e-01 7.51080960e-03 -1.07960982e+01] [ 2.05226074e-02 -2.46842588e-04 9.99789359e-01 7.51627798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.247628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.00, Y:-10.81, Z:0.75 [[ 9.35276058e-01 3.53407635e-01 -1.90194241e-02 5.09958107e+01] [-3.53328487e-01 9.35469382e-01 7.48434244e-03 -1.08086772e+01] [ 2.04371126e-02 -2.79821968e-04 9.99791101e-01 7.51978885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.27762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.02, Y:-10.82, Z:0.75 [[ 9.35888053e-01 3.51784668e-01 -1.90026451e-02 5.10244471e+01] [-3.51705226e-01 9.36080897e-01 7.48254240e-03 -1.08216021e+01] [ 2.04202568e-02 -3.19492432e-04 9.99791434e-01 7.52185031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.30762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.05, Y:-10.84, Z:0.75 [[ 9.37447319e-01 3.47588304e-01 -1.93622032e-02 5.10535087e+01] [-3.47504876e-01 9.37647158e-01 7.62677857e-03 -1.08353742e+01] [ 2.08058938e-02 -4.21243097e-04 9.99783445e-01 7.52175005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.33762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.08, Y:-10.85, Z:0.75 [[ 9.37349528e-01 3.47851984e-01 -1.93612600e-02 5.10836277e+01] [-3.47768563e-01 9.37549371e-01 7.62917221e-03 -1.08473131e+01] [ 2.08059598e-02 -4.17963419e-04 9.99783445e-01 7.52679929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.11, Y:-10.86, Z:0.75 [[ 9.38173018e-01 3.45613629e-01 -1.95603748e-02 5.11129335e+01] [-3.45527866e-01 9.38376785e-01 7.71381946e-03 -1.08614732e+01] [ 2.10210027e-02 -4.78242722e-04 9.99778920e-01 7.53018030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.397628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.14, Y:-10.87, Z:0.75 [[ 9.38863142e-01 3.43730926e-01 -1.96227208e-02 5.11421595e+01] [-3.43644086e-01 9.39068034e-01 7.74399872e-03 -1.08738673e+01] [ 2.10889217e-02 -5.27322993e-04 9.99777465e-01 7.54215358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.427628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.17, Y:-10.89, Z:0.76 [[ 9.39942384e-01 3.40841463e-01 -1.83142669e-02 5.11692939e+01] [-3.40765190e-01 9.40120624e-01 7.23171394e-03 -1.08883716e+01] [ 1.96824880e-02 -5.56529795e-04 9.99806126e-01 7.56220787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.45762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.20, Y:-10.90, Z:0.76 [[ 9.40169493e-01 3.40245525e-01 -1.77287023e-02 5.11979340e+01] [-3.40173919e-01 9.40336471e-01 7.00192929e-03 -1.09013557e+01] [ 1.90533204e-02 -5.52158186e-04 9.99818317e-01 7.57215217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.48762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.23, Y:-10.91, Z:0.76 [[ 9.40144310e-01 3.40311498e-01 -1.77977481e-02 5.12286871e+01] [-3.40239251e-01 9.40312593e-01 7.03409723e-03 -1.09130328e+01] [ 1.91292308e-02 -5.57574015e-04 9.99816864e-01 7.57952830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.51762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.26, Y:-10.92, Z:0.76 [[ 9.39598432e-01 3.41790122e-01 -1.82838522e-02 5.12585000e+01] [-3.41714040e-01 9.39776150e-01 7.23203836e-03 -1.09229637e+01] [ 1.96545675e-02 -5.47362900e-04 9.99806680e-01 7.58011140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.29, Y:-10.93, Z:0.76 [[ 9.39012411e-01 3.43382374e-01 -1.85536430e-02 5.12887814e+01] [-3.43304240e-01 9.39195543e-01 7.34374557e-03 -1.09327722e+01] [ 1.99472116e-02 -5.26323926e-04 9.99800896e-01 7.57952070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.577628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.32, Y:-10.94, Z:0.76 [[ 9.38320624e-01 3.45230890e-01 -1.92363835e-02 5.13196090e+01] [-3.45147171e-01 9.38517646e-01 7.61960052e-03 -1.09431564e+01] [ 2.06842068e-02 -5.10244986e-04 9.99785929e-01 7.57692915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.607628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.35, Y:-10.95, Z:0.76 [[ 9.37535806e-01 3.47321492e-01 -1.98593542e-02 5.13506550e+01] [-3.47232627e-01 9.37745993e-01 7.87118334e-03 -1.09532763e+01] [ 2.13568610e-02 -4.83700486e-04 9.99771799e-01 7.58105643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.63762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.38, Y:-10.96, Z:0.76 [[ 9.35949162e-01 3.51540217e-01 -2.04607389e-02 5.13810279e+01] [-3.51446821e-01 9.36172695e-01 8.11280471e-03 -1.09621614e+01] [ 2.20067622e-02 -4.02311116e-04 9.99757741e-01 7.58959143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.66762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.41, Y:-10.97, Z:0.76 [[ 9.35167248e-01 3.53623689e-01 -2.03102090e-02 5.14113966e+01] [-3.53532028e-01 9.35387706e-01 8.05890182e-03 -1.09717049e+01] [ 2.18477384e-02 -3.56111685e-04 9.99761246e-01 7.59117479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.69762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.44, Y:-10.98, Z:0.76 [[ 9.34406651e-01 3.55604003e-01 -2.07365048e-02 5.14413912e+01] [-3.55508810e-01 9.34636662e-01 8.23388747e-03 -1.09815527e+01] [ 2.23091009e-02 -3.21789095e-04 9.99751069e-01 7.59032889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.47, Y:-10.99, Z:0.76 [[ 9.33040215e-01 3.59186500e-01 -2.05186661e-02 5.14725754e+01] [-3.59094040e-01 9.33265772e-01 8.15283548e-03 -1.09895170e+01] [ 2.20777572e-02 -2.38792672e-04 9.99756228e-01 7.59340993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.757628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.50, Y:-11.00, Z:0.76 [[ 9.32439060e-01 3.60753524e-01 -2.03542308e-02 5.15017694e+01] [-3.60662792e-01 9.32661167e-01 8.09305099e-03 -1.10005708e+01] [ 2.19031973e-02 -2.05263151e-04 9.99760075e-01 7.59786807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.787628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.53, Y:-11.01, Z:0.76 [[ 9.31938119e-01 3.62053031e-01 -2.02223855e-02 5.15315344e+01] [-3.61963661e-01 9.32157482e-01 8.04596406e-03 -1.10113168e+01] [ 2.17635136e-02 -1.78571927e-04 9.99763131e-01 7.60839892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.817628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.56, Y:-11.02, Z:0.76 [[ 9.31471026e-01 3.63266537e-01 -1.99787415e-02 5.15601300e+01] [-3.63179470e-01 9.31685247e-01 7.95446248e-03 -1.10234276e+01] [ 2.15034887e-02 -1.53482590e-04 9.99768761e-01 7.61929255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.59, Y:-11.04, Z:0.76 [[ 9.31523395e-01 3.63160516e-01 -1.94577580e-02 5.15902534e+01] [-3.63077798e-01 9.31726577e-01 7.75224266e-03 -1.10358617e+01] [ 2.09446187e-02 -1.56715471e-04 9.99780625e-01 7.62377976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.87762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.62, Y:-11.05, Z:0.76 [[ 9.31665536e-01 3.62820559e-01 -1.89887215e-02 5.16197112e+01] [-3.62741602e-01 9.31859010e-01 7.57067995e-03 -1.10486069e+01] [ 2.04416095e-02 -1.65342346e-04 9.99791035e-01 7.62832081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.90762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.65, Y:-11.06, Z:0.76 [[ 9.31975430e-01 3.62101561e-01 -1.74429830e-02 5.16497605e+01] [-3.62034744e-01 9.32138633e-01 6.95797407e-03 -1.10616359e+01] [ 1.87787716e-02 -1.69694971e-04 9.99823649e-01 7.64912394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.937628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.68, Y:-11.07, Z:0.77 [[ 9.32088433e-01 3.61847948e-01 -1.66497818e-02 5.16795806e+01] [-3.61786935e-01 9.32237112e-01 6.64683236e-03 -1.10749350e+01] [ 1.79266872e-02 -1.71762023e-04 9.99839289e-01 7.66271260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.967628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.71, Y:-11.09, Z:0.77 [[ 9.32117356e-01 3.61784877e-01 -1.63993108e-02 5.17087855e+01] [-3.61725583e-01 9.32261590e-01 6.55212632e-03 -1.10884736e+01] [ 1.76589078e-02 -1.75300407e-04 9.99844054e-01 7.67660847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.997628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.74, Y:-11.10, Z:0.77 [[ 9.32070718e-01 3.61897141e-01 -1.65721341e-02 5.17386155e+01] [-3.61836516e-01 9.32218015e-01 6.62634862e-03 -1.11024192e+01] [ 1.78468985e-02 -1.79822264e-04 9.99840715e-01 7.68281680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.02762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.77, Y:-11.11, Z:0.77 [[ 9.31784512e-01 3.62626723e-01 -1.67177156e-02 5.17695475e+01] [-3.62565047e-01 9.31934456e-01 6.69006339e-03 -1.11149795e+01] [ 1.80058110e-02 -1.72438108e-04 9.99837867e-01 7.68568765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.05762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.80, Y:-11.13, Z:0.77 [[ 9.31341060e-01 3.63749273e-01 -1.70380687e-02 5.17984856e+01] [-3.63685302e-01 9.31496882e-01 6.82349823e-03 -1.11269688e+01] [ 1.83529504e-02 -1.58508921e-04 9.99831558e-01 7.68612228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.08762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.83, Y:-11.14, Z:0.77 [[ 9.30553248e-01 3.65713336e-01 -1.80113134e-02 5.18287621e+01] [-3.65642148e-01 9.30727532e-01 7.21673087e-03 -1.11380594e+01] [ 1.94028800e-02 -1.29857031e-04 9.99811738e-01 7.67528599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.117628 meters Centerline goodness [0,1] 0.999888347996963 Centerline is valid? [True, True] Translation: X:51.86, Y:-11.15, Z:0.76 [[ 9.30268482e-01 3.66335772e-01 -1.99662995e-02 5.18591416e+01] [-3.66248296e-01 9.30482716e-01 8.00637939e-03 -1.11501174e+01] [ 2.15113197e-02 -1.35459247e-04 9.99768596e-01 7.64475215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.147628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.89, Y:-11.16, Z:0.77 [[ 9.29756716e-01 3.67641463e-01 -1.98041263e-02 5.18899113e+01] [-3.67555562e-01 9.29967603e-01 7.94771997e-03 -1.11620993e+01] [ 2.13391072e-02 -1.10329257e-04 9.99772289e-01 7.66046182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.177628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.92, Y:-11.17, Z:0.77 [[ 9.29578920e-01 3.68027354e-01 -2.09499019e-02 5.19194128e+01] [-3.67931166e-01 9.29814957e-01 8.41447011e-03 -1.11741826e+01] [ 2.25762873e-02 -1.13792189e-04 9.99745117e-01 7.65388935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.20762800000001 meters Centerline goodness [0,1] 0.9998205714798367 Centerline is valid? [True, True] Translation: X:51.95, Y:-11.19, Z:0.76 [[ 9.29976179e-01 3.66879823e-01 -2.33131080e-02 5.19487813e+01] [-3.66760161e-01 9.30268331e-01 9.37103689e-03 -1.11876244e+01] [ 2.51254904e-02 -1.64521846e-04 9.99684291e-01 7.62156354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.23762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.98, Y:-11.20, Z:0.77 [[ 9.30095424e-01 3.66648319e-01 -2.21700815e-02 5.19791555e+01] [-3.66539885e-01 9.30359598e-01 8.91801667e-03 -1.12012429e+01] [ 2.38959239e-02 -1.68387391e-04 9.99714437e-01 7.65379872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.26762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.01, Y:-11.22, Z:0.77 [[ 9.30521730e-01 3.65561542e-01 -2.22276729e-02 5.20092937e+01] [-3.65452060e-01 9.30787149e-01 8.94842730e-03 -1.12156702e+01] [ 2.39604332e-02 -2.03557196e-04 9.99712887e-01 7.66353170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.04, Y:-11.23, Z:0.77 [[ 9.31039471e-01 3.64250170e-01 -2.20752525e-02 5.20376246e+01] [-3.64141658e-01 9.31301109e-01 8.89372065e-03 -1.12295698e+01] [ 2.37982464e-02 -2.41885952e-04 9.99716752e-01 7.67184342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.327628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.06, Y:-11.24, Z:0.77 [[ 9.32251026e-01 3.61180523e-01 -2.13694939e-02 5.20645953e+01] [-3.61077906e-01 9.32495861e-01 8.61483064e-03 -1.12447125e+01] [ 2.30384737e-02 -3.15132584e-04 9.99734529e-01 7.67428187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.357628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.09, Y:-11.26, Z:0.77 [[ 9.32917134e-01 3.59470987e-01 -2.11241566e-02 5.20943880e+01] [-3.59370147e-01 9.33156193e-01 8.52154262e-03 -1.12572833e+01] [ 2.27753849e-02 -3.58501859e-04 9.99740543e-01 7.68259494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.38762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.12, Y:-11.27, Z:0.77 [[ 9.34393301e-01 3.55665453e-01 -2.02791766e-02 5.21208431e+01] [-3.55571501e-01 9.34613232e-01 8.18622089e-03 -1.12745247e+01] [ 2.18647428e-02 -4.38452692e-04 9.99760842e-01 7.68825035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.41762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.15, Y:-11.29, Z:0.77 [[ 9.35107631e-01 3.53807824e-01 -1.98429415e-02 5.21495064e+01] [-3.53717340e-01 9.35318019e-01 8.01540404e-03 -1.12882634e+01] [ 2.13953734e-02 -4.76473005e-04 9.99770979e-01 7.70542031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.44762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.18, Y:-11.30, Z:0.77 [[ 9.35687955e-01 3.52314923e-01 -1.90327742e-02 5.21777280e+01] [-3.52231263e-01 9.35881376e-01 7.69328194e-03 -1.13026056e+01] [ 2.05228770e-02 -4.94573143e-04 9.99789261e-01 7.71743449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.21, Y:-11.32, Z:0.77 [[ 9.36058587e-01 3.51346609e-01 -1.87051270e-02 5.22054759e+01] [-3.51265515e-01 9.36245320e-01 7.56568322e-03 -1.13161614e+01] [ 2.01707647e-02 -5.11456690e-04 9.99796419e-01 7.72925555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.507628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.24, Y:-11.33, Z:0.77 [[ 9.35955212e-01 3.51603703e-01 -1.90440921e-02 5.22358510e+01] [-3.51519587e-01 9.36148794e-01 7.70808877e-03 -1.13298754e+01] [ 2.05382964e-02 -5.20054474e-04 9.99788932e-01 7.72622863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.537628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.26, Y:-11.34, Z:0.77 [[ 9.35434647e-01 3.52957038e-01 -1.95793232e-02 5.22644553e+01] [-3.52868294e-01 9.35639391e-01 7.93078711e-03 -1.13419600e+01] [ 2.11184131e-02 -5.09810676e-04 9.99776851e-01 7.72496619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.567628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.29, Y:-11.35, Z:0.77 [[ 9.34743882e-01 3.54748590e-01 -2.01820106e-02 5.22949658e+01] [-3.54654619e-01 9.34961604e-01 8.17930854e-03 -1.13535762e+01] [ 2.17710031e-02 -4.87915346e-04 9.99762865e-01 7.72304911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.33, Y:-11.36, Z:0.77 [[ 9.33173998e-01 3.58825954e-01 -2.07418562e-02 5.23265221e+01] [-3.58727647e-01 9.33404398e-01 8.40865255e-03 -1.13628432e+01] [ 2.23777825e-02 -4.06058664e-04 9.99749504e-01 7.72667336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.62762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.36, Y:-11.38, Z:0.77 [[ 9.32370710e-01 3.60912873e-01 -2.06580971e-02 5.23553158e+01] [-3.60815780e-01 9.32599469e-01 8.37873272e-03 -1.13757705e+01] [ 2.22897229e-02 -3.58317570e-04 9.99751489e-01 7.72141188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.65762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.39, Y:-11.39, Z:0.77 [[ 9.31528871e-01 3.63082551e-01 -2.06160947e-02 5.23855488e+01] [-3.62986254e-01 9.31756923e-01 8.36751756e-03 -1.13862575e+01] [ 2.22472886e-02 -3.11225201e-04 9.99752450e-01 7.73146120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.687628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.42, Y:-11.40, Z:0.77 [[ 9.30170321e-01 3.66596452e-01 -1.97538864e-02 5.24161676e+01] [-3.66508720e-01 9.30380025e-01 8.02288546e-03 -1.13959583e+01] [ 2.13197827e-02 -2.22678321e-04 9.99772683e-01 7.74432825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.717628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.44, Y:-11.41, Z:0.77 [[ 9.29432890e-01 3.68496745e-01 -1.90958687e-02 5.24448969e+01] [-3.68415055e-01 9.29629021e-01 7.76080149e-03 -1.14066332e+01] [ 2.06119039e-02 -1.77938628e-04 9.99787536e-01 7.74991936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.747628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.48, Y:-11.42, Z:0.78 [[ 9.28588622e-01 3.70629705e-01 -1.88889650e-02 5.24752993e+01] [-3.70550115e-01 9.28780708e-01 7.68170744e-03 -1.14176062e+01] [ 2.03907752e-02 -1.33837974e-04 9.99792078e-01 7.75934546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.77762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.50, Y:-11.43, Z:0.78 [[ 9.26896012e-01 3.74819261e-01 -1.93469266e-02 5.25043693e+01] [-3.74736560e-01 9.27097901e-01 7.87345735e-03 -1.14279222e+01] [ 2.08876185e-02 -4.78754899e-05 9.99781829e-01 7.75652153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.80762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.53, Y:-11.44, Z:0.78 [[ 9.25866061e-01 3.77363573e-01 -1.92034294e-02 5.25345395e+01] [-3.77282535e-01 9.26065189e-01 7.82016715e-03 -1.14383285e+01] [ 2.07346737e-02 4.69116639e-06 9.99785014e-01 7.75902905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.83762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.57, Y:-11.45, Z:0.78 [[ 9.24933273e-01 3.79640900e-01 -1.92672486e-02 5.25661090e+01] [-3.79559700e-01 9.25133928e-01 7.85174722e-03 -1.14490072e+01] [ 2.08056297e-02 5.07288245e-05 9.99783538e-01 7.76322001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.60, Y:-11.46, Z:0.78 [[ 9.23035969e-01 3.84198303e-01 -1.99063486e-02 5.25968271e+01] [-3.84112549e-01 9.23250584e-01 8.11844990e-03 -1.14576687e+01] [ 2.14976426e-02 1.52657022e-04 9.99768887e-01 7.75567919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.897628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.63, Y:-11.47, Z:0.77 [[ 9.22213902e-01 3.86152756e-01 -2.01882942e-02 5.26263502e+01] [-3.86064913e-01 9.22434827e-01 8.23848362e-03 -1.14679433e+01] [ 2.18036988e-02 1.96347926e-04 9.99762252e-01 7.74764428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.927628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.66, Y:-11.48, Z:0.77 [[ 9.21543428e-01 3.87744225e-01 -2.03008709e-02 5.26559656e+01] [-3.87655699e-01 9.21766978e-01 8.28835627e-03 -1.14793555e+01] [ 2.19264347e-02 2.31668032e-04 9.99759560e-01 7.74519737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.95762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.69, Y:-11.49, Z:0.77 [[ 9.21038890e-01 3.88926164e-01 -2.05864644e-02 5.26853188e+01] [-3.88835310e-01 9.21268892e-01 8.41010611e-03 -1.14913217e+01] [ 2.22365796e-02 2.58709493e-04 9.99752703e-01 7.74985418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.98762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.71, Y:-11.50, Z:0.78 [[ 9.20660871e-01 3.89821142e-01 -2.05678961e-02 5.27135805e+01] [-3.89730602e-01 9.20890548e-01 8.40577268e-03 -1.15037379e+01] [ 2.22175290e-02 2.77072543e-04 9.99753122e-01 7.76338607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.01762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.74, Y:-11.52, Z:0.78 [[ 9.20791294e-01 3.89518953e-01 -2.04542972e-02 5.27432945e+01] [-3.89429242e-01 9.21018412e-01 8.36361038e-03 -1.15167220e+01] [ 2.20965691e-02 2.64361850e-04 9.99755806e-01 7.77240316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.77, Y:-11.53, Z:0.78 [[ 9.21030741e-01 3.88940991e-01 -2.06707218e-02 5.27736141e+01] [-3.88849075e-01 9.21262636e-01 8.45887520e-03 -1.15303605e+01] [ 2.23331670e-02 2.46906966e-04 9.99750553e-01 7.77282666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.077628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.80, Y:-11.55, Z:0.78 [[ 9.22207389e-01 3.86103137e-01 -2.13985721e-02 5.28017970e+01] [-3.86003708e-01 9.22455601e-01 8.76362606e-03 -1.15458243e+01] [ 2.31228962e-02 1.78047467e-04 9.99732614e-01 7.77172568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.107628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.83, Y:-11.56, Z:0.78 [[ 9.22960705e-01 3.84291784e-01 -2.15258437e-02 5.28309313e+01] [-3.84190532e-01 9.23211681e-01 8.82195091e-03 -1.15599296e+01] [ 2.32631136e-02 1.27711311e-04 9.99729369e-01 7.77810008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.13762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.86, Y:-11.57, Z:0.78 [[ 9.23608492e-01 3.82741084e-01 -2.13685598e-02 5.28597563e+01] [-3.82640749e-01 9.23855647e-01 8.76365258e-03 -1.15730743e+01] [ 2.30956746e-02 8.22977847e-05 9.99733256e-01 7.78028301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.16762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.89, Y:-11.59, Z:0.78 [[ 9.24650279e-01 3.80278234e-01 -2.02565097e-02 5.28881218e+01] [-3.80187359e-01 9.24872134e-01 8.31309429e-03 -1.15851773e+01] [ 2.18959701e-02 1.45639556e-05 9.99760254e-01 7.79585367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.19762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.92, Y:-11.60, Z:0.78 [[ 9.25268116e-01 3.78792590e-01 -1.98768273e-02 5.29185751e+01] [-3.78704627e-01 9.25481590e-01 8.16283209e-03 -1.15986085e+01] [ 2.14876581e-02 -2.53617811e-05 9.99769113e-01 7.81007230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.95, Y:-11.61, Z:0.78 [[ 9.25162601e-01 3.79050344e-01 -1.98745498e-02 5.29485065e+01] [-3.78962322e-01 9.25376051e-01 8.16837404e-03 -1.16109906e+01] [ 2.14876574e-02 -2.53686127e-05 9.99769113e-01 7.81513490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.257628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.98, Y:-11.62, Z:0.78 [[ 9.25945717e-01 3.77152763e-01 -1.95018772e-02 5.29772007e+01] [-3.77067460e-01 9.26151061e-01 8.02135420e-03 -1.16242194e+01] [ 2.10869602e-02 -7.38152487e-05 9.99777643e-01 7.82879913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.287628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.01, Y:-11.64, Z:0.78 [[ 9.28454620e-01 3.71019905e-01 -1.77833884e-02 5.30055811e+01] [-3.70947753e-01 9.28624892e-01 7.31946960e-03 -1.16388283e+01] [ 1.92297661e-02 -1.99087383e-04 9.99815071e-01 7.84616632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.317628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.03, Y:-11.65, Z:0.79 [[ 9.29880259e-01 3.67435901e-01 -1.77076773e-02 5.30339432e+01] [-3.67363615e-01 9.30048806e-01 7.29329826e-03 -1.16530044e+01] [ 1.91488238e-02 -2.76737721e-04 9.99816606e-01 7.85423553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.06, Y:-11.67, Z:0.79 [[ 9.31313400e-01 3.63784815e-01 -1.77752547e-02 5.30619457e+01] [-3.63711227e-01 9.31482947e-01 7.32546253e-03 -1.16672841e+01] [ 1.92222386e-02 -3.57241722e-04 9.99815172e-01 7.85608960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.37762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.09, Y:-11.68, Z:0.79 [[ 9.33942961e-01 3.56917972e-01 -1.89765034e-02 5.30899099e+01] [-3.56832629e-01 9.34135577e-01 7.82299020e-03 -1.16825555e+01] [ 2.05187927e-02 -5.34791039e-04 9.99789324e-01 7.85189933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.40762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.12, Y:-11.70, Z:0.78 [[ 9.35061676e-01 3.53914754e-01 -2.00999915e-02 5.31190716e+01] [-3.53818283e-01 9.35277467e-01 8.28745145e-03 -1.16957748e+01] [ 2.17321204e-02 -6.37533774e-04 9.99763626e-01 7.84803217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.437628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.15, Y:-11.71, Z:0.78 [[ 9.36089619e-01 3.51107416e-01 -2.14431348e-02 5.31471260e+01] [-3.50996812e-01 9.36334885e-01 8.84431305e-03 -1.17087205e+01] [ 2.31832590e-02 -7.52597678e-04 9.99730949e-01 7.84352844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.467628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.18, Y:-11.72, Z:0.78 [[ 9.38197153e-01 3.45336305e-01 -2.29986386e-02 5.31763460e+01] [-3.45207192e-01 9.38478505e-01 9.49162042e-03 -1.17195981e+01] [ 2.48615291e-02 -9.65715797e-04 9.99690438e-01 7.83182417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.497628000000006 meters Centerline goodness [0,1] 0.9999318754683562 Centerline is valid? [True, True] Translation: X:53.20, Y:-11.73, Z:0.78 [[ 9.39347603e-01 3.42136261e-01 -2.38507538e-02 5.32037714e+01] [-3.41996288e-01 9.39649714e-01 9.84650848e-03 -1.17321767e+01] [ 2.57802016e-02 -1.09242487e-03 9.99667038e-01 7.81450916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.52762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.23, Y:-11.74, Z:0.78 [[ 9.40135348e-01 3.40000056e-01 -2.33557325e-02 5.32339350e+01] [-3.39865149e-01 9.40424739e-01 9.64320893e-03 -1.17429957e+01] [ 2.52430002e-02 -1.12812207e-03 9.99680708e-01 7.84593942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.55762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.26, Y:-11.76, Z:0.79 [[ 9.40713455e-01 3.38446936e-01 -2.26244629e-02 5.32622068e+01] [-3.38319816e-01 9.40984793e-01 9.34460639e-03 -1.17552851e+01] [ 2.44519290e-02 -1.13629283e-03 9.99700361e-01 7.85891180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.58762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.29, Y:-11.77, Z:0.79 [[ 9.41209646e-01 3.37212356e-01 -2.03034419e-02 5.32902935e+01] [-3.37109588e-01 9.41428021e-01 8.39092298e-03 -1.17681857e+01] [ 2.19437520e-02 -1.05313271e-03 9.99758652e-01 7.88021931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.32, Y:-11.78, Z:0.79 [[ 9.41039861e-01 3.37767012e-01 -1.89057279e-02 5.33210883e+01] [-3.37677939e-01 9.41229250e-01 7.81723553e-03 -1.17791582e+01] [ 2.04350284e-02 -9.72283008e-04 9.99790710e-01 7.89448777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.647628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.35, Y:-11.79, Z:0.79 [[ 9.40634247e-01 3.38952876e-01 -1.78370551e-02 5.33532908e+01] [-3.38873758e-01 9.40802927e-01 7.37764654e-03 -1.17856731e+01] [ 1.92818281e-02 -8.95157122e-04 9.99813688e-01 7.91462781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.677628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.38, Y:-11.80, Z:0.79 [[ 9.40090040e-01 3.40523785e-01 -1.65610272e-02 5.33815177e+01] [-3.40455749e-01 9.40235557e-01 6.85419685e-03 -1.17986323e+01] [ 1.79052837e-02 -8.05265296e-04 9.99839363e-01 7.92713827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.70762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.42, Y:-11.80, Z:0.80 [[ 9.38936160e-01 3.43775298e-01 -1.47455942e-02 5.34159629e+01] [-3.43721707e-01 9.39051704e-01 6.10619786e-03 -1.17985098e+01] [ 1.59460354e-02 -6.64949154e-04 9.99872633e-01 7.95610335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.73762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.45, Y:-11.81, Z:0.80 [[ 9.38189525e-01 3.45855794e-01 -1.35714702e-02 5.34459308e+01] [-3.45810601e-01 9.38287500e-01 5.62097244e-03 -1.18075809e+01] [ 1.46779867e-02 -5.80379209e-04 9.99892104e-01 7.96751189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.76762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.48, Y:-11.81, Z:0.80 [[ 9.36811308e-01 3.49607963e-01 -1.26033863e-02 5.34772314e+01] [-3.49569279e-01 9.36895957e-01 5.22350559e-03 -1.18122513e+01] [ 1.36342408e-02 -4.87682435e-04 9.99906930e-01 7.97767097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.51, Y:-11.82, Z:0.80 [[ 9.36068135e-01 3.51607780e-01 -1.21826211e-02 5.35086771e+01] [-3.51571806e-01 9.36147303e-01 5.04906005e-03 -1.18193754e+01] [ 1.31800167e-02 -4.43198125e-04 9.99913042e-01 7.97536511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.827628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.54, Y:-11.83, Z:0.80 [[ 9.35404397e-01 3.53357008e-01 -1.25474484e-02 5.35394319e+01] [-3.53318953e-01 9.35488448e-01 5.20396807e-03 -1.18280990e+01] [ 1.35768516e-02 -4.34563280e-04 9.99907736e-01 7.97518003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.857628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.57, Y:-11.84, Z:0.80 [[ 9.34769883e-01 3.55019408e-01 -1.29029113e-02 5.35705945e+01] [-3.54979272e-01 9.34858834e-01 5.35517239e-03 -1.18367521e+01] [ 1.39635907e-02 -4.25587827e-04 9.99902414e-01 7.97328615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.88762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.60, Y:-11.84, Z:0.80 [[ 9.33802644e-01 3.57483866e-01 -1.47617134e-02 5.36035509e+01] [-3.57431563e-01 9.33919206e-01 6.13140387e-03 -1.18408019e+01] [ 1.59781256e-02 -4.49218852e-04 9.99872241e-01 7.95183633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.91762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.63, Y:-11.85, Z:0.79 [[ 9.33441553e-01 3.58388356e-01 -1.56413998e-02 5.36345617e+01] [-3.58329680e-01 9.33572477e-01 6.50153650e-03 -1.18502479e+01] [ 1.69324553e-02 -4.64026563e-04 9.99856528e-01 7.94632702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.94762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.67, Y:-11.86, Z:0.79 [[ 9.33024152e-01 3.59381593e-01 -1.76295742e-02 5.36665095e+01] [-3.59307120e-01 9.33190555e-01 7.33354248e-03 -1.18558371e+01] [ 1.90872923e-02 -5.07940729e-04 9.99817692e-01 7.93184125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.70, Y:-11.87, Z:0.79 [[ 9.32804936e-01 3.59925923e-01 -1.81185550e-02 5.36958408e+01] [-3.59847268e-01 9.32980742e-01 7.54185113e-03 -1.18657544e+01] [ 1.96187706e-02 -5.15163457e-04 9.99807401e-01 7.92946105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.007628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.73, Y:-11.88, Z:0.79 [[ 9.32387757e-01 3.61011698e-01 -1.79895643e-02 5.37270458e+01] [-3.60934295e-01 9.32561157e-01 7.49152432e-03 -1.18753572e+01] [ 1.94808968e-02 -4.91954856e-04 9.99810108e-01 7.93475264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.037628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.76, Y:-11.89, Z:0.79 [[ 9.31884945e-01 3.62324511e-01 -1.76464726e-02 5.37575644e+01] [-3.62250172e-01 9.32051896e-01 7.35364379e-03 -1.18852189e+01] [ 1.91118337e-02 -4.60312198e-04 9.99817246e-01 7.94426063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.067628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.79, Y:-11.89, Z:0.80 [[ 9.30409075e-01 3.66141239e-01 -1.67196531e-02 5.37872998e+01] [-3.66075048e-01 9.30559219e-01 6.97137421e-03 -1.18920816e+01] [ 1.81111349e-02 -3.65582031e-04 9.99835913e-01 7.95679348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.82, Y:-11.90, Z:0.80 [[ 9.29342042e-01 3.68878672e-01 -1.58711747e-02 5.38185439e+01] [-3.68819420e-01 9.29477508e-01 6.61802312e-03 -1.19016231e+01] [ 1.71931475e-02 -2.96809680e-04 9.99852143e-01 7.96494008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.12762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.85, Y:-11.91, Z:0.80 [[ 9.28216462e-01 3.71720313e-01 -1.54339866e-02 5.38493877e+01] [-3.71664645e-01 9.28344737e-01 6.43742723e-03 -1.19100813e+01] [ 1.67209827e-02 -2.39058794e-04 9.99860166e-01 7.97067631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.15762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.88, Y:-11.92, Z:0.80 [[ 9.26041317e-01 3.77118203e-01 -1.51440111e-02 5.38810363e+01] [-3.77065256e-01 9.26165126e-01 6.32077120e-03 -1.19169298e+01] [ 1.64095328e-02 -1.43014876e-04 9.99865344e-01 7.97726841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.187628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.91, Y:-11.93, Z:0.80 [[ 9.25332165e-01 3.78874075e-01 -1.46567102e-02 5.39103729e+01] [-3.78824634e-01 9.25448228e-01 6.12155683e-03 -1.19279585e+01] [ 1.58833256e-02 -1.12150562e-04 9.99873846e-01 7.98745542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.217628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.94, Y:-11.94, Z:0.80 [[ 9.24760556e-01 3.80291465e-01 -1.40112730e-02 5.39417125e+01] [-3.80246391e-01 9.24866690e-01 5.85559539e-03 -1.19390849e+01] [ 1.51853926e-02 -8.72876518e-05 9.99884691e-01 7.99841516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.247628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.97, Y:-11.95, Z:0.80 [[ 9.24345000e-01 3.81357995e-01 -1.23450601e-02 5.39730911e+01] [-3.81323052e-01 9.24427431e-01 5.16281308e-03 -1.19504332e+01] [ 1.33809922e-02 -6.47644778e-05 9.99910468e-01 8.01398299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.27762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.00, Y:-11.96, Z:0.80 [[ 9.24194342e-01 3.81725822e-01 -1.22562385e-02 5.40025062e+01] [-3.81691357e-01 9.24275604e-01 5.12986014e-03 -1.19638010e+01] [ 1.32863424e-02 -6.28873963e-05 9.99911731e-01 8.03071981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.30762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.03, Y:-11.98, Z:0.80 [[ 9.24017181e-01 3.82153240e-01 -1.22943466e-02 5.40329019e+01] [-3.82118545e-01 9.24098965e-01 5.14973978e-03 -1.19770301e+01] [ 1.33291827e-02 -6.05502157e-05 9.99911161e-01 8.03715614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.33762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.06, Y:-11.99, Z:0.80 [[ 9.23833603e-01 3.82580470e-01 -1.27928840e-02 5.40636913e+01] [-3.82542889e-01 9.23922172e-01 5.36268803e-03 -1.19893043e+01] [ 1.38712888e-02 -6.04046171e-05 9.99903787e-01 8.03911652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.09, Y:-12.00, Z:0.80 [[ 9.23673010e-01 3.82954152e-01 -1.32017940e-02 5.40938562e+01] [-3.82914103e-01 9.23767348e-01 5.53861503e-03 -1.20015451e+01] [ 1.43164219e-02 -6.07161032e-05 9.99897513e-01 8.03556597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.397628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.12, Y:-12.01, Z:0.80 [[ 9.23472496e-01 3.83410556e-01 -1.39604948e-02 5.41240918e+01] [-3.83365749e-01 9.23578011e-01 5.86180473e-03 -1.20139936e+01] [ 1.51410838e-02 -6.12399039e-05 9.99885365e-01 8.03171890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.427628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.15, Y:-12.03, Z:0.80 [[ 9.23268177e-01 3.83834013e-01 -1.57265008e-02 5.41530747e+01] [-3.83777113e-01 9.23402104e-01 6.60921766e-03 -1.20266485e+01] [ 1.70587265e-02 -6.66092736e-05 9.99854487e-01 8.01864311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.45762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.18, Y:-12.04, Z:0.80 [[ 9.23116253e-01 3.84173720e-01 -1.63381966e-02 5.41836142e+01] [-3.84112265e-01 9.23260824e-01 6.87164196e-03 -1.20400765e+01] [ 1.77243211e-02 -6.76226885e-05 9.99842910e-01 8.01922800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.48762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.21, Y:-12.05, Z:0.80 [[ 9.23110027e-01 3.84171974e-01 -1.67263913e-02 5.42137945e+01] [-3.84107461e-01 9.23261549e-01 7.04058892e-03 -1.20544579e+01] [ 1.81476309e-02 -7.45065563e-05 9.99835315e-01 8.02092599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.51762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.24, Y:-12.07, Z:0.80 [[ 9.23583539e-01 3.82996243e-01 -1.75306844e-02 5.42424675e+01] [-3.82925049e-01 9.23749894e-01 7.38517383e-03 -1.20717410e+01] [ 1.90224617e-02 -1.07886806e-04 9.99819051e-01 8.02521614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.27, Y:-12.09, Z:0.80 [[ 9.23947355e-01 3.82120642e-01 -1.74670826e-02 5.42714203e+01] [-3.82049698e-01 9.24112438e-01 7.36412482e-03 -1.20866452e+01] [ 1.89555323e-02 -1.30770027e-04 9.99820319e-01 8.03148098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.577628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.30, Y:-12.10, Z:0.80 [[ 9.24472802e-01 3.80871548e-01 -1.69381642e-02 5.43012704e+01] [-3.80804526e-01 9.24627946e-01 7.14657812e-03 -1.21015434e+01] [ 1.83834283e-02 -1.56687497e-04 9.99830998e-01 8.04003120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.607628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.33, Y:-12.12, Z:0.80 [[ 9.25120302e-01 3.79312784e-01 -1.65601453e-02 5.43290201e+01] [-3.79248375e-01 9.25268489e-01 6.99239227e-03 -1.21169537e+01] [ 1.79748844e-02 -1.88395847e-04 9.99838421e-01 8.04572971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.63762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.36, Y:-12.14, Z:0.81 [[ 9.26682431e-01 3.75494933e-01 -1.62242990e-02 5.43561510e+01] [-3.75432448e-01 9.26824410e-01 6.85493053e-03 -1.21354934e+01] [ 1.76110681e-02 -2.61215382e-04 9.99844879e-01 8.05839017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.66762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.38, Y:-12.15, Z:0.81 [[ 9.27428459e-01 3.73679441e-01 -1.54960684e-02 5.43841283e+01] [-3.73622113e-01 9.27557865e-01 6.55158501e-03 -1.21513001e+01] [ 1.68216928e-02 -2.86452552e-04 9.99858464e-01 8.06938407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.69762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.41, Y:-12.17, Z:0.81 [[ 9.27998400e-01 3.72289420e-01 -1.48174400e-02 5.44122202e+01] [-3.72236760e-01 9.28116639e-01 6.26879509e-03 -1.21666315e+01] [ 1.60861187e-02 -3.01835956e-04 9.99870564e-01 8.07988854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.44, Y:-12.18, Z:0.81 [[ 9.28806290e-01 3.70298754e-01 -1.40608707e-02 5.44380193e+01] [-3.70251046e-01 9.28912659e-01 5.95267718e-03 -1.21840878e+01] [ 1.52655897e-02 -3.22831927e-04 9.99883422e-01 8.09934274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.757628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.47, Y:-12.20, Z:0.81 [[ 9.28826452e-01 3.70254263e-01 -1.38997346e-02 5.44664058e+01] [-3.70207608e-01 9.28930394e-01 5.88639737e-03 -1.21984390e+01] [ 1.50913497e-02 -3.21654065e-04 9.99886067e-01 8.10093464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.787628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.50, Y:-12.21, Z:0.81 [[ 9.28660355e-01 3.70663903e-01 -1.40788991e-02 5.44963998e+01] [-3.70616017e-01 9.28767014e-01 5.96668734e-03 -1.22116990e+01] [ 1.52876527e-02 -3.23160469e-04 9.99883085e-01 8.10097541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.817628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.52, Y:-12.23, Z:0.81 [[ 9.28048339e-01 3.72142219e-01 -1.53769236e-02 5.45244338e+01] [-3.72085207e-01 9.28175662e-01 6.52224965e-03 -1.22259599e+01] [ 1.66996907e-02 -3.31437166e-04 9.99860496e-01 8.09462706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.55, Y:-12.24, Z:0.81 [[ 9.27592911e-01 3.73249290e-01 -1.60112049e-02 5.45543047e+01] [-3.73187564e-01 9.27731028e-01 6.79574938e-03 -1.22381478e+01] [ 1.73906002e-02 -3.28506385e-04 9.99848718e-01 8.10007117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.87762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.58, Y:-12.25, Z:0.81 [[ 9.27173078e-01 3.74284786e-01 -1.61549316e-02 5.45829440e+01] [-3.74222021e-01 9.27313754e-01 6.86146662e-03 -1.22511654e+01] [ 1.75488329e-02 -3.16235958e-04 9.99845957e-01 8.10285742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.90762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.61, Y:-12.26, Z:0.81 [[ 9.26178289e-01 3.76722962e-01 -1.65404328e-02 5.46131523e+01] [-3.76657479e-01 9.26325931e-01 7.02937964e-03 -1.22636658e+01] [ 1.79699606e-02 -2.80381074e-04 9.99838488e-01 8.10371669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.937628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.64, Y:-12.28, Z:0.81 [[ 9.25665375e-01 3.77960326e-01 -1.70178183e-02 5.46415950e+01] [-3.77891175e-01 9.25821755e-01 7.23452801e-03 -1.22763519e+01] [ 1.84898310e-02 -2.65868702e-04 9.99829013e-01 8.10747673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.967628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.67, Y:-12.29, Z:0.81 [[ 9.25179809e-01 3.79132375e-01 -1.73482898e-02 5.46717424e+01] [-3.79060638e-01 9.25342412e-01 7.37926862e-03 -1.22888708e+01] [ 1.88508280e-02 -2.51096522e-04 9.99822276e-01 8.10775178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.997628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.70, Y:-12.30, Z:0.81 [[ 9.24271552e-01 3.81300974e-01 -1.82117081e-02 5.46994480e+01] [-3.81222286e-01 9.24450929e-01 7.74914392e-03 -1.23021462e+01] [ 1.97905866e-02 -2.19604268e-04 9.99804123e-01 8.09668507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.02762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.73, Y:-12.32, Z:0.81 [[ 9.23889559e-01 3.82211348e-01 -1.85085791e-02 5.47294645e+01] [-3.82130151e-01 9.24074912e-01 7.88069807e-03 -1.23161871e+01] [ 2.01154058e-02 -2.08208541e-04 9.99797643e-01 8.09673973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.05762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.76, Y:-12.33, Z:0.81 [[ 9.23583529e-01 3.82948836e-01 -1.85379139e-02 5.47592217e+01] [-3.82867430e-01 9.23769533e-01 7.89814618e-03 -1.23295613e+01] [ 2.01493460e-02 -1.97034257e-04 9.99796962e-01 8.10431727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.08762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.79, Y:-12.34, Z:0.81 [[ 9.22908655e-01 3.84576421e-01 -1.84550930e-02 5.47877886e+01] [-3.84496013e-01 9.23093142e-01 7.86553326e-03 -1.23436075e+01] [ 2.00606684e-02 -1.63259037e-04 9.99798751e-01 8.10904269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.82, Y:-12.36, Z:0.81 [[ 9.22349970e-01 3.85906986e-01 -1.86099578e-02 5.48169979e+01] [-3.85825380e-01 9.22537684e-01 7.93710640e-03 -1.23575238e+01] [ 2.02313721e-02 -1.40595824e-04 9.99795315e-01 8.10698884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.147628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.85, Y:-12.37, Z:0.81 [[ 9.22243972e-01 3.86160336e-01 -1.86078398e-02 5.48467689e+01] [-3.86078681e-01 9.22431664e-01 7.94206919e-03 -1.23703170e+01] [ 2.02313727e-02 -1.40435193e-04 9.99795315e-01 8.11205079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.177628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.88, Y:-12.38, Z:0.81 [[ 9.21727475e-01 3.87378819e-01 -1.88709439e-02 5.48768208e+01] [-3.87294967e-01 9.21920623e-01 8.06057827e-03 -1.23838992e+01] [ 2.05200096e-02 -1.21034880e-04 9.99789435e-01 8.11473339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.20762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.91, Y:-12.40, Z:0.81 [[ 9.21058310e-01 3.88969208e-01 -1.88293643e-02 5.49066375e+01] [-3.88885929e-01 9.21250752e-01 8.04901892e-03 -1.23973675e+01] [ 2.04773866e-02 -9.11409208e-05 9.99790312e-01 8.11617558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.23762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.93, Y:-12.41, Z:0.81 [[ 9.19763256e-01 3.92012566e-01 -1.90184269e-02 5.49345031e+01] [-3.91928131e-01 9.19959862e-01 8.13591012e-03 -1.24113995e+01] [ 2.06855684e-02 -2.92546790e-05 9.99786030e-01 8.11603884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.26762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.96, Y:-12.43, Z:0.81 [[ 9.19122860e-01 3.93517407e-01 -1.89002285e-02 5.49646925e+01] [-3.93434226e-01 9.19317165e-01 8.09071447e-03 -1.24254956e+01] [ 2.05591414e-02 -3.63860375e-07 9.99788639e-01 8.12142655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.99, Y:-12.44, Z:0.81 [[ 9.18407416e-01 3.95192337e-01 -1.87305881e-02 5.49931199e+01] [-3.95110864e-01 9.18598397e-01 8.02430850e-03 -1.24406175e+01] [ 2.03770335e-02 3.10744264e-05 9.99792366e-01 8.11883200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.327628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.02, Y:-12.46, Z:0.81 [[ 9.18406649e-01 3.95182405e-01 -1.89761276e-02 5.50221531e+01] [-3.95098654e-01 9.18602670e-01 8.13556091e-03 -1.24555598e+01] [ 2.06465520e-02 2.56892420e-05 9.99786837e-01 8.11971190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.357628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.05, Y:-12.47, Z:0.81 [[ 9.18690698e-01 3.94537503e-01 -1.86429397e-02 5.50513426e+01] [-3.94456415e-01 9.18879839e-01 7.99862050e-03 -1.24712536e+01] [ 2.02863772e-02 5.56889073e-06 9.99794210e-01 8.12748658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.38762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.08, Y:-12.49, Z:0.81 [[ 9.19761098e-01 3.92028123e-01 -1.88008884e-02 5.50782681e+01] [-3.91945001e-01 9.19953231e-01 8.07269178e-03 -1.24900790e+01] [ 2.04606603e-02 -5.60336160e-05 9.99790657e-01 8.12201068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.41762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.11, Y:-12.51, Z:0.81 [[ 9.20355755e-01 3.90620266e-01 -1.90024046e-02 5.51072770e+01] [-3.90534928e-01 9.20551899e-01 8.16522089e-03 -1.25065786e+01] [ 2.06822004e-02 -9.38053155e-05 9.99786096e-01 8.12226739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.44762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.14, Y:-12.52, Z:0.81 [[ 9.20746438e-01 3.89719096e-01 -1.85748056e-02 5.51362880e+01] [-3.89637257e-01 9.20933772e-01 7.98723870e-03 -1.25217631e+01] [ 2.02189452e-02 -1.16785284e-04 9.99795569e-01 8.13465734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.47762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.16, Y:-12.54, Z:0.81 [[ 9.21536858e-01 3.87836417e-01 -1.87811700e-02 5.51624644e+01] [-3.87752242e-01 9.21728206e-01 8.08158055e-03 -1.25400389e+01] [ 2.04454654e-02 -1.65033560e-04 9.99790956e-01 8.13816890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.507628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.19, Y:-12.55, Z:0.81 [[ 9.21515310e-01 3.87874032e-01 -1.90595787e-02 5.51917864e+01] [-3.87787271e-01 9.21712377e-01 8.20529351e-03 -1.25546591e+01] [ 2.07500699e-02 -1.70241596e-04 9.99784680e-01 8.14498471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.537628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.22, Y:-12.57, Z:0.82 [[ 9.20885183e-01 3.89383373e-01 -1.87368358e-02 5.52216258e+01] [-3.89299716e-01 9.21075767e-01 8.07229322e-03 -1.25658793e+01] [ 2.04012622e-02 -1.39410352e-04 9.99791863e-01 8.15340742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.567628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.25, Y:-12.58, Z:0.81 [[ 9.19731217e-01 3.92051472e-01 -1.97517487e-02 5.52519297e+01] [-3.91958992e-01 9.19943278e-01 8.51548630e-03 -1.25765424e+01] [ 2.15089974e-02 -9.00830698e-05 9.99768651e-01 8.14248459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.28, Y:-12.59, Z:0.81 [[ 9.19221890e-01 3.93195727e-01 -2.06938736e-02 5.52810792e+01] [-3.93094360e-01 9.19454792e-01 8.92797828e-03 -1.25889035e+01] [ 2.25375242e-02 -7.21480680e-05 9.99745995e-01 8.14021230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.62762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.31, Y:-12.60, Z:0.81 [[ 9.18904563e-01 3.93892867e-01 -2.15131013e-02 5.53110626e+01] [-3.93783343e-01 9.19156355e-01 9.28835380e-03 -1.26019409e+01] [ 2.34325201e-02 -6.36097367e-05 9.99725419e-01 8.13923689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.65762800000001 meters Centerline goodness [0,1] 0.9999098957042777 Centerline is valid? [True, True] Translation: X:55.34, Y:-12.61, Z:0.81 [[ 9.18669311e-01 3.94384354e-01 -2.25317459e-02 5.53408235e+01] [-3.94264178e-01 9.18945579e-01 9.73551203e-03 -1.26147670e+01] [ 2.45449819e-02 -6.02558622e-05 9.99698725e-01 8.12407096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.687628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.37, Y:-12.63, Z:0.82 [[ 9.18496531e-01 3.94836592e-01 -2.16376646e-02 5.53701993e+01] [-3.94725744e-01 9.18751361e-01 9.35543294e-03 -1.26275353e+01] [ 2.35735011e-02 -5.19894299e-05 9.99722105e-01 8.15102779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.717628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.40, Y:-12.64, Z:0.82 [[ 9.18782429e-01 3.94157116e-01 -2.18864527e-02 5.53992352e+01] [-3.94043358e-01 9.19043069e-01 9.46938979e-03 -1.26409336e+01] [ 2.38470201e-02 -7.60976096e-05 9.99715616e-01 8.15200584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.747628000000006 meters Centerline goodness [0,1] 0.9998648435564166 Centerline is valid? [True, True] Translation: X:55.43, Y:-12.65, Z:0.81 [[ 9.19541919e-01 3.92315226e-01 -2.30526147e-02 5.54288025e+01] [-3.92188263e-01 9.19830824e-01 9.98104090e-03 -1.26540344e+01] [ 2.51202199e-02 -1.37020565e-04 9.99684428e-01 8.13758238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.77762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.46, Y:-12.67, Z:0.82 [[ 9.20877086e-01 3.89223393e-01 -2.21481968e-02 5.54578013e+01] [-3.89105152e-01 9.21143367e-01 9.59574611e-03 -1.26680352e+01] [ 2.41365534e-02 -2.18525241e-04 9.99708647e-01 8.15493671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.80762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.49, Y:-12.68, Z:0.82 [[ 9.21707168e-01 3.87267899e-01 -2.18968138e-02 5.54863304e+01] [-3.87151624e-01 9.21967190e-01 9.49313828e-03 -1.26818673e+01] [ 2.38645317e-02 -2.72506565e-04 9.99715164e-01 8.16376766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.83762800000001 meters Centerline goodness [0,1] 0.9998643485338338 Centerline is valid? [True, True] Translation: X:55.52, Y:-12.70, Z:0.82 [[ 9.22774163e-01 3.84692865e-01 -2.23437435e-02 5.55154760e+01] [-3.84570880e-01 9.23044569e-01 9.69344355e-03 -1.26962511e+01] [ 2.43532696e-02 -3.52106179e-04 9.99703353e-01 8.15339992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.54, Y:-12.71, Z:0.82 [[ 9.23386960e-01 3.83333561e-01 -2.02953767e-02 5.55448027e+01] [-3.83232467e-01 9.23609903e-01 8.81041724e-03 -1.27099170e+01] [ 2.21223395e-02 -3.57577135e-04 9.99755207e-01 8.18866384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.897628000000005 meters Centerline goodness [0,1] 0.9999323119965705 Centerline is valid? [True, True] Translation: X:55.57, Y:-12.72, Z:0.82 [[ 9.24894104e-01 3.79764966e-01 -1.86940297e-02 5.55729454e+01] [-3.79678371e-01 9.25082915e-01 8.11999467e-03 -1.27240613e+01] [ 2.03772170e-02 -4.12416432e-04 9.99792278e-01 8.19834218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.927628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.60, Y:-12.74, Z:0.82 [[ 9.24995216e-01 3.79602053e-01 -1.69154313e-02 5.56027227e+01] [-3.79531074e-01 9.25149792e-01 7.35020667e-03 -1.27371501e+01] [ 1.84394613e-02 -3.78974203e-04 9.99829907e-01 8.22990652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.95762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.63, Y:-12.75, Z:0.82 [[ 9.25092096e-01 3.79428206e-01 -1.54547632e-02 5.56335972e+01] [-3.79368855e-01 9.25221115e-01 6.72016924e-03 -1.27487896e+01] [ 1.68488950e-02 -3.53719630e-04 9.99857985e-01 8.24861474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.98762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.66, Y:-12.76, Z:0.83 [[ 9.24753546e-01 3.80267048e-01 -1.50947399e-02 5.56615065e+01] [-3.80210462e-01 9.24876673e-01 6.56845191e-03 -1.27625702e+01] [ 1.64585387e-02 -3.35021156e-04 9.99864493e-01 8.26056308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.01762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.69, Y:-12.77, Z:0.83 [[ 9.24287510e-01 3.81428023e-01 -1.43269738e-02 5.56917271e+01] [-3.81377151e-01 9.24398493e-01 6.23662881e-03 -1.27730995e+01] [ 1.56226580e-02 -3.00457653e-04 9.99877914e-01 8.27135137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.72, Y:-12.78, Z:0.83 [[ 9.22945825e-01 3.84687212e-01 -1.36657649e-02 5.57217291e+01] [-3.84641227e-01 9.23046961e-01 5.95262934e-03 -1.27831707e+01] [ 1.49040431e-02 -2.37537822e-04 9.99888900e-01 8.27783365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.077628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.75, Y:-12.79, Z:0.83 [[ 9.21971818e-01 3.87022085e-01 -1.34860463e-02 5.57511391e+01] [-3.86977494e-01 9.22070423e-01 5.87824590e-03 -1.27940734e+01] [ 1.47100954e-02 -2.00780655e-04 9.99891781e-01 8.28194740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.107628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.78, Y:-12.80, Z:0.83 [[ 9.20951856e-01 3.89444645e-01 -1.34368126e-02 5.57823393e+01] [-3.89400584e-01 9.21049858e-01 5.86033726e-03 -1.28033957e+01] [ 1.46582513e-02 -1.64785811e-04 9.99892548e-01 8.28230484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.13762800000001 meters Centerline goodness [0,1] 0.9998882156989872 Centerline is valid? [True, True] Translation: X:55.81, Y:-12.81, Z:0.83 [[ 9.20005669e-01 3.91637740e-01 -1.44723881e-02 5.58126868e+01] [-3.91586825e-01 9.20119481e-01 6.31659448e-03 -1.28143240e+01] [ 1.57901430e-02 -1.44106236e-04 9.99875318e-01 8.26331724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.16762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.84, Y:-12.82, Z:0.83 [[ 9.17758284e-01 3.96885760e-01 -1.41924317e-02 5.58434797e+01] [-3.96837358e-01 9.17868013e-01 6.19851428e-03 -1.28240479e+01] [ 1.54868811e-02 -5.66507381e-05 9.99880069e-01 8.27949991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.19762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.87, Y:-12.84, Z:0.83 [[ 9.16848325e-01 3.98969384e-01 -1.45800974e-02 5.58744623e+01] [-3.98918494e-01 9.16964247e-01 6.37223149e-03 -1.28360126e+01] [ 1.59117533e-02 -2.60992591e-05 9.99873400e-01 8.27602039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.22762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.90, Y:-12.85, Z:0.83 [[ 9.16073476e-01 4.00716080e-01 -1.53626286e-02 5.59044035e+01] [-4.00659735e-01 9.16202283e-01 6.71965095e-03 -1.28481338e+01] [ 1.67679476e-02 -5.07316187e-07 9.99859408e-01 8.26977872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.257628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.93, Y:-12.86, Z:0.83 [[ 9.15709347e-01 4.01476469e-01 -1.71183029e-02 5.59336173e+01] [-4.01406530e-01 9.15869338e-01 7.49352585e-03 -1.28624189e+01] [ 1.86866030e-02 9.50688033e-06 9.99825390e-01 8.25055817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.287628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.96, Y:-12.88, Z:0.82 [[ 9.16110089e-01 4.00539443e-01 -1.76198734e-02 5.59633619e+01] [-4.00465056e-01 9.16279518e-01 7.71907684e-03 -1.28775252e+01] [ 1.92365238e-02 -1.53805915e-05 9.99814961e-01 8.24926882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.317628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.99, Y:-12.89, Z:0.82 [[ 9.16842564e-01 3.98848079e-01 -1.78863775e-02 5.59911304e+01] [-3.98770985e-01 9.17017016e-01 7.84186260e-03 -1.28925725e+01] [ 1.95298244e-02 -5.71850391e-05 9.99809273e-01 8.24872759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.02, Y:-12.91, Z:0.83 [[ 9.18985525e-01 3.93889111e-01 -1.78037563e-02 5.60180188e+01] [-3.93811688e-01 9.19157952e-01 7.81114643e-03 -1.29116714e+01] [ 1.94411897e-02 -1.67003189e-04 9.99810988e-01 8.26331643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.37762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.05, Y:-12.93, Z:0.83 [[ 9.19621931e-01 3.92473770e-01 -1.61196671e-02 5.60464419e+01] [-3.92410013e-01 9.19763180e-01 7.07638914e-03 -1.29255590e+01] [ 1.76035734e-02 -1.82083882e-04 9.99845029e-01 8.28162068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.40762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.08, Y:-12.94, Z:0.83 [[ 9.19911044e-01 3.91845596e-01 -1.48559574e-02 5.60760384e+01] [-3.91791324e-01 9.20030976e-01 6.52395437e-03 -1.29385706e+01] [ 1.62243238e-02 -1.81022446e-04 9.99868361e-01 8.29462773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.437628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.11, Y:-12.95, Z:0.83 [[ 9.20608326e-01 3.90213378e-01 -1.46229077e-02 5.61051211e+01] [-3.90160518e-01 9.20724430e-01 6.42610253e-03 -1.29519214e+01] [ 1.59712195e-02 -2.10642247e-04 9.99872430e-01 8.30022378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.467628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.13, Y:-12.97, Z:0.83 [[ 9.20931513e-01 3.89438755e-01 -1.49199260e-02 5.61327810e+01] [-3.89383553e-01 9.21052334e-01 6.56101405e-03 -1.29652983e+01] [ 1.62971458e-02 -2.32670789e-04 9.99867166e-01 8.30635992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.497628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.16, Y:-12.98, Z:0.83 [[ 9.21445693e-01 3.88235944e-01 -1.45150812e-02 5.61621740e+01] [-3.88183511e-01 9.21559976e-01 6.38529932e-03 -1.29790338e+01] [ 1.58555206e-02 -2.49191384e-04 9.99874262e-01 8.32015146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.52762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.19, Y:-12.99, Z:0.83 [[ 9.21529600e-01 3.88039145e-01 -1.44505200e-02 5.61918181e+01] [-3.87987086e-01 9.21642857e-01 6.36113329e-03 -1.29923395e+01] [ 1.57865873e-02 -2.55357476e-04 9.99875351e-01 8.32604981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.55762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.22, Y:-13.01, Z:0.83 [[ 9.21550259e-01 3.87986856e-01 -1.45368658e-02 5.62217912e+01] [-3.87934088e-01 9.21664869e-01 6.40406392e-03 -1.30052206e+01] [ 1.58828112e-02 -2.62320973e-04 9.99873826e-01 8.32494643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.58762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.25, Y:-13.02, Z:0.83 [[ 9.21572895e-01 3.87915296e-01 -1.50040952e-02 5.62527176e+01] [-3.87858988e-01 9.21694986e-01 6.61506410e-03 -1.30172786e+01] [ 1.63952839e-02 -2.76790585e-04 9.99865550e-01 8.32415476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.28, Y:-13.03, Z:0.83 [[ 9.21091629e-01 3.88977356e-01 -1.69359790e-02 5.62832565e+01] [-3.88905677e-01 9.21247268e-01 7.47299329e-03 -1.30277339e+01] [ 1.85090496e-02 -2.96813183e-04 9.99828649e-01 8.30559909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.647628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.31, Y:-13.04, Z:0.83 [[ 9.20605152e-01 3.90087090e-01 -1.78386164e-02 5.63122125e+01] [-3.90007671e-01 9.20777919e-01 7.87661717e-03 -1.30391562e+01] [ 1.94979708e-02 -2.94057107e-04 9.99809853e-01 8.30141328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.677628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.34, Y:-13.05, Z:0.83 [[ 9.20119258e-01 3.91184975e-01 -1.88379151e-02 5.63426669e+01] [-3.91096527e-01 9.20312029e-01 8.32322823e-03 -1.30504098e+01] [ 2.05926817e-02 -2.90919434e-04 9.99787906e-01 8.29848309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.70762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.37, Y:-13.06, Z:0.83 [[ 9.19529453e-01 3.92520871e-01 -1.98229981e-02 5.63730297e+01] [-3.92423110e-01 9.19743055e-01 8.76445690e-03 -1.30616110e+01] [ 2.16722971e-02 -2.80173674e-04 9.99765089e-01 8.30016425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.73762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.40, Y:-13.07, Z:0.83 [[ 9.18567636e-01 3.94758945e-01 -1.99718152e-02 5.64035823e+01] [-3.94660110e-01 9.18784697e-01 8.83613503e-03 -1.30722489e+01] [ 2.18379416e-02 -2.34508869e-04 9.99761496e-01 8.31024779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.76762800000001 meters Centerline goodness [0,1] 0.9998882306918521 Centerline is valid? [True, True] Translation: X:56.43, Y:-13.08, Z:0.83 [[ 9.18517149e-01 3.94879468e-01 -1.99111014e-02 5.64337852e+01] [-3.94781130e-01 9.18732904e-01 8.81530117e-03 -1.30848243e+01] [ 2.17739655e-02 -2.36478171e-04 9.99762891e-01 8.29790159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.46, Y:-13.10, Z:0.83 [[ 9.18280553e-01 3.95482201e-01 -1.88322611e-02 5.64630202e+01] [-3.95394238e-01 9.18473615e-01 8.34350571e-03 -1.30969021e+01] [ 2.05966430e-02 -2.15511498e-04 9.99787843e-01 8.32539284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.827628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.49, Y:-13.11, Z:0.83 [[ 9.18675293e-01 3.94589077e-01 -1.83075712e-02 5.64919740e+01] [-3.94505663e-01 9.18857663e-01 8.11641889e-03 -1.31111929e+01] [ 2.00247023e-02 -2.33913004e-04 9.99799458e-01 8.32744837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.857628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.52, Y:-13.13, Z:0.83 [[ 9.18898216e-01 3.94064992e-01 -1.84078839e-02 5.65212612e+01] [-3.93980438e-01 9.19082542e-01 8.16679061e-03 -1.31257009e+01] [ 2.01366110e-02 -2.52103170e-04 9.99797206e-01 8.33405062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.88762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.55, Y:-13.14, Z:0.83 [[ 9.19343202e-01 3.93052296e-01 -1.78317295e-02 5.65488513e+01] [-3.92972653e-01 9.19516079e-01 7.91672517e-03 -1.31397319e+01] [ 1.95082490e-02 -2.70805398e-04 9.99809659e-01 8.34127101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.91762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.58, Y:-13.15, Z:0.84 [[ 9.20674235e-01 3.89988580e-01 -1.63664603e-02 5.65773940e+01] [-3.89920931e-01 9.20819640e-01 7.27031603e-03 -1.31544374e+01] [ 1.79058983e-02 -3.11967192e-04 9.99839628e-01 8.35366070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.94762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.60, Y:-13.17, Z:0.84 [[ 9.21297465e-01 3.88540425e-01 -1.57263819e-02 5.66041703e+01] [-3.88477678e-01 9.21431619e-01 6.99032354e-03 -1.31695346e+01] [ 1.72068088e-02 -3.30819038e-04 9.99851897e-01 8.36213152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.97762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.63, Y:-13.19, Z:0.84 [[ 9.22226874e-01 3.86356257e-01 -1.50477768e-02 5.66303309e+01] [-3.86298464e-01 9.22349562e-01 6.69201928e-03 -1.31863011e+01] [ 1.64648139e-02 -3.58626959e-04 9.99864381e-01 8.38063823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.007628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.66, Y:-13.20, Z:0.84 [[ 9.22448197e-01 3.85846703e-01 -1.45480160e-02 5.66603127e+01] [-3.85792563e-01 9.22562839e-01 6.47344055e-03 -1.31983515e+01] [ 1.59192147e-02 -3.58897161e-04 9.99873217e-01 8.39352540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.037628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.69, Y:-13.21, Z:0.84 [[ 9.22339791e-01 3.86105830e-01 -1.45464231e-02 5.66898819e+01] [-3.86051666e-01 9.22454421e-01 6.47701807e-03 -1.32115949e+01] [ 1.59192268e-02 -3.58340617e-04 9.99873217e-01 8.39858669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.067628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.72, Y:-13.23, Z:0.84 [[ 9.22203786e-01 3.86450359e-01 -1.40106185e-02 5.67186095e+01] [-3.86400082e-01 9.22310144e-01 6.24298842e-03 -1.32257944e+01] [ 1.53347406e-02 -3.43603435e-04 9.99882357e-01 8.41153678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.75, Y:-13.24, Z:0.84 [[ 9.21401291e-01 3.88399920e-01 -1.28515666e-02 5.67486808e+01] [-3.88357755e-01 9.21490867e-01 5.73021983e-03 -1.32378908e+01] [ 1.40682182e-02 -2.88826405e-04 9.99900996e-01 8.41723273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.12762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.78, Y:-13.25, Z:0.84 [[ 9.20656752e-01 3.90170388e-01 -1.25783258e-02 5.67783376e+01] [-3.90130113e-01 9.20742636e-01 5.61192837e-03 -1.32503281e+01] [ 1.37710091e-02 -2.59476081e-04 9.99905141e-01 8.42253137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.15762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.81, Y:-13.26, Z:0.84 [[ 9.19830640e-01 3.92120707e-01 -1.23671024e-02 5.68078556e+01] [-3.92081902e-01 9.19913745e-01 5.52118491e-03 -1.32623696e+01] [ 1.35416384e-02 -2.29638002e-04 9.99908281e-01 8.42767340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.187628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.84, Y:-13.27, Z:0.84 [[ 9.18116007e-01 3.96110297e-01 -1.26344704e-02 5.68382714e+01] [-3.96070122e-01 9.18202919e-01 5.64431288e-03 -1.32732677e+01] [ 1.38367781e-02 -1.77997779e-04 9.99904251e-01 8.42095829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.217628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.87, Y:-13.29, Z:0.84 [[ 9.18004918e-01 3.96367728e-01 -1.26331126e-02 5.68678168e+01] [-3.96327534e-01 9.18091822e-01 5.64735019e-03 -1.32865548e+01] [ 1.38367847e-02 -1.77444889e-04 9.99904251e-01 8.42601879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.247628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.90, Y:-13.30, Z:0.84 [[ 9.16338853e-01 4.00177951e-01 -1.34430369e-02 5.68978883e+01] [-4.00132773e-01 9.16437445e-01 6.01441699e-03 -1.32990785e+01] [ 1.47265395e-02 -1.32244314e-04 9.99891550e-01 8.41888445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.27762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.93, Y:-13.31, Z:0.84 [[ 9.15400318e-01 4.02303964e-01 -1.39204172e-02 5.69273129e+01] [-4.02255744e-01 9.15506150e-01 6.22945280e-03 -1.33122414e+01] [ 1.52503611e-02 -1.02875283e-04 9.99883701e-01 8.42086766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.30762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.96, Y:-13.32, Z:0.84 [[ 9.13626666e-01 4.06274138e-01 -1.50877319e-02 5.69566836e+01] [-4.06217953e-01 9.13751237e-01 6.75660924e-03 -1.33241244e+01] [ 1.65314693e-02 -4.41108016e-05 9.99863345e-01 8.41358977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.33762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.99, Y:-13.34, Z:0.84 [[ 9.12281997e-01 4.09258842e-01 -1.57720995e-02 5.69879698e+01] [-4.09197805e-01 9.12418325e-01 7.06797458e-03 -1.33358164e+01] [ 1.72833837e-02 5.92254777e-06 9.99850631e-01 8.40924374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.02, Y:-13.35, Z:0.84 [[ 9.10814701e-01 4.12485016e-01 -1.65134028e-02 5.70191582e+01] [-4.12418531e-01 9.10964383e-01 7.40594210e-03 -1.33472980e+01] [ 1.80979619e-02 6.49923945e-05 9.99836216e-01 8.40596063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.397628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.05, Y:-13.36, Z:0.84 [[ 9.08680081e-01 4.17102966e-01 -1.80450949e-02 5.70498416e+01] [-4.17024356e-01 9.08859223e-01 8.09931239e-03 -1.33576350e+01] [ 1.97786982e-02 1.65560233e-04 9.99804369e-01 8.39696891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.427628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.08, Y:-13.37, Z:0.84 [[ 9.08023633e-01 4.18511471e-01 -1.84724173e-02 5.70785795e+01] [-4.18429272e-01 9.08211490e-01 8.29664830e-03 -1.33686568e+01] [ 2.02491041e-02 1.95847376e-04 9.99794947e-01 8.38817362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.45762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.11, Y:-13.38, Z:0.84 [[ 9.08208872e-01 4.18087372e-01 -1.89629468e-02 5.71089468e+01] [-4.18000539e-01 9.08406800e-01 8.52257993e-03 -1.33825205e+01] [ 2.07892529e-02 1.86239284e-04 9.99783863e-01 8.38456136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.48762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.14, Y:-13.40, Z:0.84 [[ 9.08643485e-01 4.17145516e-01 -1.88848024e-02 5.71375672e+01] [-4.17059069e-01 9.08839696e-01 8.49353841e-03 -1.33965273e+01] [ 2.07062996e-02 1.58479770e-04 9.99785589e-01 8.39734553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.51762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.17, Y:-13.41, Z:0.84 [[ 9.09225152e-01 4.15918753e-01 -1.79224632e-02 5.71665489e+01] [-4.15840554e-01 9.09401769e-01 8.06578007e-03 -1.34094693e+01] [ 1.96534289e-02 1.19276903e-04 9.99806846e-01 8.40954641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.20, Y:-13.42, Z:0.84 [[ 9.09982276e-01 4.14303854e-01 -1.68693098e-02 5.71959827e+01] [-4.14234211e-01 9.10138622e-01 7.59656695e-03 -1.34230661e+01] [ 1.85006973e-02 7.51039551e-05 9.99828845e-01 8.41981797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.577628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.22, Y:-13.44, Z:0.84 [[ 9.12282051e-01 4.09295478e-01 -1.47875530e-02 5.72237771e+01] [-4.09241242e-01 9.12401891e-01 6.66296021e-03 -1.34392568e+01] [ 1.62193108e-02 -2.68224609e-05 9.99868458e-01 8.44269620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.607628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.25, Y:-13.46, Z:0.85 [[ 9.13527582e-01 4.06550868e-01 -1.35553877e-02 5.72522691e+01] [-4.06504937e-01 9.13628145e-01 6.11139016e-03 -1.34552328e+01] [ 1.48691747e-02 -7.25914286e-05 9.99889445e-01 8.45955391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.63762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.28, Y:-13.47, Z:0.85 [[ 9.14730721e-01 4.03859628e-01 -1.28494656e-02 5.72801293e+01] [-4.03818034e-01 9.14820959e-01 5.79726941e-03 -1.34709674e+01] [ 1.40962435e-02 -1.14094482e-04 9.99900637e-01 8.47693774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.66762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.31, Y:-13.49, Z:0.85 [[ 9.17036253e-01 3.98637380e-01 -1.15216970e-02 5.73070987e+01] [-3.98603486e-01 9.17108613e-01 5.20122996e-03 -1.34877426e+01] [ 1.26400522e-02 -1.77127865e-04 9.99920096e-01 8.48788212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.69762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.33, Y:-13.50, Z:0.85 [[ 9.18029608e-01 3.96357218e-01 -1.10722655e-02 5.73348877e+01] [-3.96325712e-01 9.18096353e-01 5.00159818e-03 -1.35020854e+01] [ 1.21478261e-02 -2.03391725e-04 9.99926192e-01 8.49257204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.72762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.36, Y:-13.52, Z:0.85 [[ 9.18773155e-01 3.94634857e-01 -1.09187837e-02 5.73625349e+01] [-3.94604081e-01 9.18838005e-01 4.93356370e-03 -1.35159148e+01] [ 1.19795496e-02 -2.24229274e-04 9.99928217e-01 8.49518476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.757628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.39, Y:-13.53, Z:0.85 [[ 9.19670747e-01 3.92529653e-01 -1.12334184e-02 5.73925504e+01] [-3.92496882e-01 9.19739313e-01 5.07878074e-03 -1.35274884e+01] [ 1.23253886e-02 -2.61724365e-04 9.99924005e-01 8.48317637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.787628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.42, Y:-13.54, Z:0.85 [[ 9.19687796e-01 3.92471542e-01 -1.18510284e-02 5.74224470e+01] [-3.92435018e-01 9.19764106e-01 5.36161968e-03 -1.35409804e+01] [ 1.30044337e-02 -2.80257628e-04 9.99915400e-01 8.47780504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.817628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.45, Y:-13.55, Z:0.85 [[ 9.19457459e-01 3.92971193e-01 -1.31004827e-02 5.74516312e+01] [-3.92926540e-01 9.19550731e-01 5.93182907e-03 -1.35541190e+01] [ 1.43775964e-02 -3.06537151e-04 9.99896590e-01 8.47636010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.48, Y:-13.57, Z:0.85 [[ 9.18592921e-01 3.94893682e-01 -1.56851853e-02 5.74821093e+01] [-3.94829857e-01 9.18726764e-01 7.10753812e-03 -1.35653882e+01] [ 1.72171215e-02 -3.35954716e-04 9.99851718e-01 8.45742331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.87762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.51, Y:-13.58, Z:0.84 [[ 9.17900238e-01 3.96454015e-01 -1.68335303e-02 5.75120245e+01] [-3.96380668e-01 9.18054520e-01 7.63309154e-03 -1.35772568e+01] [ 1.84802683e-02 -3.33930579e-04 9.99829169e-01 8.44473981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.90762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.54, Y:-13.59, Z:0.84 [[ 9.16053097e-01 4.00626645e-01 -1.85745937e-02 5.75429363e+01] [-4.00538076e-01 9.16241350e-01 8.42838509e-03 -1.35871552e+01] [ 2.03954465e-02 -2.81016218e-04 9.99791952e-01 8.43217561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.937628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.57, Y:-13.60, Z:0.84 [[ 9.14807716e-01 4.03455075e-01 -1.87308443e-02 5.75736857e+01] [-4.03365488e-01 9.14999427e-01 8.50477246e-03 -1.35978686e+01] [ 2.05700055e-02 -2.24855302e-04 9.99788390e-01 8.43416007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.967628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.60, Y:-13.61, Z:0.84 [[ 9.13527696e-01 4.06319452e-01 -1.92782457e-02 5.76026982e+01] [-4.06225068e-01 9.13731073e-01 8.75902551e-03 -1.36083184e+01] [ 2.11740945e-02 -1.70305749e-04 9.99775789e-01 8.43016432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.997628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.63, Y:-13.62, Z:0.84 [[ 9.12120847e-01 4.09469374e-01 -1.92455876e-02 5.76317484e+01] [-4.09375898e-01 9.12323858e-01 8.74941391e-03 -1.36192896e+01] [ 2.11408257e-02 -1.01843131e-04 9.99776503e-01 8.43450251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.02762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.66, Y:-13.63, Z:0.85 [[ 9.09969805e-01 4.14300366e-01 -1.76113923e-02 5.76609519e+01] [-4.14222916e-01 9.10140213e-01 8.01054657e-03 -1.36297562e+01] [ 1.93476087e-02 5.68677643e-06 9.99812817e-01 8.45385612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.05762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.69, Y:-13.64, Z:0.85 [[ 9.09091151e-01 4.16291282e-01 -1.59639551e-02 5.76910670e+01] [-4.16227905e-01 9.09231305e-01 7.26394726e-03 -1.36429531e+01] [ 1.75388457e-02 4.10534108e-05 9.99846182e-01 8.47655658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.08762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.72, Y:-13.66, Z:0.85 [[ 9.08350893e-01 4.17967268e-01 -1.42132965e-02 5.77203776e+01] [-4.17917166e-01 9.08462085e-01 6.47171122e-03 -1.36556514e+01] [ 1.56172045e-02 6.13959459e-05 9.99878042e-01 8.49559472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.75, Y:-13.67, Z:0.85 [[ 9.07116248e-01 4.20735451e-01 -1.10360144e-02 5.77498827e+01] [-4.20705419e-01 9.07183374e-01 5.02757717e-03 -1.36688934e+01] [ 1.21269687e-02 8.23141279e-05 9.99926462e-01 8.52501853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.147628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.78, Y:-13.68, Z:0.85 [[ 9.06555587e-01 4.21962397e-01 -1.02324403e-02 5.77796881e+01] [-4.21936628e-01 9.06613329e-01 4.66413602e-03 -1.36822582e+01] [ 1.12449568e-02 8.91427868e-05 9.99936770e-01 8.53270208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.177628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.81, Y:-13.70, Z:0.85 [[ 9.06179572e-01 4.22778981e-01 -9.82428700e-03 5.78090023e+01] [-4.22755239e-01 9.06232820e-01 4.48139224e-03 -1.36954642e+01] [ 1.07977298e-02 9.23226950e-05 9.99941699e-01 8.53632299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.20762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.84, Y:-13.71, Z:0.85 [[ 9.06360496e-01 4.22361423e-01 -1.10218163e-02 5.78371817e+01] [-4.22331459e-01 9.06427504e-01 5.03182590e-03 -1.37100382e+01] [ 1.21157266e-02 9.42115242e-05 9.99926597e-01 8.51627933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.23762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.87, Y:-13.72, Z:0.85 [[ 9.06405062e-01 4.22245419e-01 -1.17758079e-02 5.78667812e+01] [-4.22211157e-01 9.06481548e-01 5.37976296e-03 -1.37248631e+01] [ 1.29461329e-02 9.56331133e-05 9.99916191e-01 8.50796321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.26762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.89, Y:-13.74, Z:0.85 [[ 9.06636050e-01 4.21682909e-01 -1.39498003e-02 5.78944200e+01] [-4.21634674e-01 9.06743357e-01 6.37863663e-03 -1.37387539e+01] [ 1.53386508e-02 9.86175992e-05 9.99882351e-01 8.48543071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.92, Y:-13.75, Z:0.85 [[ 9.06107731e-01 4.22788104e-01 -1.47986029e-02 5.79246995e+01] [-4.22733897e-01 9.06228561e-01 6.77110902e-03 -1.37514508e+01] [ 1.62736609e-02 1.20516835e-04 9.99867568e-01 8.47962292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.327628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.95, Y:-13.76, Z:0.85 [[ 9.05315961e-01 4.24450973e-01 -1.56327158e-02 5.79549863e+01] [-4.24390637e-01 9.05450908e-01 7.15821315e-03 -1.37633084e+01] [ 1.71929672e-02 1.53933573e-04 9.99852178e-01 8.47896523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.357628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.98, Y:-13.77, Z:0.85 [[ 9.04511340e-01 4.26140704e-01 -1.62276232e-02 5.79847356e+01] [-4.26075873e-01 9.04656877e-01 7.43546614e-03 -1.37742515e+01] [ 1.78489857e-02 1.88735252e-04 9.99840676e-01 8.47557911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.38762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.02, Y:-13.78, Z:0.85 [[ 9.02985806e-01 4.29325546e-01 -1.72107436e-02 5.80157126e+01] [-4.29253112e-01 9.03149769e-01 7.89045943e-03 -1.37812899e+01] [ 1.89314549e-02 2.62792373e-04 9.99820749e-01 8.45806636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.41762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.05, Y:-13.79, Z:0.85 [[ 9.02402049e-01 4.30529618e-01 -1.77422928e-02 5.80462322e+01] [-4.30452809e-01 9.02576402e-01 8.13741978e-03 -1.37927960e+01] [ 1.95171750e-02 2.93995484e-04 9.99809479e-01 8.45589295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.44762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.08, Y:-13.81, Z:0.85 [[ 9.02219799e-01 4.30910478e-01 -1.77649773e-02 5.80764530e+01] [-4.30833444e-01 9.02394631e-01 8.15307091e-03 -1.38058563e+01] [ 1.95442638e-02 2.97884363e-04 9.99808948e-01 8.45846007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.47762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.10, Y:-13.82, Z:0.85 [[ 9.02907824e-01 4.29525142e-01 -1.62976477e-02 5.81047317e+01] [-4.29459995e-01 9.03054868e-01 7.48452787e-03 -1.38210623e+01] [ 1.79324630e-02 2.41348942e-04 9.99839171e-01 8.47660109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.507628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.13, Y:-13.84, Z:0.85 [[ 9.03299829e-01 4.28726168e-01 -1.55978227e-02 5.81324897e+01] [-4.28666304e-01 9.03434463e-01 7.16741208e-03 -1.38357241e+01] [ 1.71644676e-02 2.11938881e-04 9.99852657e-01 8.48984176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.537628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.16, Y:-13.85, Z:0.85 [[ 9.03763087e-01 4.27752725e-01 -1.54883145e-02 5.81599069e+01] [-4.27693486e-01 9.03895774e-01 7.12120958e-03 -1.38525500e+01] [ 1.70459389e-02 1.88364867e-04 9.99854690e-01 8.49886483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.567628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.19, Y:-13.87, Z:0.85 [[ 9.04280889e-01 4.26673515e-01 -1.50261383e-02 5.81881465e+01] [-4.26617537e-01 9.04405709e-01 6.91309787e-03 -1.38678760e+01] [ 1.65393610e-02 1.59031822e-04 9.99863203e-01 8.50329472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.22, Y:-13.88, Z:0.85 [[ 9.05582631e-01 4.23879911e-01 -1.56818188e-02 5.82152197e+01] [-4.23818438e-01 9.05718394e-01 7.21959728e-03 -1.38843904e+01] [ 1.72635540e-02 1.08302048e-04 9.99850968e-01 8.49317325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.62762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.24, Y:-13.90, Z:0.85 [[ 9.06199629e-01 4.22535226e-01 -1.63160935e-02 5.82429403e+01] [-4.22468381e-01 9.06346499e-01 7.51601818e-03 -1.38982828e+01] [ 1.79638167e-02 8.20207466e-05 9.99838634e-01 8.49132514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.65762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.27, Y:-13.91, Z:0.85 [[ 9.06469210e-01 4.21962268e-01 -1.61683759e-02 5.82722717e+01] [-4.21896484e-01 9.06613390e-01 7.45098854e-03 -1.39123149e+01] [ 1.78025021e-02 6.72892320e-05 9.99841521e-01 8.49602146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.687628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.30, Y:-13.93, Z:0.85 [[ 9.06890695e-01 4.21072538e-01 -1.57221019e-02 5.83027306e+01] [-4.21010111e-01 9.07026965e-01 7.25060938e-03 -1.39250586e+01] [ 1.73134028e-02 4.36536702e-05 9.99850111e-01 8.51127042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.717628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.33, Y:-13.94, Z:0.85 [[ 9.07083942e-01 4.20674757e-01 -1.52141805e-02 5.83330951e+01] [-4.20616157e-01 9.07211523e-01 7.02145066e-03 -1.39380110e+01] [ 1.67562269e-02 3.02849862e-05 9.99859604e-01 8.52350006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.747628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.36, Y:-13.95, Z:0.85 [[ 9.07844634e-01 4.19085477e-01 -1.36192102e-02 5.83631631e+01] [-4.19038278e-01 9.07946784e-01 6.28958741e-03 -1.39497462e+01] [ 1.50013928e-02 -2.99779827e-06 9.99887473e-01 8.54124334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.77762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.39, Y:-13.96, Z:0.85 [[ 9.08170809e-01 4.18395936e-01 -1.30622982e-02 5.83932226e+01] [-4.18352410e-01 9.08264742e-01 6.03492356e-03 -1.39631790e+01] [ 1.43890124e-02 -1.60974772e-05 9.99896473e-01 8.54937379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.80762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.42, Y:-13.98, Z:0.86 [[ 9.08447151e-01 4.17815500e-01 -1.24089079e-02 5.84230775e+01] [-4.17776112e-01 9.08531897e-01 5.73697658e-03 -1.39771274e+01] [ 1.36708864e-02 -2.75947114e-05 9.99906549e-01 8.55429137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.83762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.45, Y:-13.99, Z:0.86 [[ 9.08765244e-01 4.17141076e-01 -1.17920836e-02 5.84524604e+01] [-4.17105401e-01 9.08841747e-01 5.45557682e-03 -1.39916649e+01] [ 1.29928830e-02 -3.92968463e-05 9.99915588e-01 8.55898015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.48, Y:-14.01, Z:0.86 [[ 9.09570503e-01 4.15363439e-01 -1.24384125e-02 5.84802063e+01] [-4.15323517e-01 9.09655544e-01 5.75914530e-03 -1.40076084e+01] [ 1.37068093e-02 -7.23834403e-05 9.99906055e-01 8.56132825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.897628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.51, Y:-14.02, Z:0.86 [[ 9.09664705e-01 4.15135651e-01 -1.31345032e-02 5.85097133e+01] [-4.15091048e-01 9.09759520e-01 6.08583855e-03 -1.40222733e+01] [ 1.44756879e-02 -8.40578226e-05 9.99895218e-01 8.55676146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.927628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.54, Y:-14.04, Z:0.86 [[ 9.09602552e-01 4.15230823e-01 -1.43722683e-02 5.85394401e+01] [-4.15177343e-01 9.09716085e-01 6.66475757e-03 -1.40366683e+01] [ 1.58420964e-02 -9.52403277e-05 9.99874502e-01 8.55042975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.95762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.57, Y:-14.05, Z:0.86 [[ 9.09485834e-01 4.15486473e-01 -1.43703946e-02 5.85687959e+01] [-4.15432962e-01 9.09599352e-01 6.66879526e-03 -1.40503714e+01] [ 1.58420958e-02 -9.52392489e-05 9.99874502e-01 8.55549222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.98762800000001 meters Centerline goodness [0,1] 0.9998219016451836 Centerline is valid? [True, True] Translation: X:58.60, Y:-14.06, Z:0.85 [[ 9.09040120e-01 4.16294786e-01 -1.85663904e-02 5.85975178e+01] [-4.16205481e-01 9.09229695e-01 8.62318608e-03 -1.40636442e+01] [ 2.04709009e-02 -1.11388673e-04 9.99790443e-01 8.50572763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.01762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.63, Y:-14.08, Z:0.85 [[ 9.08096700e-01 4.18339414e-01 -1.87754578e-02 5.86278556e+01] [-4.18248426e-01 9.08290774e-01 8.72489357e-03 -1.40766924e+01] [ 2.07035420e-02 -7.02413693e-05 9.99785656e-01 8.52812415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.04762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.66, Y:-14.09, Z:0.85 [[ 9.07287827e-01 4.20053585e-01 -1.95904319e-02 5.86580601e+01] [-4.19954778e-01 9.07499302e-01 9.11045856e-03 -1.40894650e+01] [ 2.16051841e-02 -3.87126466e-05 9.99766580e-01 8.53326411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.077628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.69, Y:-14.10, Z:0.85 [[ 9.05651578e-01 4.23544749e-01 -2.01262062e-02 5.86888837e+01] [-4.23441167e-01 9.05875181e-01 9.36663199e-03 -1.41008055e+01] [ 2.21990185e-02 3.93592209e-05 9.99753571e-01 8.53878823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.107628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.72, Y:-14.11, Z:0.85 [[ 9.04773538e-01 4.25419135e-01 -2.00849458e-02 5.87182189e+01] [-4.25316289e-01 9.04996438e-01 9.35417502e-03 -1.41129179e+01] [ 2.21562495e-02 7.90445971e-05 9.99754517e-01 8.54103216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.13762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.75, Y:-14.13, Z:0.85 [[ 9.04177560e-01 4.26714297e-01 -1.94383267e-02 5.87486797e+01] [-4.26618134e-01 9.04386476e-01 9.05920388e-03 -1.41259817e+01] [ 2.14454516e-02 1.01613808e-04 9.99770015e-01 8.54947645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.16762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.78, Y:-14.14, Z:0.86 [[ 9.03598293e-01 4.28030590e-01 -1.73187492e-02 5.87789519e+01] [-4.27954395e-01 9.03764240e-01 8.07675991e-03 -1.41391553e+01] [ 1.91091665e-02 1.13488374e-04 9.99817397e-01 8.56956646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.19762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.81, Y:-14.15, Z:0.86 [[ 9.03559930e-01 4.28160878e-01 -1.60535410e-02 5.88076747e+01] [-4.28095340e-01 9.03702524e-01 7.49184995e-03 -1.41526919e+01] [ 1.77153426e-02 1.03110693e-04 9.99843066e-01 8.58257790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.22762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.84, Y:-14.17, Z:0.86 [[ 9.03774337e-01 4.27759849e-01 -1.46102746e-02 5.88372991e+01] [-4.27705444e-01 9.03892419e-01 6.82260145e-03 -1.41672831e+01] [ 1.61245514e-02 8.28018860e-05 9.99869988e-01 8.59453834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.257628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.86, Y:-14.18, Z:0.86 [[ 9.04645051e-01 4.25983298e-01 -1.24724653e-02 5.88643109e+01] [-4.25943428e-01 9.04731025e-01 5.82818055e-03 -1.41819771e+01] [ 1.37669339e-02 4.01299196e-05 9.99905230e-01 8.61479993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.287628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.89, Y:-14.20, Z:0.86 [[ 9.04655314e-01 4.25974432e-01 -1.20227382e-02 5.88940961e+01] [-4.25937364e-01 9.04735200e-01 5.61961878e-03 -1.41965688e+01] [ 1.32712084e-02 3.71154274e-05 9.99911933e-01 8.62167627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.317628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.92, Y:-14.21, Z:0.86 [[ 9.04643186e-01 4.26009927e-01 -1.16725537e-02 5.89224791e+01] [-4.25974940e-01 9.04718487e-01 5.45980590e-03 -1.42100400e+01] [ 1.28863066e-02 3.30391641e-05 9.99916968e-01 8.62899528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.95, Y:-14.22, Z:0.86 [[ 9.04045290e-01 4.27286720e-01 -1.13212962e-02 5.89530065e+01] [-4.27253865e-01 9.04116174e-01 5.29888411e-03 -1.42227176e+01] [ 1.24999098e-02 4.66363225e-05 9.99921872e-01 8.63170802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.37762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.98, Y:-14.24, Z:0.86 [[ 9.03607308e-01 4.28198868e-01 -1.18136688e-02 5.89829367e+01] [-4.28163117e-01 9.03684528e-01 5.53347377e-03 -1.42353035e+01] [ 1.30452569e-02 5.80899234e-05 9.99914905e-01 8.62252521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.40762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.01, Y:-14.25, Z:0.86 [[ 9.03259424e-01 4.28903471e-01 -1.28150586e-02 5.90128855e+01] [-4.28861405e-01 9.03350324e-01 6.00731002e-03 -1.42480607e+01] [ 1.41530435e-02 6.97246672e-05 9.99899838e-01 8.60739589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.437628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.04, Y:-14.26, Z:0.86 [[ 9.02870090e-01 4.29608827e-01 -1.61820001e-02 5.90426004e+01] [-4.29541742e-01 9.03015087e-01 7.59243474e-03 -1.42604699e+01] [ 1.78743672e-02 9.58622566e-05 9.99840236e-01 8.56590147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.467628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.07, Y:-14.27, Z:0.85 [[ 9.02797346e-01 4.29674946e-01 -1.83410076e-02 5.90727230e+01] [-4.29588644e-01 9.02983627e-01 8.61202372e-03 -1.42747159e+01] [ 2.02620004e-02 1.04176422e-04 9.99794699e-01 8.54883733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.497628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.10, Y:-14.29, Z:0.85 [[ 9.02393741e-01 4.30431726e-01 -2.03485757e-02 5.91013371e+01] [-4.30325525e-01 9.02623129e-01 9.56189329e-03 -1.42868489e+01] [ 2.24828373e-02 1.27918875e-04 9.99747221e-01 8.53159148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.52762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.13, Y:-14.30, Z:0.85 [[ 9.02234959e-01 4.30683263e-01 -2.20001256e-02 5.91296353e+01] [-4.30559037e-01 9.02503134e-01 1.03444511e-02 -1.42989908e+01] [ 2.43103643e-02 1.39227490e-04 9.99704450e-01 8.51970683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.55762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.16, Y:-14.31, Z:0.85 [[ 9.02058018e-01 4.30904161e-01 -2.47575566e-02 5.91578089e+01] [-4.30746720e-01 9.02397684e-01 1.16483254e-02 -1.43112420e+01] [ 2.73604736e-02 1.56770957e-04 9.99625620e-01 8.51242510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.58762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.19, Y:-14.32, Z:0.85 [[ 9.02232889e-01 4.30525720e-01 -2.49683682e-02 5.91873071e+01] [-4.30365231e-01 9.02578299e-01 1.17551322e-02 -1.43247834e+01] [ 2.75967940e-02 1.39650653e-04 9.99619126e-01 8.52418562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.22, Y:-14.34, Z:0.85 [[ 9.02428185e-01 4.30112586e-01 -2.50306590e-02 5.92173814e+01] [-4.29950897e-01 9.02775249e-01 1.17930839e-02 -1.43383766e+01] [ 2.76694132e-02 1.19542990e-04 9.99617121e-01 8.53568606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.647628000000005 meters Centerline goodness [0,1] 0.9998448684706247 Centerline is valid? [True, True] Translation: X:59.25, Y:-14.35, Z:0.85 [[ 9.03564111e-01 4.27703040e-01 -2.53378719e-02 5.92478094e+01] [-4.27536161e-01 9.03919304e-01 1.19466641e-02 -1.43513791e+01] [ 2.80130161e-02 3.82795300e-05 9.99607558e-01 8.52948625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.677628000000006 meters Centerline goodness [0,1] 0.9998225377107365 Centerline is valid? [True, True] Translation: X:59.28, Y:-14.36, Z:0.85 [[ 9.04097019e-01 4.26616980e-01 -2.46278955e-02 5.92771245e+01] [-4.26458705e-01 9.04432392e-01 1.16198365e-02 -1.43647223e+01] [ 2.72314860e-02 -2.67911604e-06 9.99629154e-01 8.53730428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.70762800000001 meters Centerline goodness [0,1] 0.9998893168636827 Centerline is valid? [True, True] Translation: X:59.31, Y:-14.38, Z:0.86 [[ 9.04474766e-01 4.25859869e-01 -2.38488744e-02 5.93065056e+01] [-4.25710990e-01 9.04789131e-01 1.12597668e-02 -1.43788604e+01] [ 2.63732851e-02 -3.14470020e-05 9.99652164e-01 8.55713290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.73762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.33, Y:-14.39, Z:0.86 [[ 9.05262011e-01 4.24261579e-01 -2.24232901e-02 5.93335046e+01] [-4.24129307e-01 9.05539677e-01 1.05936128e-02 -1.43935442e+01] [ 2.47996417e-02 -7.96207331e-05 9.99692438e-01 8.58861793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.76762800000001 meters Centerline goodness [0,1] 0.9998448684706247 Centerline is valid? [True, True] Translation: X:59.36, Y:-14.41, Z:0.86 [[ 9.05604644e-01 4.23439310e-01 -2.40703091e-02 5.93613841e+01] [-4.23286413e-01 9.05924466e-01 1.13786953e-02 -1.44080173e+01] [ 2.66240688e-02 -1.15964483e-04 9.99645510e-01 8.57182114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.79762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.39, Y:-14.42, Z:0.86 [[ 9.05612162e-01 4.23484426e-01 -2.29685202e-02 5.93906293e+01] [-4.23345063e-01 9.05903376e-01 1.08641654e-02 -1.44221097e+01] [ 2.54080648e-02 -1.15110677e-04 9.99677156e-01 8.58992918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.827628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.42, Y:-14.44, Z:0.86 [[ 9.05506364e-01 4.23691082e-01 -2.33257641e-02 5.94199763e+01] [-4.23547228e-01 9.05806742e-01 1.10404649e-02 -1.44363018e+01] [ 2.58063809e-02 -1.17648514e-04 9.99666953e-01 8.58993990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.857628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.45, Y:-14.45, Z:0.86 [[ 9.05147773e-01 4.24447247e-01 -2.34956161e-02 5.94496943e+01] [-4.24301338e-01 9.05452662e-01 1.11288602e-02 -1.44500246e+01] [ 2.59977822e-02 -1.04041698e-04 9.99661995e-01 8.59777971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.88762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.48, Y:-14.46, Z:0.86 [[ 9.04624638e-01 4.25577105e-01 -2.32032675e-02 5.94783710e+01] [-4.25434980e-01 9.04922163e-01 1.09980079e-02 -1.44635003e+01] [ 2.56776514e-02 -7.75872505e-05 9.99670272e-01 8.60665432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.91762800000001 meters Centerline goodness [0,1] 0.999844641232217 Centerline is valid? [True, True] Translation: X:59.51, Y:-14.48, Z:0.86 [[ 9.03726509e-01 4.27410041e-01 -2.44755867e-02 5.95066238e+01] [-4.27252355e-01 9.04057883e-01 1.16090252e-02 -1.44776604e+01] [ 2.70891610e-02 -3.41317809e-05 9.99633021e-01 8.59136053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.94762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.54, Y:-14.49, Z:0.86 [[ 9.02956196e-01 4.29076371e-01 -2.37397451e-02 5.95355194e+01] [-4.28928413e-01 9.03268215e-01 1.12671574e-02 -1.44915279e+01] [ 2.62778282e-02 8.90164607e-06 9.99654678e-01 8.62414898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.97762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.56, Y:-14.50, Z:0.86 [[ 9.02142672e-01 4.30707816e-01 -2.50873866e-02 5.95633419e+01] [-4.30543003e-01 9.02491426e-01 1.19142091e-02 -1.45047689e+01] [ 2.77726944e-02 5.28823173e-05 9.99614263e-01 8.61609095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.007628000000004 meters Centerline goodness [0,1] 0.9999777248123315 Centerline is valid? [True, True] Translation: X:59.59, Y:-14.52, Z:0.86 [[ 9.01246613e-01 4.32496446e-01 -2.64833112e-02 5.95920832e+01] [-4.32313322e-01 9.01635632e-01 1.25848757e-02 -1.45184485e+01] [ 2.93212110e-02 1.07011596e-04 9.99570035e-01 8.61088351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.037628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.62, Y:-14.53, Z:0.86 [[ 8.99638560e-01 4.35660818e-01 -2.91566828e-02 5.96209445e+01] [-4.35440283e-01 9.00110883e-01 1.38621511e-02 -1.45317821e+01] [ 3.22834436e-02 2.25068491e-04 9.99478728e-01 8.59262747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.067628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.65, Y:-14.55, Z:0.86 [[ 8.98523693e-01 4.37919370e-01 -2.96950798e-02 5.96500262e+01] [-4.37691613e-01 8.99014200e-01 1.41251520e-02 -1.45452264e+01] [ 3.28819761e-02 3.05503688e-04 9.99459195e-01 8.60279411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.09762800000001 meters Centerline goodness [0,1] 0.9999110399430655 Centerline is valid? [True, True] Translation: X:59.68, Y:-14.56, Z:0.86 [[ 8.97483722e-01 4.40024452e-01 -3.00241717e-02 5.96798822e+01] [-4.39792484e-01 8.97985712e-01 1.42909896e-02 -1.45578349e+01] [ 3.32496620e-02 3.78474552e-04 9.99447005e-01 8.60055932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.12762800000001 meters Centerline goodness [0,1] 0.9999778614124419 Centerline is valid? [True, True] Translation: X:59.71, Y:-14.57, Z:0.86 [[ 8.95222169e-01 4.44808530e-01 -2.68819544e-02 5.97095109e+01] [-4.44624511e-01 8.95625553e-01 1.28028637e-02 -1.45674391e+01] [ 2.97709882e-02 4.90968430e-04 9.99556625e-01 8.64599501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.15762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.74, Y:-14.58, Z:0.87 [[ 8.94463810e-01 4.46432800e-01 -2.51445399e-02 5.97392100e+01] [-4.46272241e-01 8.94817021e-01 1.19826814e-02 -1.45787554e+01] [ 2.78492243e-02 5.03235295e-04 9.99612008e-01 8.66790973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.187628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.77, Y:-14.59, Z:0.87 [[ 8.94017666e-01 4.47426522e-01 -2.32791989e-02 5.97692006e+01] [-4.47289051e-01 8.94320563e-01 1.11011507e-02 -1.45931733e+01] [ 2.57860155e-02 4.87905959e-04 9.99667366e-01 8.70400639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.217628000000005 meters Centerline goodness [0,1] 0.9999113710892493 Centerline is valid? [True, True] Translation: X:59.80, Y:-14.61, Z:0.87 [[ 8.94041379e-01 4.47442700e-01 -2.20236779e-02 5.97985983e+01] [-4.47319491e-01 8.94312486e-01 1.05095276e-02 -1.46064304e+01] [ 2.43984615e-02 4.55667871e-04 9.99702209e-01 8.71204525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.247628000000006 meters Centerline goodness [0,1] 0.9998004567323682 Centerline is valid? [True, True] Translation: X:59.83, Y:-14.62, Z:0.87 [[ 8.94790163e-01 4.46035333e-01 -2.00760235e-02 5.98277022e+01] [-4.45932491e-01 8.95015274e-01 9.58503015e-03 -1.46211354e+01] [ 2.22436098e-02 3.75960502e-04 9.99752510e-01 8.72855490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.27762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.86, Y:-14.64, Z:0.88 [[ 8.94919709e-01 4.45861281e-01 -1.80674297e-02 5.98557300e+01] [-4.45777889e-01 8.95102010e-01 8.62936093e-03 -1.46360262e+01] [ 2.00196906e-02 3.31475494e-04 9.99799531e-01 8.76208874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.30762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.88, Y:-14.65, Z:0.88 [[ 8.95974660e-01 4.43701624e-01 -1.89282348e-02 5.98823714e+01] [-4.43609491e-01 8.96174527e-01 9.04633198e-03 -1.46533365e+01] [ 2.09768741e-02 2.91460399e-04 9.99779919e-01 8.75775179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.33762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.91, Y:-14.67, Z:0.87 [[ 8.96411640e-01 4.42760345e-01 -2.02348482e-02 5.99098334e+01] [-4.42654694e-01 8.96639948e-01 9.67603800e-03 -1.46681610e+01] [ 2.24275391e-02 2.83337422e-04 9.99748431e-01 8.74559752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.94, Y:-14.68, Z:0.87 [[ 8.96674913e-01 4.42146828e-01 -2.19153422e-02 5.99389927e+01] [-4.42022584e-01 8.96942641e-01 1.04849668e-02 -1.46845487e+01] [ 2.42926997e-02 2.85469466e-04 9.99704848e-01 8.73994644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.397628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.97, Y:-14.70, Z:0.87 [[ 8.96840612e-01 4.41605551e-01 -2.57187498e-02 5.99666514e+01] [-4.41433946e-01 8.97209252e-01 1.23137975e-02 -1.46992024e+01] [ 2.85129416e-02 3.09615529e-04 9.99593375e-01 8.70439048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.427628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.99, Y:-14.71, Z:0.87 [[ 8.96495017e-01 4.42186147e-01 -2.77145447e-02 5.99947005e+01] [-4.41986950e-01 8.96923236e-01 1.32757512e-02 -1.47117160e+01] [ 3.07281724e-02 3.47822298e-04 9.99527718e-01 8.69003900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.45762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.02, Y:-14.72, Z:0.87 [[ 8.95783763e-01 4.43505102e-01 -2.95749068e-02 6.00240355e+01] [-4.43278747e-01 8.96271752e-01 1.41738716e-02 -1.47243750e+01] [ 3.27933379e-02 4.13203637e-04 9.99462068e-01 8.68292689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.48762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.05, Y:-14.73, Z:0.87 [[ 8.94477917e-01 4.46011209e-01 -3.13569286e-02 6.00544288e+01] [-4.45757942e-01 8.95027220e-01 1.50377292e-02 -1.47348272e+01] [ 3.47723004e-02 5.26683208e-04 9.99395122e-01 8.67639477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.51762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.08, Y:-14.75, Z:0.87 [[ 8.93952423e-01 4.47059362e-01 -3.14164337e-02 6.00835813e+01] [-4.46805457e-01 8.94504116e-01 1.50755017e-02 -1.47461367e+01] [ 3.48417734e-02 5.60252721e-04 9.99392684e-01 8.67199208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.54762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.11, Y:-14.76, Z:0.87 [[ 8.93681288e-01 4.47656262e-01 -3.06206948e-02 6.01127098e+01] [-4.47415105e-01 8.94205545e-01 1.47026059e-02 -1.47597779e+01] [ 3.39629087e-02 5.60717589e-04 9.99422937e-01 8.69644961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.577628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.14, Y:-14.77, Z:0.87 [[ 8.93542828e-01 4.48022816e-01 -2.92706501e-02 6.01415899e+01] [-4.47802373e-01 8.94021959e-01 1.40631229e-02 -1.47734354e+01] [ 3.24692038e-02 5.41463983e-04 9.99472590e-01 8.71703147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.607628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.17, Y:-14.79, Z:0.88 [[ 8.94180432e-01 4.46932589e-01 -2.63175866e-02 6.01693970e+01] [-4.46753698e-01 8.94567529e-01 1.26518744e-02 -1.47892937e+01] [ 2.91973934e-02 4.44420635e-04 9.99573566e-01 8.76274076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.63762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.20, Y:-14.80, Z:0.88 [[ 8.94736857e-01 4.45914385e-01 -2.46235401e-02 6.01965081e+01] [-4.45757212e-01 8.95075538e-01 1.18444005e-02 -1.48042594e+01] [ 2.73215169e-02 3.78498893e-04 9.99626626e-01 8.78104414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.66762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.22, Y:-14.82, Z:0.88 [[ 8.95412313e-01 4.44608786e-01 -2.36604644e-02 6.02243983e+01] [-4.44463039e-01 8.95724805e-01 1.13877697e-02 -1.48196644e+01] [ 2.62563674e-02 3.19452694e-04 9.99655191e-01 8.79257716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.69762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.25, Y:-14.84, Z:0.88 [[ 8.96971562e-01 4.41585054e-01 -2.10868805e-02 6.02515127e+01] [-4.41468324e-01 8.97219371e-01 1.01547732e-02 -1.48356308e+01] [ 2.34037538e-02 2.00646983e-04 9.99726075e-01 8.79949991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.72762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.28, Y:-14.85, Z:0.88 [[ 8.97638869e-01 4.40260821e-01 -2.03683720e-02 6.02794247e+01] [-4.40151443e-01 8.97869915e-01 9.81440693e-03 -1.48515292e+01] [ 2.26090473e-02 1.55375188e-04 9.99744371e-01 8.81473638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.757628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.31, Y:-14.87, Z:0.88 [[ 8.98022331e-01 4.39497642e-01 -1.99427991e-02 6.03078195e+01] [-4.39392467e-01 8.98243734e-01 9.61530804e-03 -1.48672279e+01] [ 2.21393995e-02 1.27954341e-04 9.99754885e-01 8.82261240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.787628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.34, Y:-14.88, Z:0.88 [[ 8.98320793e-01 4.38885398e-01 -1.99839871e-02 6.03369615e+01] [-4.38779495e-01 8.98543041e-01 9.64152331e-03 -1.48830136e+01] [ 2.21879964e-02 1.07382913e-04 9.99753810e-01 8.83110316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.817628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.37, Y:-14.90, Z:0.88 [[ 8.98337901e-01 4.38823538e-01 -2.05649652e-02 6.03654359e+01] [-4.38711207e-01 8.98573254e-01 9.92899420e-03 -1.48985462e+01] [ 2.28362040e-02 1.02488870e-04 9.99739215e-01 8.84188729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.39, Y:-14.91, Z:0.88 [[ 8.98213293e-01 4.39078666e-01 -2.05622615e-02 6.03945778e+01] [-4.38966273e-01 8.98448616e-01 9.93459080e-03 -1.49127013e+01] [ 2.28362022e-02 1.02757772e-04 9.99739215e-01 8.84694876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.87762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.42, Y:-14.93, Z:0.88 [[ 8.97835799e-01 4.39810634e-01 -2.13888705e-02 6.04247244e+01] [-4.39689048e-01 8.98090525e-01 1.03416504e-02 -1.49263789e+01] [ 2.37575098e-02 1.19348162e-04 9.99717743e-01 8.84923936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.90762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.45, Y:-14.94, Z:0.88 [[ 8.97472592e-01 4.40509619e-01 -2.22311127e-02 6.04533728e+01] [-4.40378321e-01 8.97747880e-01 1.07553541e-02 -1.49388179e+01] [ 2.46957712e-02 1.37464538e-04 9.99695003e-01 8.84185511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.937628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.48, Y:-14.95, Z:0.88 [[ 8.97023994e-01 4.41355152e-01 -2.35283559e-02 6.04823891e+01] [-4.41208232e-01 8.97332493e-01 1.13883009e-02 -1.49515719e+01] [ 2.61390435e-02 1.65325138e-04 9.99658303e-01 8.83333531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.967628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.51, Y:-14.96, Z:0.88 [[ 8.96742998e-01 4.41779513e-01 -2.61315387e-02 6.05117498e+01] [-4.41598215e-01 8.97123640e-01 1.26566513e-02 -1.49641884e+01] [ 2.90346704e-02 1.89877414e-04 9.99578387e-01 8.81249663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.997628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.54, Y:-14.98, Z:0.88 [[ 8.96914569e-01 4.41378329e-01 -2.70078762e-02 6.05411280e+01] [-4.41184213e-01 8.97321091e-01 1.30900766e-02 -1.49787255e+01] [ 3.00124131e-02 1.74768259e-04 9.99549511e-01 8.81386681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.02762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.57, Y:-14.99, Z:0.88 [[ 8.98414231e-01 4.38299050e-01 -2.73095765e-02 6.05685293e+01] [-4.38098881e-01 8.98829204e-01 1.32450758e-02 -1.49939854e+01] [ 3.03519490e-02 6.47303343e-05 9.99539271e-01 8.80474242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.05762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.60, Y:-15.01, Z:0.88 [[ 8.99473137e-01 4.36140825e-01 -2.70047608e-02 6.05961531e+01] [-4.35943884e-01 8.99878425e-01 1.31053257e-02 -1.50094909e+01] [ 3.00167692e-02 -1.53280576e-05 9.99549395e-01 8.81233035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.08762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.62, Y:-15.03, Z:0.88 [[ 9.00730479e-01 4.33554153e-01 -2.67469722e-02 6.06248987e+01] [-4.33359550e-01 9.01127507e-01 1.29890625e-02 -1.50255280e+01] [ 2.97338943e-02 -1.08588655e-04 9.99557844e-01 8.82800032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.117628 meters Centerline goodness [0,1] 0.9998442956602976 Centerline is valid? [True, True] Translation: X:60.65, Y:-15.04, Z:0.88 [[ 9.03483000e-01 4.27887851e-01 -2.51088899e-02 6.06521687e+01] [-4.27713944e-01 9.03831791e-01 1.22014836e-02 -1.50419784e+01] [ 2.79150795e-02 -2.84410626e-04 9.99610258e-01 8.82827359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.147628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.68, Y:-15.06, Z:0.89 [[ 9.04055019e-01 4.26740704e-01 -2.40186373e-02 6.06811255e+01] [-4.26580968e-01 9.04373968e-01 1.16792105e-02 -1.50572066e+01] [ 2.67058248e-02 -3.12755297e-04 9.99643287e-01 8.87067937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.177628000000006 meters Centerline goodness [0,1] 0.9999109884730073 Centerline is valid? [True, True] Translation: X:60.71, Y:-15.07, Z:0.89 [[ 9.04793689e-01 4.25204137e-01 -2.34483154e-02 6.07097613e+01] [-4.25051184e-01 9.05097406e-01 1.14094719e-02 -1.50723849e+01] [ 2.60743641e-02 -3.56483933e-04 9.99659942e-01 8.86704423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.20762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.74, Y:-15.09, Z:0.89 [[ 9.04847560e-01 4.25193614e-01 -2.14774984e-02 6.07387622e+01] [-4.25065146e-01 9.05102359e-01 1.04566559e-02 -1.50860370e+01] [ 2.38854378e-02 -3.32343615e-04 9.99714647e-01 8.90466270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.23762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.77, Y:-15.10, Z:0.89 [[ 9.04422232e-01 4.26114037e-01 -2.11483800e-02 6.07676608e+01] [-4.25989579e-01 9.04669405e-01 1.03027432e-02 -1.50998093e+01] [ 2.35224358e-02 -3.09040470e-04 9.99723261e-01 8.91019144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.26762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.80, Y:-15.11, Z:0.89 [[ 9.03905226e-01 4.27199610e-01 -2.13503155e-02 6.07959546e+01] [-4.27072917e-01 9.04157293e-01 1.04074050e-02 -1.51132322e+01] [ 2.37500828e-02 -2.89166255e-04 9.99717885e-01 8.91121413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.29762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.82, Y:-15.13, Z:0.89 [[ 9.02621448e-01 4.29854685e-01 -2.23488483e-02 6.08240249e+01] [-4.29716539e-01 9.02898053e-01 1.08996225e-02 -1.51262455e+01] [ 2.48639855e-02 -2.34563339e-04 9.99690816e-01 8.90308376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.327628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.85, Y:-15.14, Z:0.89 [[ 9.01892191e-01 4.31305453e-01 -2.37924844e-02 6.08539031e+01] [-4.31149230e-01 9.02205942e-01 1.16095008e-02 -1.51399751e+01] [ 2.64729618e-02 -2.12406779e-04 9.99649507e-01 8.90005246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.357628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.88, Y:-15.15, Z:0.89 [[ 9.01101449e-01 4.32881372e-01 -2.50977374e-02 6.08841582e+01] [-4.32707903e-01 9.01450877e-01 1.22550777e-02 -1.51535601e+01] [ 2.79293722e-02 -1.83078967e-04 9.99609882e-01 8.89163117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.38762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.91, Y:-15.17, Z:0.89 [[ 9.00198712e-01 4.34654863e-01 -2.67848748e-02 6.09130523e+01] [-4.34457814e-01 9.00597096e-01 1.30873520e-02 -1.51662989e+01] [ 2.98108616e-02 -1.44319252e-04 9.99555547e-01 8.87501403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.41762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.94, Y:-15.18, Z:0.89 [[ 8.98411327e-01 4.38189217e-01 -2.91083957e-02 6.09431806e+01] [-4.37958057e-01 8.98882756e-01 1.42313604e-02 -1.51776194e+01] [ 3.24010637e-02 -3.73589933e-05 9.99474947e-01 8.86806907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.44762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.97, Y:-15.19, Z:0.89 [[ 8.97359258e-01 4.40343803e-01 -2.90464693e-02 6.09731785e+01] [-4.40114445e-01 8.97829235e-01 1.42105907e-02 -1.51915503e+01] [ 3.23363149e-02 3.17656410e-05 9.99477044e-01 8.87417416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.47762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.00, Y:-15.20, Z:0.89 [[ 8.95920872e-01 4.43315005e-01 -2.82417819e-02 6.10015160e+01] [-4.43099430e-01 8.96365880e-01 1.38240803e-02 -1.52049653e+01] [ 3.14433919e-02 1.28635437e-04 9.99505526e-01 8.89274960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.507628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.03, Y:-15.22, Z:0.89 [[ 8.95354184e-01 4.44485335e-01 -2.78149740e-02 6.10313866e+01] [-4.44276573e-01 8.95786113e-01 1.36222618e-02 -1.52196014e+01] [ 3.09711631e-02 1.60792209e-04 9.99520266e-01 8.90562891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.537628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.06, Y:-15.23, Z:0.89 [[ 8.94970526e-01 4.45296959e-01 -2.71730839e-02 6.10612622e+01] [-4.45097818e-01 8.95382928e-01 1.33171262e-02 -1.52342333e+01] [ 3.02603912e-02 1.76244912e-04 9.99542034e-01 8.91751645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.567628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.09, Y:-15.25, Z:0.89 [[ 8.94816298e-01 4.45670861e-01 -2.61012829e-02 6.10897299e+01] [-4.45487041e-01 8.95196880e-01 1.28001078e-02 -1.52486836e+01] [ 2.90704221e-02 1.74038226e-04 9.99577351e-01 8.93141270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.12, Y:-15.26, Z:0.90 [[ 8.94492893e-01 4.46433284e-01 -2.40787713e-02 6.11174390e+01] [-4.46276944e-01 8.94816904e-01 1.18151661e-02 -1.52648457e+01] [ 2.68207750e-02 1.77218392e-04 9.99640243e-01 8.96676138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.62762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.15, Y:-15.28, Z:0.90 [[ 8.94345152e-01 4.46795182e-01 -2.28213687e-02 6.11452199e+01] [-4.46654701e-01 8.94636259e-01 1.12045918e-02 -1.52797442e+01] [ 2.54229816e-02 1.72499306e-04 9.99676769e-01 8.98827007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.65762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.17, Y:-15.30, Z:0.90 [[ 8.94567744e-01 4.46445094e-01 -2.08645467e-02 6.11733706e+01] [-4.46327448e-01 8.94811018e-01 1.02494691e-02 -1.52954611e+01] [ 2.32456515e-02 1.43575403e-04 9.99729773e-01 9.00728706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.687628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.20, Y:-15.31, Z:0.90 [[ 8.94879368e-01 4.45819932e-01 -2.08687593e-02 6.12016398e+01] [-4.45701919e-01 8.95122658e-01 1.02579876e-02 -1.53103603e+01] [ 2.32533146e-02 1.21584564e-04 9.99729598e-01 9.00440287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.717628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.23, Y:-15.33, Z:0.90 [[ 8.95255166e-01 4.45044621e-01 -2.12949274e-02 6.12299964e+01] [-4.44921349e-01 8.95508390e-01 1.04745674e-02 -1.53264933e+01] [ 2.37314360e-02 9.71572604e-05 9.99718365e-01 9.00502895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.747628000000006 meters Centerline goodness [0,1] 0.9998428273121225 Centerline is valid? [True, True] Translation: X:61.26, Y:-15.34, Z:0.90 [[ 8.95951499e-01 4.43566161e-01 -2.28028797e-02 6.12581030e+01] [-4.43424124e-01 8.96241629e-01 1.12244667e-02 -1.53430884e+01] [ 2.54156836e-02 5.47691662e-05 9.99676968e-01 8.98107806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.77762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.29, Y:-15.36, Z:0.90 [[ 8.95602972e-01 4.44299978e-01 -2.22001248e-02 6.12879991e+01] [-4.44165389e-01 8.95878075e-01 1.09353462e-02 -1.53573299e+01] [ 2.47471791e-02 6.67984550e-05 9.99693739e-01 9.00753829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.80762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.32, Y:-15.37, Z:0.90 [[ 8.95279509e-01 4.44938268e-01 -2.24619180e-02 6.13169865e+01] [-4.44800494e-01 8.95561238e-01 1.10719918e-02 -1.53708529e+01] [ 2.50423760e-02 7.85447943e-05 9.99686387e-01 9.00314289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.83762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.35, Y:-15.39, Z:0.90 [[ 8.94969804e-01 4.45515121e-01 -2.33522390e-02 6.13467072e+01] [-4.45366197e-01 8.95274410e-01 1.15187368e-02 -1.53851931e+01] [ 2.60384334e-02 9.13762319e-05 9.99660938e-01 9.00604333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.38, Y:-15.40, Z:0.90 [[ 8.94781169e-01 4.45819191e-01 -2.47367646e-02 6.13767580e+01] [-4.45651970e-01 8.95123030e-01 1.22099520e-02 -1.53977092e+01] [ 2.75858786e-02 9.87527473e-05 9.99619432e-01 9.01212923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.897628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.41, Y:-15.41, Z:0.90 [[ 8.94566709e-01 4.46232114e-01 -2.50460388e-02 6.14060893e+01] [-4.46060625e-01 8.94917253e-01 1.23705289e-02 -1.54103500e+01] [ 2.79342595e-02 1.05788421e-04 9.99609757e-01 9.00235070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.927628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.44, Y:-15.42, Z:0.90 [[ 8.94278743e-01 4.46797613e-01 -2.52472310e-02 6.14354858e+01] [-4.46623339e-01 8.94635054e-01 1.24785298e-02 -1.54245986e+01] [ 2.81624352e-02 1.16718711e-04 9.99603353e-01 9.02753200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.95762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.46, Y:-15.44, Z:0.90 [[ 8.93912425e-01 4.47507376e-01 -2.56461565e-02 6.14647293e+01] [-4.47327585e-01 8.94280230e-01 1.26846987e-02 -1.54376359e+01] [ 2.86113470e-02 1.33223466e-04 9.99590603e-01 9.02548413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.98762800000001 meters Centerline goodness [0,1] 0.9998216395781776 Centerline is valid? [True, True] Translation: X:61.49, Y:-15.45, Z:0.90 [[ 8.94050912e-01 4.47162372e-01 -2.68100605e-02 6.14935098e+01] [-4.46965468e-01 8.94452793e-01 1.32692026e-02 -1.54519990e+01] [ 2.99138216e-02 1.19828596e-04 9.99552474e-01 9.01220109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.01762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.52, Y:-15.47, Z:0.90 [[ 8.93734234e-01 4.47815547e-01 -2.64642330e-02 6.15232119e+01] [-4.47623722e-01 8.94125952e-01 1.31066969e-02 -1.54661356e+01] [ 2.95317402e-02 1.32114770e-04 9.99563834e-01 9.04240814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.04762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.55, Y:-15.48, Z:0.90 [[ 8.93876491e-01 4.47530239e-01 -2.64859252e-02 6.15528459e+01] [-4.47337698e-01 8.94268792e-01 1.31267562e-02 -1.54803290e+01] [ 2.95601567e-02 1.14454015e-04 9.99562997e-01 9.03743674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.077628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.58, Y:-15.50, Z:0.90 [[ 8.94275513e-01 4.46758581e-01 -2.60399111e-02 6.15811670e+01] [-4.46571898e-01 8.94654550e-01 1.29142045e-02 -1.54960501e+01] [ 2.90662566e-02 7.98356847e-05 9.99577484e-01 9.04959748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.107628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.61, Y:-15.51, Z:0.91 [[ 8.94358778e-01 4.46648744e-01 -2.50454851e-02 6.16094499e+01] [-4.46475796e-01 8.94709391e-01 1.24285198e-02 -1.55115185e+01] [ 2.79596135e-02 6.66470929e-05 9.99609051e-01 9.06497414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.13762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.64, Y:-15.53, Z:0.91 [[ 8.94228311e-01 4.47024633e-01 -2.29064473e-02 6.16371459e+01] [-4.46879930e-01 8.94521645e-01 1.13734561e-02 -1.55258059e+01] [ 2.55745279e-02 6.59650808e-05 9.99672916e-01 9.09583955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.16762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.67, Y:-15.54, Z:0.91 [[ 8.93935860e-01 4.47640941e-01 -2.22770325e-02 6.16666182e+01] [-4.47504106e-01 8.94213387e-01 1.10676598e-02 -1.55398069e+01] [ 2.48747583e-02 7.52854904e-05 9.99690572e-01 9.11278158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.19762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.70, Y:-15.55, Z:0.91 [[ 8.93411774e-01 4.48697329e-01 -2.20478642e-02 6.16961966e+01] [-4.48563427e-01 8.93683779e-01 1.09614765e-02 -1.55538074e+01] [ 2.46222039e-02 9.67533804e-05 9.99696823e-01 9.12265054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.22762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.73, Y:-15.57, Z:0.91 [[ 8.92268806e-01 4.50923883e-01 -2.28917116e-02 6.17256838e+01] [-4.50780064e-01 8.92562394e-01 1.13888765e-02 -1.55671849e+01] [ 2.55677973e-02 1.57188031e-04 9.99673078e-01 9.12329283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.257628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.75, Y:-15.58, Z:0.91 [[ 8.91429409e-01 4.52548210e-01 -2.35313782e-02 6.17537520e+01] [-4.52396618e-01 8.91739915e-01 1.17142695e-02 -1.55802598e+01] [ 2.62851409e-02 2.03071595e-04 9.99654465e-01 9.11693899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.287628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.78, Y:-15.59, Z:0.91 [[ 8.90593619e-01 4.54136735e-01 -2.45526484e-02 6.17824102e+01] [-4.53972095e-01 8.90931962e-01 1.22300871e-02 -1.55942415e+01] [ 2.74288711e-02 2.54179706e-04 9.99623725e-01 9.11793941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.317628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.81, Y:-15.61, Z:0.91 [[ 8.89710327e-01 4.55817905e-01 -2.54081025e-02 6.18101333e+01] [-4.55642057e-01 8.90072998e-01 1.26639173e-02 -1.56074419e+01] [ 2.83875062e-02 3.09782034e-04 9.99596946e-01 9.11258737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.84, Y:-15.62, Z:0.91 [[ 8.88605989e-01 4.57910363e-01 -2.64101399e-02 6.18391687e+01] [-4.57721059e-01 8.88998285e-01 1.31712231e-02 -1.56215801e+01] [ 2.95098086e-02 3.84449461e-04 9.99564417e-01 9.11132928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.37762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.87, Y:-15.64, Z:0.91 [[ 8.88289442e-01 4.58516195e-01 -2.65474338e-02 6.18683580e+01] [-4.58324931e-01 8.88685962e-01 1.32483241e-02 -1.56365491e+01] [ 2.96669030e-02 3.99004334e-04 9.99559761e-01 9.11982452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.40762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.90, Y:-15.65, Z:0.91 [[ 8.88423609e-01 4.58260472e-01 -2.64732277e-02 6.18971319e+01] [-4.58069887e-01 8.88817864e-01 1.32205629e-02 -1.56516214e+01] [ 2.95883391e-02 3.81128212e-04 9.99562097e-01 9.12632984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.437628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.92, Y:-15.67, Z:0.91 [[ 8.89849068e-01 4.55507013e-01 -2.61150747e-02 6.19234873e+01] [-4.55320161e-01 8.90232151e-01 1.30486582e-02 -1.56683736e+01] [ 2.91922344e-02 2.79383708e-04 9.99573777e-01 9.12938091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.467628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.95, Y:-15.69, Z:0.92 [[ 8.91013507e-01 4.53274272e-01 -2.52460792e-02 6.19506347e+01] [-4.53098592e-01 8.91371077e-01 1.26202054e-02 -1.56862345e+01] [ 2.82240392e-02 1.94189408e-04 9.99601604e-01 9.15229044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.497628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.98, Y:-15.70, Z:0.92 [[ 8.92590121e-01 4.50194336e-01 -2.46563610e-02 6.19770600e+01] [-4.50025397e-01 8.92930598e-01 1.23324673e-02 -1.57037207e+01] [ 2.75684261e-02 8.81502125e-05 9.99619915e-01 9.16238270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.52762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.00, Y:-15.73, Z:0.92 [[ 8.96130896e-01 4.43156210e-01 -2.37063583e-02 6.20025555e+01] [-4.42997379e-01 8.96444397e-01 1.18644737e-02 -1.57258078e+01] [ 2.65092473e-02 -1.30266852e-04 9.99648560e-01 9.19410877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.55762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.03, Y:-15.74, Z:0.92 [[ 8.97385249e-01 4.40646058e-01 -2.30383651e-02 6.20304758e+01] [-4.40495030e-01 8.97680906e-01 1.15377606e-02 -1.57421497e+01] [ 2.57651692e-02 -2.05530890e-04 9.99668002e-01 9.20664578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.58762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.06, Y:-15.76, Z:0.92 [[ 8.98187060e-01 4.39049623e-01 -2.22583478e-02 6.20584949e+01] [-4.38907988e-01 8.98462780e-01 1.11539945e-02 -1.57572149e+01] [ 2.48954541e-02 -2.49006836e-04 9.99690029e-01 9.21545945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.09, Y:-15.77, Z:0.92 [[ 8.99969484e-01 4.35401236e-01 -2.19246632e-02 6.20859135e+01] [-4.35262563e-01 9.00236436e-01 1.09936880e-02 -1.57735909e+01] [ 2.45240460e-02 -3.50998603e-04 9.99699179e-01 9.21939403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.647628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.11, Y:-15.79, Z:0.92 [[ 9.00844939e-01 4.33573526e-01 -2.21899408e-02 6.21138712e+01] [-4.33430754e-01 9.01118099e-01 1.11334340e-02 -1.57897634e+01] [ 2.48229195e-02 -4.11694904e-04 9.99691779e-01 9.23110856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.677628000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.14, Y:-15.80, Z:0.92 [[ 9.01691488e-01 4.31826062e-01 -2.18794974e-02 6.21420545e+01] [-4.31686583e-01 9.01956784e-01 1.09842163e-02 -1.58042514e+01] [ 2.44776320e-02 -4.59288841e-04 9.99700272e-01 9.24409759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.70762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.17, Y:-15.82, Z:0.92 [[ 9.03306647e-01 4.28441274e-01 -2.17985467e-02 6.21711020e+01] [-4.28301718e-01 9.03569460e-01 1.09485021e-02 -1.58187494e+01] [ 2.43872913e-02 -5.53499715e-04 9.99702433e-01 9.24415634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.73762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.20, Y:-15.83, Z:0.92 [[ 9.03880092e-01 4.27209827e-01 -2.21933298e-02 6.21978846e+01] [-4.27064710e-01 9.04152312e-01 1.11503426e-02 -1.58339016e+01] [ 2.48296864e-02 -6.00584664e-04 9.99691515e-01 9.23542427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.76762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.23, Y:-15.85, Z:0.92 [[ 9.03766372e-01 4.27450488e-01 -2.21906569e-02 6.22268013e+01] [-4.27305313e-01 9.04038561e-01 1.11556601e-02 -1.58485349e+01] [ 2.48297019e-02 -5.99924893e-04 9.99691515e-01 9.24048548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.79762800000001 meters Centerline goodness [0,1] 0.999910342045098 Centerline is valid? [True, True] Translation: X:62.26, Y:-15.86, Z:0.92 [[ 9.04199571e-01 4.26483577e-01 -2.31278000e-02 6.22568276e+01] [-4.26325366e-01 9.04495065e-01 1.16344016e-02 -1.58608109e+01] [ 2.58808622e-02 -6.59853191e-04 9.99664817e-01 9.22912285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.827628000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.29, Y:-15.87, Z:0.93 [[ 9.04407684e-01 4.26064023e-01 -2.27197806e-02 6.22865237e+01] [-4.25911042e-01 9.04692768e-01 1.14359225e-02 -1.58724227e+01] [ 2.54268563e-02 -6.66130803e-04 9.99676463e-01 9.25247073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.857628000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.32, Y:-15.88, Z:0.93 [[ 9.04161943e-01 4.26593899e-01 -2.25571826e-02 6.23168325e+01] [-4.26443092e-01 9.04443044e-01 1.13608903e-02 -1.58837654e+01] [ 2.52481734e-02 -6.52729960e-04 9.99681001e-01 9.26727529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.88762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.34, Y:-15.90, Z:0.93 [[ 9.03688555e-01 4.27589374e-01 -2.26787087e-02 6.23447857e+01] [-4.27437077e-01 9.03972856e-01 1.14289047e-02 -1.58977621e+01] [ 2.53878153e-02 -6.34449370e-04 9.99677476e-01 9.26682397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.91762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.37, Y:-15.91, Z:0.93 [[ 9.03238738e-01 4.28539833e-01 -2.26582200e-02 6.23739579e+01] [-4.28387945e-01 9.03522682e-01 1.14250939e-02 -1.59100490e+01] [ 2.53683236e-02 -6.13079066e-04 9.99677984e-01 9.27449381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.94762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.41, Y:-15.92, Z:0.93 [[ 9.02037801e-01 4.31063369e-01 -2.26313287e-02 6.24066975e+01] [-4.30912464e-01 9.02321490e-01 1.14182549e-02 -1.59170790e+01] [ 2.53427257e-02 -5.47575891e-04 9.99678672e-01 9.29371557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.97762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.44, Y:-15.93, Z:0.93 [[ 9.01305350e-01 4.32621461e-01 -2.20757133e-02 6.24369378e+01] [-4.32478178e-01 9.01575523e-01 1.11445780e-02 -1.59276765e+01] [ 2.47243063e-02 -4.97403503e-04 9.99694184e-01 9.30365357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.47, Y:-15.94, Z:0.93 [[ 8.99586827e-01 4.36211220e-01 -2.15246740e-02 6.24682736e+01] [-4.36075869e-01 8.99844218e-01 1.08729386e-02 -1.59366112e+01] [ 2.41117513e-02 -3.94761381e-04 9.99709192e-01 9.31697101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.50, Y:-15.95, Z:0.93 [[ 8.98636272e-01 4.38183897e-01 -2.11594587e-02 6.24974797e+01] [-4.38053498e-01 8.98885285e-01 1.06947356e-02 -1.59481773e+01] [ 2.37061870e-02 -3.41702481e-04 9.99718910e-01 9.32330198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.06762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.53, Y:-15.96, Z:0.93 [[ 8.97608163e-01 4.40299463e-01 -2.08798364e-02 6.25281573e+01] [-4.40172950e-01 8.97850935e-01 1.05580730e-02 -1.59597092e+01] [ 2.33956945e-02 -2.86273317e-04 9.99726242e-01 9.33044384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.097628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.56, Y:-15.97, Z:0.93 [[ 8.96810098e-01 4.41955853e-01 -2.01661135e-02 6.25573501e+01] [-4.41838187e-01 8.97036771e-01 1.02004191e-02 -1.59707397e+01] [ 2.25978803e-02 -2.37679824e-04 9.99744607e-01 9.33552066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.59, Y:-15.98, Z:0.93 [[ 8.95280376e-01 4.45098235e-01 -1.89897219e-02 6.25888831e+01] [-4.44994492e-01 8.95481735e-01 9.61064462e-03 -1.59789875e+01] [ 2.12826300e-02 -1.53899895e-04 9.99773487e-01 9.34100228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.157628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.62, Y:-15.99, Z:0.94 [[ 8.94484888e-01 4.46732037e-01 -1.80906739e-02 6.26192372e+01] [-4.46638110e-01 8.94667801e-01 9.16101023e-03 -1.59909273e+01] [ 2.02776602e-02 -1.14400812e-04 9.99794381e-01 9.35261061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.65, Y:-16.00, Z:0.94 [[ 8.93187131e-01 4.49375348e-01 -1.66896986e-02 6.26500444e+01] [-4.49295777e-01 8.93343044e-01 8.45641710e-03 -1.60017366e+01] [ 1.87097315e-02 -5.45518316e-05 9.99824956e-01 9.37369152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.217628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.68, Y:-16.01, Z:0.94 [[ 8.92563297e-01 4.50626808e-01 -1.63168943e-02 6.26799023e+01] [-4.50550869e-01 8.92712428e-01 8.27259343e-03 -1.60149762e+01] [ 1.82941467e-02 -3.22223586e-05 9.99832648e-01 9.38495230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.71, Y:-16.03, Z:0.94 [[ 8.92110990e-01 4.51525881e-01 -1.61975441e-02 6.27102736e+01] [-4.51451094e-01 8.92258022e-01 8.21776917e-03 -1.60283879e+01] [ 1.81629241e-02 -1.87631894e-05 9.99835040e-01 9.39134825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.277628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.74, Y:-16.04, Z:0.94 [[ 8.91900680e-01 4.51932563e-01 -1.64358268e-02 6.27413971e+01] [-4.51855519e-01 8.92052105e-01 8.34451966e-03 -1.60398175e+01] [ 1.84327741e-02 -1.58636912e-05 9.99830102e-01 9.38345530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.30762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.77, Y:-16.05, Z:0.94 [[ 8.91873647e-01 4.51969729e-01 -1.68748736e-02 6.27701526e+01] [-4.51888407e-01 8.92033275e-01 8.57345162e-03 -1.60531540e+01] [ 1.89278894e-02 -2.08758147e-05 9.99820851e-01 9.37925161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33762800000001 meters Centerline goodness [0,1] 0.9998698170930157 Centerline is valid? [True, True] Translation: X:62.80, Y:-16.07, Z:0.94 [[ 8.92176589e-01 4.51317117e-01 -1.82700394e-02 6.27992389e+01] [-4.51221521e-01 8.92363635e-01 9.28876668e-03 -1.60677604e+01] [ 2.04956981e-02 -4.33852228e-05 9.99789940e-01 9.35619260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.36762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.83, Y:-16.08, Z:0.94 [[ 8.92749191e-01 4.50215805e-01 -1.74531017e-02 6.28293355e+01] [-4.50128241e-01 8.92919775e-01 8.87937719e-03 -1.60818646e+01] [ 1.95818556e-02 -7.09228581e-05 9.99808255e-01 9.38786329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.86, Y:-16.10, Z:0.94 [[ 8.93268248e-01 4.49181116e-01 -1.75545165e-02 6.28575229e+01] [-4.49092214e-01 8.93440717e-01 8.93691808e-03 -1.60962920e+01] [ 1.96982147e-02 -9.94684703e-05 9.99805966e-01 9.38654613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.42762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.88, Y:-16.11, Z:0.94 [[ 8.93847570e-01 4.47988331e-01 -1.85196354e-02 6.28845533e+01] [-4.47889030e-01 8.94039393e-01 9.43292934e-03 -1.61110140e+01] [ 2.07831259e-02 -1.36859412e-04 9.99783998e-01 9.38141065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45762800000001 meters Centerline goodness [0,1] 0.9998489132546243 Centerline is valid? [True, True] Translation: X:62.91, Y:-16.13, Z:0.94 [[ 8.94617711e-01 4.46365578e-01 -2.04186696e-02 6.29133641e+01] [-4.46244293e-01 8.94850675e-01 1.04067195e-02 -1.61259100e+01] [ 2.29168617e-02 -1.98320785e-04 9.99737355e-01 9.35938739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.487628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.94, Y:-16.14, Z:0.94 [[ 8.96186661e-01 4.43193372e-01 -2.07148332e-02 6.29399996e+01] [-4.43067564e-01 8.96425988e-01 1.05632180e-02 -1.61410179e+01] [ 2.32508630e-02 -2.88544356e-04 9.99729621e-01 9.37248625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.97, Y:-16.16, Z:0.94 [[ 8.97280151e-01 4.40963722e-01 -2.09601303e-02 6.29681923e+01] [-4.40834205e-01 8.97524858e-01 1.06927132e-02 -1.61555156e+01] [ 2.35273366e-02 -3.54416907e-04 9.99723131e-01 9.37296669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.00, Y:-16.17, Z:0.94 [[ 8.98484352e-01 4.38494808e-01 -2.11700679e-02 6.29963748e+01] [-4.38361839e-01 8.98733620e-01 1.08064262e-02 -1.61706062e+01] [ 2.37648135e-02 -4.29254961e-04 9.99717485e-01 9.37701521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.02, Y:-16.19, Z:0.94 [[ 9.01404969e-01 4.32396125e-01 -2.24203566e-02 6.30225601e+01] [-4.32244939e-01 9.01683533e-01 1.14507550e-02 -1.61872880e+01] [ 2.51673284e-02 -6.30681815e-04 9.99683054e-01 9.37411115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.05, Y:-16.20, Z:0.94 [[ 9.02991570e-01 4.29045685e-01 -2.29352182e-02 6.30497263e+01] [-4.28886260e-01 9.03282483e-01 1.17188403e-02 -1.62032349e+01] [ 2.57448987e-02 -7.45414005e-04 9.99668267e-01 9.37590103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.637628 meters Centerline goodness [0,1] 0.9998270868456318 Centerline is valid? [True, True] Translation: X:63.07, Y:-16.22, Z:0.93 [[ 9.06446197e-01 4.21560752e-01 -2.53342669e-02 6.30745363e+01] [-4.21363162e-01 9.06799538e-01 1.29492577e-02 -1.62219441e+01] [ 2.84320004e-02 -1.06287858e-03 9.99595164e-01 9.34943843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.66762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.10, Y:-16.23, Z:0.94 [[ 9.07953872e-01 4.18376595e-01 -2.40995837e-02 6.31034879e+01] [-4.18196653e-01 9.08272976e-01 1.23190768e-02 -1.62346171e+01] [ 2.70430141e-02 -1.10678827e-03 9.99633658e-01 9.38673965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.13, Y:-16.25, Z:0.94 [[ 9.09424625e-01 4.15186401e-01 -2.38139411e-02 6.31291685e+01] [-4.15009566e-01 9.09735587e-01 1.21746060e-02 -1.62515075e+01] [ 2.67191205e-02 -1.18887309e-03 9.99642274e-01 9.38543422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.72762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.16, Y:-16.26, Z:0.94 [[ 9.10782343e-01 4.12233340e-01 -2.32205992e-02 6.31582375e+01] [-4.12064190e-01 9.11077451e-01 1.18735883e-02 -1.62619422e+01] [ 2.60504533e-02 -1.24587718e-03 9.99659853e-01 9.40953052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.18, Y:-16.28, Z:0.94 [[ 9.12929519e-01 4.07490210e-01 -2.26146557e-02 6.31847728e+01] [-4.07328265e-01 9.13208581e-01 1.15659573e-02 -1.62770806e+01] [ 2.53649121e-02 -1.34731536e-03 9.99677351e-01 9.42697244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.78762800000001 meters Centerline goodness [0,1] 0.9999353629371082 Centerline is valid? [True, True] Translation: X:63.21, Y:-16.29, Z:0.94 [[ 9.13408887e-01 4.06436918e-01 -2.22089195e-02 6.32111443e+01] [-4.06280386e-01 9.13677843e-01 1.13599220e-02 -1.62928098e+01] [ 2.49088894e-02 -1.35320534e-03 9.99688810e-01 9.43925505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.81762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.24, Y:-16.30, Z:0.95 [[ 9.13622950e-01 4.05996370e-01 -2.14488273e-02 6.32417729e+01] [-4.05850142e-01 9.13873732e-01 1.09756068e-02 -1.63032260e+01] [ 2.40575764e-02 -1.32255661e-03 9.99709700e-01 9.46411153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.847628 meters Centerline goodness [0,1] 0.9999785490583036 Centerline is valid? [True, True] Translation: X:63.27, Y:-16.32, Z:0.95 [[ 9.13363851e-01 4.06603416e-01 -2.09794748e-02 6.32693196e+01] [-4.06463528e-01 9.13603861e-01 1.07418012e-02 -1.63184372e+01] [ 2.35345823e-02 -1.28378157e-03 9.99722199e-01 9.47599983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.30, Y:-16.33, Z:0.95 [[ 9.11495678e-01 4.10845095e-01 -1.95431898e-02 6.33004379e+01] [-4.10724591e-01 9.11704504e-01 1.00103645e-02 -1.63260291e+01] [ 2.19303233e-02 -1.09753533e-03 9.99758899e-01 9.49477761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.907628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.33, Y:-16.34, Z:0.95 [[ 9.10278604e-01 4.13575989e-01 -1.86484478e-02 6.33298740e+01] [-4.13466824e-01 9.10469072e-01 9.55273357e-03 -1.63371575e+01] [ 2.09296162e-02 -9.85134487e-04 9.99780466e-01 9.50891245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.36, Y:-16.35, Z:0.95 [[ 9.08867764e-01 4.16702178e-01 -1.78516619e-02 6.33585696e+01] [-4.16602729e-01 9.09042644e-01 9.14533171e-03 -1.63481971e+01] [ 2.00388016e-02 -8.74846122e-04 9.99798820e-01 9.52122453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.967628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.39, Y:-16.35, Z:0.95 [[ 9.05913072e-01 4.23135050e-01 -1.66804209e-02 6.33891908e+01] [-4.23049297e-01 9.06066366e-01 8.54586475e-03 -1.63546908e+01] [ 1.87296233e-02 -6.85170257e-04 9.99824350e-01 9.53740297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.42, Y:-16.36, Z:0.95 [[ 9.04460452e-01 4.26234333e-01 -1.66007040e-02 6.34193163e+01] [-4.26149914e-01 9.04612575e-01 8.50525724e-03 -1.63645726e+01] [ 1.86424383e-02 -6.18280215e-04 9.99826023e-01 9.54027442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.027628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.45, Y:-16.37, Z:0.95 [[ 9.01643914e-01 4.32127202e-01 -1.74451613e-02 6.34508823e+01] [-4.32035058e-01 9.01812513e-01 8.93871574e-03 -1.63710498e+01] [ 1.95949270e-02 -5.22617388e-04 9.99807864e-01 9.53935911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.48, Y:-16.38, Z:0.95 [[ 9.00185249e-01 4.35148343e-01 -1.76758962e-02 6.34809442e+01] [-4.35054308e-01 9.00358653e-01 9.05784907e-03 -1.63818385e+01] [ 1.98561541e-02 -4.63767344e-04 9.99802740e-01 9.53978962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.51, Y:-16.39, Z:0.95 [[ 8.98702024e-01 4.38199453e-01 -1.77738821e-02 6.35106983e+01] [-4.38104926e-01 8.98877677e-01 9.11017044e-03 -1.63929192e+01] [ 1.99686176e-02 -4.00503299e-04 9.99800527e-01 9.53725775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.54, Y:-16.40, Z:0.95 [[ 8.95738506e-01 4.44178333e-01 -1.89245269e-02 6.35431074e+01] [-4.44072392e-01 8.95938349e-01 9.70492135e-03 -1.63991393e+01] [ 2.12659252e-02 -2.89211823e-04 9.99773813e-01 9.53722265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.14762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.57, Y:-16.41, Z:0.95 [[ 8.94340670e-01 4.46977567e-01 -1.91264383e-02 6.35719969e+01] [-4.46869942e-01 8.94545138e-01 9.81078340e-03 -1.64108135e+01] [ 2.14946625e-02 -2.27152226e-04 9.99768937e-01 9.54096970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.17762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.60, Y:-16.42, Z:0.95 [[ 8.92952929e-01 4.49744953e-01 -1.90930158e-02 6.36005482e+01] [-4.49638250e-01 8.93157013e-01 9.79766265e-03 -1.64230196e+01] [ 2.14595103e-02 -1.63901366e-04 9.99769705e-01 9.53811445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.20762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.63, Y:-16.43, Z:0.95 [[ 8.89979361e-01 4.55574201e-01 -1.97201351e-02 6.36322236e+01] [-4.55461691e-01 8.90197813e-01 1.01242801e-02 -1.64326971e+01] [ 2.21671819e-02 -2.86342145e-05 9.99754277e-01 9.54799896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.237628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.66, Y:-16.45, Z:0.96 [[ 8.88511586e-01 4.58434311e-01 -1.96250743e-02 6.36616484e+01] [-4.58323504e-01 8.88728294e-01 1.00789609e-02 -1.64459732e+01] [ 2.20619003e-02 3.93592876e-05 9.99756606e-01 9.55287675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.69, Y:-16.46, Z:0.96 [[ 8.87271439e-01 4.60838858e-01 -1.94149831e-02 6.36919883e+01] [-4.60730841e-01 8.87483825e-01 9.97765388e-03 -1.64598840e+01] [ 2.18285741e-02 9.21941930e-05 9.99761724e-01 9.56390821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.72, Y:-16.47, Z:0.96 [[ 8.86283165e-01 4.62743944e-01 -1.92404115e-02 6.37200098e+01] [-4.62638183e-01 8.86491977e-01 9.89378838e-03 -1.64726719e+01] [ 2.16347611e-02 1.32650948e-04 9.99765932e-01 9.56449777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.75, Y:-16.49, Z:0.96 [[ 8.85449913e-01 4.64294568e-01 -2.02238793e-02 6.37476011e+01] [-4.64178040e-01 8.85680825e-01 1.04030614e-02 -1.64867090e+01] [ 2.27419870e-02 1.76090810e-04 9.99741352e-01 9.55872404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.78, Y:-16.50, Z:0.96 [[ 8.85297133e-01 4.64561203e-01 -2.07815872e-02 6.37761817e+01] [-4.64438120e-01 8.85540995e-01 1.06947739e-02 -1.65029162e+01] [ 2.33713244e-02 1.83708593e-04 9.99726836e-01 9.56124031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.80, Y:-16.52, Z:0.96 [[ 8.85194906e-01 4.64746544e-01 -2.09911352e-02 6.38031798e+01] [-4.64620846e-01 8.85443739e-01 1.08099022e-02 -1.65200367e+01] [ 2.36103340e-02 1.84048665e-04 9.99721220e-01 9.56670072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.83, Y:-16.54, Z:0.96 [[ 8.85099935e-01 4.64938492e-01 -2.07437903e-02 6.38314265e+01] [-4.64815630e-01 8.85342965e-01 1.06894315e-02 -1.65365260e+01] [ 2.33352970e-02 1.80822826e-04 9.99727679e-01 9.57450968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.86, Y:-16.55, Z:0.96 [[ 8.84792758e-01 4.65517328e-01 -2.08660565e-02 6.38592072e+01] [-4.65393003e-01 8.85038746e-01 1.07596920e-02 -1.65533783e+01] [ 2.34760915e-02 1.90819131e-04 9.99724380e-01 9.58726452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.89, Y:-16.57, Z:0.96 [[ 8.83920584e-01 4.67139834e-01 -2.15586858e-02 6.38857590e+01] [-4.67007435e-01 8.84183420e-01 1.11236443e-02 -1.65687847e+01] [ 2.42581299e-02 2.35648424e-04 9.99705700e-01 9.58328679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.50762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.91, Y:-16.58, Z:0.96 [[ 8.83325885e-01 4.68227290e-01 -2.23290438e-02 6.39142964e+01] [-4.68085453e-01 8.83608019e-01 1.15272299e-02 -1.65840829e+01] [ 2.51274858e-02 2.69599987e-04 9.99684219e-01 9.58092934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.94, Y:-16.60, Z:0.96 [[ 8.82756412e-01 4.69277173e-01 -2.28046534e-02 6.39412174e+01] [-4.69129406e-01 8.83050873e-01 1.17794552e-02 -1.65990912e+01] [ 2.56654986e-02 2.99943877e-04 9.99670542e-01 9.57946943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.56762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.97, Y:-16.61, Z:0.96 [[ 8.82318169e-01 4.70096688e-01 -2.28856547e-02 6.39685037e+01] [-4.69948008e-01 8.82614866e-01 1.18265927e-02 -1.66147922e+01] [ 2.57588611e-02 3.20250178e-04 9.99668134e-01 9.57949187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.597628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.99, Y:-16.64, Z:0.96 [[ 8.81774257e-01 4.71090954e-01 -2.33981341e-02 6.39941474e+01] [-4.70935751e-01 8.82084570e-01 1.20966845e-02 -1.66350269e+01] [ 2.63377717e-02 3.52472869e-04 9.99653039e-01 9.59868624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.627628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.02, Y:-16.65, Z:0.96 [[ 8.81642639e-01 4.71337386e-01 -2.33950054e-02 6.40229133e+01] [-4.71182109e-01 8.81952915e-01 1.21027333e-02 -1.66499920e+01] [ 2.63377638e-02 3.53022242e-04 9.99653039e-01 9.60374753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.657628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.05, Y:-16.67, Z:0.96 [[ 8.81489695e-01 4.71613486e-01 -2.35931902e-02 6.40507270e+01] [-4.71455448e-01 8.81805303e-01 1.22134181e-02 -1.66656320e+01] [ 2.65646129e-02 3.57135877e-04 9.99647035e-01 9.59853080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.08, Y:-16.69, Z:0.96 [[ 8.81639214e-01 4.71306859e-01 -2.41275783e-02 6.40764957e+01] [-4.71141252e-01 8.81969230e-01 1.24979328e-02 -1.66852487e+01] [ 2.71701431e-02 3.48829813e-04 9.99630763e-01 9.60035047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.717628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.10, Y:-16.70, Z:0.96 [[ 8.81742083e-01 4.71100215e-01 -2.44025773e-02 6.41047537e+01] [-4.70930515e-01 8.82079629e-01 1.26482307e-02 -1.67033066e+01] [ 2.74836005e-02 3.39441064e-04 9.99622197e-01 9.60109099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.13, Y:-16.72, Z:0.96 [[ 8.82166057e-01 4.70283923e-01 -2.48209513e-02 6.41320256e+01] [-4.70107791e-01 8.82515118e-01 1.28736523e-02 -1.67229795e+01] [ 2.79591365e-02 3.11823522e-04 9.99609018e-01 9.62265089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.777628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.16, Y:-16.75, Z:0.96 [[ 8.83703934e-01 4.67396997e-01 -2.46455752e-02 6.41566293e+01] [-4.67221985e-01 8.84047512e-01 1.27911552e-02 -1.67452225e+01] [ 2.77664069e-02 2.11360446e-04 9.99614417e-01 9.64042777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.80762800000001 meters Centerline goodness [0,1] 0.9999785789259473 Centerline is valid? [True, True] Translation: X:64.18, Y:-16.76, Z:0.96 [[ 8.84928004e-01 4.65104875e-01 -2.40807679e-02 6.41820862e+01] [-4.64936742e-01 8.85255578e-01 1.25055306e-02 -1.67638639e+01] [ 2.71340173e-02 1.29539563e-04 9.99631796e-01 9.64694855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.20, Y:-16.79, Z:0.96 [[ 8.88049027e-01 4.59153426e-01 -2.33892302e-02 6.42036349e+01] [-4.58992561e-01 8.88356982e-01 1.21532183e-02 -1.67890962e+01] [ 2.63581778e-02 -5.71709787e-05 9.99652561e-01 9.64528010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.86762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.23, Y:-16.81, Z:0.97 [[ 8.89690612e-01 4.55971069e-01 -2.32593801e-02 6.42293303e+01] [-4.55810721e-01 8.89994584e-01 1.20924502e-02 -1.68081235e+01] [ 2.62145298e-02 -1.56664638e-04 9.99656328e-01 9.67658137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.26, Y:-16.83, Z:0.97 [[ 8.91213248e-01 4.52995431e-01 -2.31102940e-02 6.42550105e+01] [-4.52835958e-01 8.91512803e-01 1.20215620e-02 -1.68272500e+01] [ 2.60488357e-02 -2.48603176e-04 9.99660641e-01 9.67829500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.92762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.28, Y:-16.85, Z:0.97 [[ 8.93753231e-01 4.47959656e-01 -2.31799047e-02 6.42787036e+01] [-4.47797346e-01 8.94053681e-01 1.20644934e-02 -1.68502513e+01] [ 2.61284855e-02 -4.02780180e-04 9.99658512e-01 9.68764788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.30, Y:-16.87, Z:0.97 [[ 8.94661074e-01 4.46140822e-01 -2.32363768e-02 6.43043326e+01] [-4.45976928e-01 8.94962654e-01 1.21007050e-02 -1.68691124e+01] [ 2.61943079e-02 -4.63141768e-04 9.99656763e-01 9.68841410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.987628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.33, Y:-16.89, Z:0.97 [[ 8.95949055e-01 4.43602816e-01 -2.21772882e-02 6.43293149e+01] [-4.43452584e-01 8.96223338e-01 1.15556682e-02 -1.68898850e+01] [ 2.50019302e-02 -5.18714263e-04 9.99687268e-01 9.70819098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.36, Y:-16.91, Z:0.97 [[ 8.96049444e-01 4.43431674e-01 -2.15347433e-02 6.43570047e+01] [-4.43289801e-01 8.96308031e-01 1.12279233e-02 -1.69081199e+01] [ 2.42805802e-02 -5.14642325e-04 9.99705051e-01 9.72397238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.38, Y:-16.93, Z:0.97 [[ 8.95909967e-01 4.43745821e-01 -2.08561351e-02 6.43824450e+01] [-4.43612673e-01 8.96152554e-01 1.08810060e-02 -1.69258985e+01] [ 2.35186797e-02 -4.96355875e-04 9.99723274e-01 9.73783185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.41, Y:-16.94, Z:0.98 [[ 8.95555584e-01 4.44485047e-01 -2.03282916e-02 6.44107901e+01] [-4.44358637e-01 8.95786148e-01 1.06102891e-02 -1.69421422e+01] [ 2.29259169e-02 -4.69051688e-04 9.99737057e-01 9.75390560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.44, Y:-16.96, Z:0.98 [[ 8.94107987e-01 4.47373173e-01 -2.06918168e-02 6.44366076e+01] [-4.47242888e-01 8.94347293e-01 1.08036598e-02 -1.69593471e+01] [ 2.33389379e-02 -4.05370575e-04 9.99727528e-01 9.75057085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.46, Y:-16.98, Z:0.97 [[ 8.93231932e-01 4.49092109e-01 -2.12836277e-02 6.44633418e+01] [-4.48954599e-01 8.93485387e-01 1.11190081e-02 -1.69752508e+01] [ 2.40100691e-02 -3.76470570e-04 9.99711646e-01 9.74568093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.16762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.49, Y:-16.99, Z:0.97 [[ 8.91495650e-01 4.52509558e-01 -2.16934406e-02 6.44900120e+01] [-4.52367550e-01 8.91759504e-01 1.13396488e-02 -1.69927062e+01] [ 2.44766313e-02 -2.95839035e-04 9.99700359e-01 9.73942356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.52, Y:-17.01, Z:0.97 [[ 8.90652607e-01 4.54151370e-01 -2.20106055e-02 6.45178605e+01] [-4.54005506e-01 8.90924500e-01 1.15123725e-02 -1.70091846e+01] [ 2.48381475e-02 -2.60588470e-04 9.99691452e-01 9.74605746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.22762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.55, Y:-17.03, Z:0.97 [[ 8.89905087e-01 4.55618468e-01 -2.19259430e-02 6.45452741e+01] [-4.55474001e-01 8.90175129e-01 1.14749360e-02 -1.70256862e+01] [ 2.47461219e-02 -2.24906915e-04 9.99693743e-01 9.74957609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25762800000001 meters Centerline goodness [0,1] 0.9998886637422343 Centerline is valid? [True, True] Translation: X:64.57, Y:-17.04, Z:0.97 [[ 8.88457336e-01 4.58422935e-01 -2.21804939e-02 6.45720480e+01] [-4.58275790e-01 8.88734150e-01 1.16151437e-02 -1.70430984e+01] [ 2.50372107e-02 -1.54776266e-04 9.99686508e-01 9.73038517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.28762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.60, Y:-17.06, Z:0.98 [[ 8.87384634e-01 4.60494928e-01 -2.22020798e-02 6.45993905e+01] [-4.60347969e-01 8.87662329e-01 1.16334296e-02 -1.70592521e+01] [ 2.50650852e-02 -1.02644341e-04 9.99685816e-01 9.75665586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.63, Y:-17.08, Z:0.98 [[ 8.86406435e-01 4.62381314e-01 -2.20715359e-02 6.46272329e+01] [-4.62236487e-01 8.86681181e-01 1.15720843e-02 -1.70755891e+01] [ 2.49211310e-02 -5.53007953e-05 9.99689419e-01 9.76104435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.347628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.66, Y:-17.09, Z:0.98 [[ 8.85470562e-01 4.64195446e-01 -2.15515956e-02 6.46561419e+01] [-4.64057722e-01 8.85732797e-01 1.13067641e-02 -1.70920032e+01] [ 2.43375035e-02 -1.06224404e-05 9.99703799e-01 9.76638888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.68, Y:-17.11, Z:0.98 [[ 8.84059485e-01 4.66904892e-01 -2.09439661e-02 6.46830790e+01] [-4.66775414e-01 8.84307536e-01 1.09951952e-02 -1.71102410e+01] [ 2.36546175e-02 5.57218491e-05 9.99720189e-01 9.77186233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.407628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.71, Y:-17.13, Z:0.98 [[ 8.83648266e-01 4.67713102e-01 -2.02533107e-02 6.47106572e+01] [-4.67592117e-01 8.83880337e-01 1.06377888e-02 -1.71278442e+01] [ 2.28769362e-02 7.02248267e-05 9.99738286e-01 9.79199138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.74, Y:-17.15, Z:0.98 [[ 8.82829297e-01 4.69295518e-01 -1.93429364e-02 6.47375650e+01] [-4.69185472e-01 8.83041169e-01 1.01630210e-02 -1.71467586e+01] [ 2.18500694e-02 1.03212045e-04 9.99761253e-01 9.80559034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.467628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.77, Y:-17.16, Z:0.98 [[ 8.82211694e-01 4.70459826e-01 -1.92374598e-02 6.47661531e+01] [-4.70351107e-01 8.82421405e-01 1.01143340e-02 -1.71634790e+01] [ 2.17339341e-02 1.25376785e-04 9.99763782e-01 9.81026377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.80, Y:-17.18, Z:0.98 [[ 8.80878279e-01 4.72976671e-01 -1.86152187e-02 6.47952894e+01] [-4.72875303e-01 8.81074933e-01 9.79340045e-03 -1.71774673e+01] [ 2.10334525e-02 1.75883461e-04 9.99778757e-01 9.82134467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.527628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.82, Y:-17.19, Z:0.98 [[ 8.78017548e-01 4.78266011e-01 -1.86227735e-02 6.48245973e+01] [-4.78165627e-01 8.78214970e-01 9.80299984e-03 -1.71882372e+01] [ 2.10432401e-02 2.97564314e-04 9.99778522e-01 9.82524244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.85, Y:-17.20, Z:0.98 [[ 8.77318469e-01 4.79517762e-01 -1.93654524e-02 6.48540908e+01] [-4.79409388e-01 8.77532110e-01 1.01997422e-02 -1.72015553e+01] [ 2.18847639e-02 3.35557479e-04 9.99760444e-01 9.82292753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.58762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.88, Y:-17.22, Z:0.98 [[ 8.76972929e-01 4.80118828e-01 -2.01095189e-02 6.48837131e+01] [-4.80001972e-01 8.77203388e-01 1.05982933e-02 -1.72156868e+01] [ 2.27285783e-02 3.58192404e-04 9.99741608e-01 9.81764423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.91, Y:-17.23, Z:0.98 [[ 8.77755455e-01 4.78572328e-01 -2.26691008e-02 6.49135897e+01] [-4.78423086e-01 8.78048065e-01 1.19560304e-02 -1.72287021e+01] [ 2.56263854e-02 3.50950310e-04 9.99671529e-01 9.78657474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.64762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.94, Y:-17.24, Z:0.98 [[ 8.78273525e-01 4.77552436e-01 -2.40683699e-02 6.49421351e+01] [-4.77383578e-01 8.78603187e-01 1.27027501e-02 -1.72423114e+01] [ 2.72127757e-02 3.33355432e-04 9.99629608e-01 9.76423287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.97, Y:-17.26, Z:0.98 [[ 8.78851736e-01 4.76445085e-01 -2.48939362e-02 6.49700716e+01] [-4.76263763e-01 8.79204180e-01 1.31467820e-02 -1.72580626e+01] [ 2.81505724e-02 3.02007546e-04 9.99603648e-01 9.75843484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.70762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.00, Y:-17.28, Z:0.98 [[ 8.80013023e-01 4.74233655e-01 -2.60675942e-02 6.49962622e+01] [-4.74033592e-01 8.80398993e-01 1.37756268e-02 -1.72778539e+01] [ 2.94827495e-02 2.34184381e-04 9.99565262e-01 9.78281086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.737628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.02, Y:-17.30, Z:0.98 [[ 8.80323736e-01 4.73661624e-01 -2.59766299e-02 6.50232373e+01] [-4.73462440e-01 8.80706889e-01 1.37365980e-02 -1.72950104e+01] [ 2.93842962e-02 2.06305350e-04 9.99568167e-01 9.79928250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.05, Y:-17.31, Z:0.98 [[ 8.80188460e-01 4.73928584e-01 -2.56899301e-02 6.50520503e+01] [-4.73733630e-01 8.80563260e-01 1.35938420e-02 -1.73108697e+01] [ 2.90641190e-02 2.05040976e-04 9.99577528e-01 9.81768075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.08, Y:-17.33, Z:0.98 [[ 8.80180263e-01 4.73936224e-01 -2.58294324e-02 6.50814014e+01] [-4.73738877e-01 8.80559150e-01 1.36769880e-02 -1.73254786e+01] [ 2.92263631e-02 1.98191391e-04 9.99572799e-01 9.81661168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.11, Y:-17.34, Z:0.98 [[ 8.80409819e-01 4.73485712e-01 -2.62646277e-02 6.51106248e+01] [-4.73281172e-01 8.80801481e-01 1.39170199e-02 -1.73406820e+01] [ 2.97234331e-02 1.77872764e-04 9.99558145e-01 9.81146747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.857628 meters Centerline goodness [0,1] 0.9998415787806092 Centerline is valid? [True, True] Translation: X:65.14, Y:-17.36, Z:0.98 [[ 8.81930924e-01 4.70611173e-01 -2.68880898e-02 6.51377388e+01] [-4.70395176e-01 8.82340704e-01 1.42569114e-02 -1.73569970e+01] [ 3.04339179e-02 7.44166865e-05 9.99536778e-01 9.78635139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.17, Y:-17.37, Z:0.98 [[ 8.82466022e-01 4.69707518e-01 -2.50712573e-02 6.51656488e+01] [-4.69519189e-01 8.82822092e-01 1.32998291e-02 -1.73736907e+01] [ 2.83804895e-02 3.47891248e-05 9.99597192e-01 9.84088370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.19, Y:-17.39, Z:0.99 [[ 8.83398211e-01 4.68030248e-01 -2.35645534e-02 6.51926593e+01] [-4.67863140e-01 8.83712445e-01 1.25058614e-02 -1.73902734e+01] [ 2.66774105e-02 -2.26696607e-05 9.99644094e-01 9.86649203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.94762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.22, Y:-17.41, Z:0.99 [[ 8.85300756e-01 4.64561175e-01 -2.06273326e-02 6.52182544e+01] [-4.64432055e-01 8.85541022e-01 1.09528657e-02 -1.74084658e+01] [ 2.33546254e-02 -1.16585773e-04 9.99727237e-01 9.91338938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.25, Y:-17.43, Z:0.99 [[ 8.86229394e-01 4.62833468e-01 -1.95612573e-02 6.52466778e+01] [-4.62716799e-01 8.86445236e-01 1.03926906e-02 -1.74250243e+01] [ 2.21500684e-02 -1.58985486e-04 9.99754644e-01 9.93847967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.00762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.27, Y:-17.44, Z:1.00 [[ 8.87140877e-01 4.61102509e-01 -1.91191434e-02 6.52746289e+01] [-4.60990511e-01 8.87346852e-01 1.01643402e-02 -1.74412541e+01] [ 2.16521145e-02 -2.03457988e-04 9.99765545e-01 9.95083606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.30, Y:-17.46, Z:1.00 [[ 8.88764665e-01 4.57983642e-01 -1.86642206e-02 6.53025759e+01] [-4.57876101e-01 8.88960576e-01 9.92826248e-03 -1.74574534e+01] [ 2.11387381e-02 -2.77988349e-04 9.99776513e-01 9.95036143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.06762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.33, Y:-17.47, Z:0.99 [[ 8.89182912e-01 4.57163786e-01 -1.88420329e-02 6.53294112e+01] [-4.57053875e-01 8.89382471e-01 1.00287177e-02 -1.74723954e+01] [ 2.13425403e-02 -3.05540231e-04 9.99772175e-01 9.94459279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.097628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.36, Y:-17.49, Z:1.00 [[ 8.89021023e-01 4.57458041e-01 -1.93329307e-02 6.53586659e+01] [-4.57342264e-01 8.89231153e-01 1.02961242e-02 -1.74880449e+01] [ 2.19014891e-02 -3.11704594e-04 9.99760085e-01 9.95046409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.39, Y:-17.50, Z:1.00 [[ 8.88099523e-01 4.59228078e-01 -1.97182757e-02 6.53874076e+01] [-4.59107919e-01 8.88318352e-01 1.05082928e-02 -1.75023323e+01] [ 2.23418093e-02 -2.79593349e-04 9.99750352e-01 9.95675751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.157628 meters Centerline goodness [0,1] 0.9998186557860138 Centerline is valid? [True, True] Translation: X:65.42, Y:-17.52, Z:0.99 [[ 8.87485635e-01 4.60344289e-01 -2.12693145e-02 6.54158150e+01] [-4.60204628e-01 8.87740423e-01 1.13420533e-02 -1.75161084e+01] [ 2.41028797e-02 -2.77672377e-04 9.99709445e-01 9.92712671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.187628 meters Centerline goodness [0,1] 0.9999546701117382 Centerline is valid? [True, True] Translation: X:65.44, Y:-17.53, Z:0.99 [[ 8.86057682e-01 4.63083431e-01 -2.13429062e-02 6.54438689e+01] [-4.62943430e-01 8.86314669e-01 1.13880922e-02 -1.75300609e+01] [ 2.41901676e-02 -2.09948386e-04 9.99707353e-01 9.94150519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.217628 meters Centerline goodness [0,1] 0.9997288196876907 Centerline is valid? [True, True] Translation: X:65.48, Y:-17.54, Z:0.99 [[ 8.84568236e-01 4.65827048e-01 -2.33280280e-02 6.54751343e+01] [-4.65660536e-01 8.84875775e-01 1.24550060e-02 -1.75415971e+01] [ 2.64442856e-02 -1.54360669e-04 9.99650277e-01 9.92773906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.247628 meters Centerline goodness [0,1] 0.9995254880694143 Centerline is valid? [True, True] Translation: X:65.50, Y:-17.56, Z:0.99 [[ 8.84065642e-01 4.66757711e-01 -2.37735372e-02 6.55043873e+01] [-4.66584884e-01 8.84385222e-01 1.27013661e-02 -1.75561209e+01] [ 2.69534255e-02 -1.36468278e-04 9.99636681e-01 9.92330297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.277628 meters Centerline goodness [0,1] 0.9993450472017706 Centerline is valid? [True, True] Translation: X:65.53, Y:-17.57, Z:0.99 [[ 8.83541141e-01 4.67747530e-01 -2.38180490e-02 6.55326685e+01] [-4.67574225e-01 8.83862113e-01 1.27322107e-02 -1.75712560e+01] [ 2.70073312e-02 -1.12726173e-04 9.99635229e-01 9.92342559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.30762800000001 meters Centerline goodness [0,1] 0.9993232268543584 Centerline is valid? [True, True] Translation: X:65.56, Y:-17.59, Z:0.99 [[ 8.83562863e-01 4.67689203e-01 -2.41552660e-02 6.55620029e+01] [-4.67510747e-01 8.83892977e-01 1.29192252e-02 -1.75869696e+01] [ 2.73928521e-02 -1.22101089e-04 9.99624738e-01 9.91919420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33762800000001 meters Centerline goodness [0,1] 0.9994131190465442 Centerline is valid? [True, True] Translation: X:65.59, Y:-17.60, Z:0.99 [[ 8.83525755e-01 4.67811418e-01 -2.31239524e-02 6.55895879e+01] [-4.67647754e-01 8.83828300e-01 1.23739388e-02 -1.76020403e+01] [ 2.62262734e-02 -1.18829210e-04 9.99656025e-01 9.93726818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.36762800000001 meters Centerline goodness [0,1] 0.9993455497382199 Centerline is valid? [True, True] Translation: X:65.62, Y:-17.62, Z:1.00 [[ 8.84327482e-01 4.66372106e-01 -2.14933387e-02 6.56183606e+01] [-4.66230166e-01 8.84588624e-01 1.15064408e-02 -1.76175152e+01] [ 2.43790460e-02 -1.54618935e-04 9.99702775e-01 9.96175001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39762800000001 meters Centerline goodness [0,1] 0.999391206313416 Centerline is valid? [True, True] Translation: X:65.65, Y:-17.63, Z:1.00 [[ 8.84852909e-01 4.65400518e-01 -2.09209672e-02 6.56459424e+01] [-4.65265611e-01 8.85100178e-01 1.12065345e-02 -1.76337122e+01] [ 2.37326788e-02 -1.82328109e-04 9.99718324e-01 9.96825024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.42762800000001 meters Centerline goodness [0,1] 0.9993454758841718 Centerline is valid? [True, True] Translation: X:65.67, Y:-17.65, Z:1.00 [[ 8.85832556e-01 4.63584076e-01 -1.97607361e-02 6.56731857e+01] [-4.63463152e-01 8.86052908e-01 1.05901598e-02 -1.76517612e+01] [ 2.24184871e-02 -2.22735302e-04 9.99748649e-01 9.98634654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45762800000001 meters Centerline goodness [0,1] 0.9992313952436929 Centerline is valid? [True, True] Translation: X:65.70, Y:-17.67, Z:1.00 [[ 8.86379988e-01 4.62551572e-01 -1.94051577e-02 6.57006978e+01] [-4.62434568e-01 8.86592342e-01 1.04062275e-02 -1.76683947e+01] [ 2.20178811e-02 -2.50256086e-04 9.99757546e-01 9.97588152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.487628 meters Centerline goodness [0,1] 0.9992089322846036 Centerline is valid? [True, True] Translation: X:65.73, Y:-17.68, Z:1.00 [[ 8.86298083e-01 4.62767945e-01 -1.79314627e-02 6.57287334e+01] [-4.62667976e-01 8.86479428e-01 9.62122542e-03 -1.76842958e+01] [ 2.03482675e-02 -2.30960111e-04 9.99792926e-01 1.00135536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.517628 meters Centerline goodness [0,1] 0.9994588622578973 Centerline is valid? [True, True] Translation: X:65.76, Y:-17.70, Z:1.00 [[ 8.85690841e-01 4.63984916e-01 -1.64235259e-02 6.57573865e+01] [-4.63901175e-01 8.85843079e-01 8.81692244e-03 -1.76995824e+01] [ 1.86395858e-02 -1.90174466e-04 9.99826250e-01 1.00236223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.547628 meters Centerline goodness [0,1] 0.9994588622578973 Centerline is valid? [True, True] Translation: X:65.79, Y:-17.71, Z:1.00 [[ 8.85562049e-01 4.64230759e-01 -1.64213384e-02 6.57858854e+01] [-4.64146985e-01 8.85714269e-01 8.82099504e-03 -1.77149778e+01] [ 1.86395909e-02 -1.89623752e-04 9.99826250e-01 1.00286825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.577628 meters Centerline goodness [0,1] 0.9993908217138215 Centerline is valid? [True, True] Translation: X:65.81, Y:-17.73, Z:1.00 [[ 8.84882969e-01 4.65533534e-01 -1.61449497e-02 6.58137955e+01] [-4.65452671e-01 8.85030227e-01 8.67805187e-03 -1.77295603e+01] [ 1.83286926e-02 -1.64350339e-04 9.99832002e-01 1.00299554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.607628 meters Centerline goodness [0,1] 0.9994361750112765 Centerline is valid? [True, True] Translation: X:65.84, Y:-17.74, Z:1.00 [[ 8.84186440e-01 4.66843206e-01 -1.64851638e-02 6.58428280e+01] [-4.66759036e-01 8.84340093e-01 8.86581200e-03 -1.77440434e+01] [ 1.87174354e-02 -1.44431576e-04 9.99824803e-01 1.00328009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.637628 meters Centerline goodness [0,1] 0.9994595690062825 Centerline is valid? [True, True] Translation: X:65.87, Y:-17.76, Z:1.00 [[ 8.83223361e-01 4.68616119e-01 -1.77602941e-02 6.58708339e+01] [-4.68518661e-01 8.83401901e-01 9.55748555e-03 -1.77587193e+01] [ 2.01682694e-02 -1.20365288e-04 9.99796593e-01 1.00189422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.66762800000001 meters Centerline goodness [0,1] 0.9993464199589822 Centerline is valid? [True, True] Translation: X:65.90, Y:-17.77, Z:1.00 [[ 8.82738756e-01 4.69498208e-01 -1.85397264e-02 6.58998475e+01] [-4.69392068e-01 8.82933418e-01 9.98330952e-03 -1.77742471e+01] [ 2.10564900e-02 -1.10253694e-04 9.99778281e-01 1.00154903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69762800000001 meters Centerline goodness [0,1] 0.9993910827450891 Centerline is valid? [True, True] Translation: X:65.93, Y:-17.79, Z:1.00 [[ 8.81023378e-01 4.72673586e-01 -1.94290451e-02 6.59302723e+01] [-4.72557633e-01 8.81237584e-01 1.04692052e-02 -1.77871717e+01] [ 2.20701216e-02 -4.22709564e-05 9.99756424e-01 1.00133490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.72762800000001 meters Centerline goodness [0,1] 0.9994152178313578 Centerline is valid? [True, True] Translation: X:65.96, Y:-17.80, Z:1.00 [[ 8.80169966e-01 4.74224544e-01 -2.02956448e-02 6.59590626e+01] [-4.74098259e-01 8.80403931e-01 1.09434364e-02 -1.78009682e+01] [ 2.30580116e-02 -9.95415491e-06 9.99734129e-01 1.00037248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75762800000001 meters Centerline goodness [0,1] 0.999482308454128 Centerline is valid? [True, True] Translation: X:65.99, Y:-17.82, Z:1.00 [[ 8.79352959e-01 4.75697691e-01 -2.12150836e-02 6.59886203e+01] [-4.75559955e-01 8.79608837e-01 1.14465425e-02 -1.78151018e+01] [ 2.41060689e-02 2.34931347e-05 9.99709406e-01 1.00000906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.78762800000001 meters Centerline goodness [0,1] 0.9996180204471408 Centerline is valid? [True, True] Translation: X:66.02, Y:-17.83, Z:1.00 [[ 8.78648641e-01 4.76896593e-01 -2.33710219e-02 6.60178022e+01] [-4.76729641e-01 8.78959406e-01 1.26179459e-02 -1.78283342e+01] [ 2.65596349e-02 5.49178886e-05 9.99647229e-01 9.98408587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81762800000001 meters Centerline goodness [0,1] 0.9995951508063247 Centerline is valid? [True, True] Translation: X:66.05, Y:-17.84, Z:1.00 [[ 8.78735578e-01 4.76713237e-01 -2.38384900e-02 6.60466376e+01] [-4.76539260e-01 8.79058865e-01 1.28781254e-02 -1.78439789e+01] [ 2.70946088e-02 4.35094212e-05 9.99632873e-01 9.98342665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.847628 meters Centerline goodness [0,1] 0.999460710513898 Centerline is valid? [True, True] Translation: X:66.07, Y:-17.86, Z:1.00 [[ 8.79293758e-01 4.75670721e-01 -2.40801274e-02 6.60739968e+01] [-4.75492589e-01 8.79623422e-01 1.30166345e-02 -1.78594482e+01] [ 2.73730760e-02 4.47665767e-06 9.99625287e-01 9.98139314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.877628 meters Centerline goodness [0,1] 0.9994148098131893 Centerline is valid? [True, True] Translation: X:66.10, Y:-17.88, Z:1.00 [[ 8.80949500e-01 4.72617269e-01 -2.36832245e-02 6.61015742e+01] [-4.72443654e-01 8.81267784e-01 1.28096039e-02 -1.78770150e+01] [ 2.69253028e-02 -9.56250751e-05 9.99637444e-01 9.98439961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.907628 meters Centerline goodness [0,1] 0.9995273357491729 Centerline is valid? [True, True] Translation: X:66.13, Y:-17.89, Z:1.00 [[ 8.81829216e-01 4.71013179e-01 -2.28870853e-02 6.61301674e+01] [-4.70850301e-01 8.82126161e-01 1.23866953e-02 -1.78934736e+01] [ 2.60235934e-02 -1.46558822e-04 9.99661318e-01 9.99527927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.937628 meters Centerline goodness [0,1] 0.9994817135002366 Centerline is valid? [True, True] Translation: X:66.16, Y:-17.91, Z:1.00 [[ 8.83939546e-01 4.67168962e-01 -2.01007443e-02 6.61574540e+01] [-4.67042194e-01 8.84168031e-01 1.08850013e-02 -1.79111007e+01] [ 2.28575703e-02 -2.33787401e-04 9.99738704e-01 1.00288213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.967628 meters Centerline goodness [0,1] 0.9990754312774833 Centerline is valid? [True, True] Translation: X:66.18, Y:-17.93, Z:1.00 [[ 8.85648124e-01 4.63925882e-01 -2.00044211e-02 6.61844005e+01] [-4.63799348e-01 8.85873960e-01 1.08393495e-02 -1.79292811e+01] [ 2.27500505e-02 -3.21812040e-04 9.99741132e-01 1.00262223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.997628 meters Centerline goodness [0,1] 0.9991446065189987 Centerline is valid? [True, True] Translation: X:66.21, Y:-17.95, Z:1.01 [[ 8.87125633e-01 4.61152552e-01 -1.86127561e-02 6.62096584e+01] [-4.61042308e-01 8.87320791e-01 1.00897840e-02 -1.79468626e+01] [ 2.11684151e-02 -3.69638004e-04 9.99775856e-01 1.00669071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.027628 meters Centerline goodness [0,1] 0.9991658776319943 Centerline is valid? [True, True] Translation: X:66.23, Y:-17.97, Z:1.01 [[ 8.90784768e-01 4.54107399e-01 -1.69990440e-02 6.62331624e+01] [-4.54014120e-01 8.90946815e-01 9.21690824e-03 -1.79674340e+01] [ 1.93307103e-02 -4.92475466e-04 9.99813023e-01 1.00923682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05762800000001 meters Centerline goodness [0,1] 0.9989163807115766 Centerline is valid? [True, True] Translation: X:66.26, Y:-17.98, Z:1.01 [[ 8.92284429e-01 4.51161018e-01 -1.67997856e-02 6.62595370e+01] [-4.51069370e-01 8.92442397e-01 9.10994856e-03 -1.79847710e+01] [ 1.91028946e-02 -5.50796542e-04 9.99817371e-01 1.01029065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.08762800000001 meters Centerline goodness [0,1] 0.9991858519155096 Centerline is valid? [True, True] Translation: X:66.29, Y:-18.00, Z:1.01 [[ 8.93455207e-01 4.48843057e-01 -1.66644193e-02 6.62888850e+01] [-4.48752402e-01 8.93610403e-01 9.04044899e-03 -1.79977885e+01] [ 1.89492412e-02 -5.99038040e-04 9.99820268e-01 1.01196383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11762800000001 meters Centerline goodness [0,1] 0.9990509118025896 Centerline is valid? [True, True] Translation: X:66.32, Y:-18.01, Z:1.01 [[ 8.94949621e-01 4.45860782e-01 -1.65329556e-02 6.63178103e+01] [-4.45771016e-01 8.95102078e-01 8.97059957e-03 -1.80125229e+01] [ 1.87983214e-02 -6.58322279e-04 9.99823079e-01 1.01203467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.14762800000001 meters Centerline goodness [0,1] 0.9992536807110387 Centerline is valid? [True, True] Translation: X:66.34, Y:-18.03, Z:1.01 [[ 8.95082873e-01 4.45578657e-01 -1.69207368e-02 6.63440636e+01] [-4.45484537e-01 8.95242535e-01 9.18322780e-03 -1.80293036e+01] [ 1.92400136e-02 -6.81823345e-04 9.99814661e-01 1.01175204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.17762800000001 meters Centerline goodness [0,1] 0.9993915767176691 Centerline is valid? [True, True] Translation: X:66.37, Y:-18.04, Z:1.01 [[ 8.94611094e-01 4.46490255e-01 -1.78169427e-02 6.63737874e+01] [-4.46385968e-01 8.94788220e-01 9.67515394e-03 -1.80409183e+01] [ 2.02622524e-02 -7.02266824e-04 9.99794453e-01 1.01139904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.20762800000001 meters Centerline goodness [0,1] 0.9993003204983524 Centerline is valid? [True, True] Translation: X:66.40, Y:-18.06, Z:1.01 [[ 8.94053517e-01 4.47593053e-01 -1.81319528e-02 6.64020636e+01] [-4.47485151e-01 8.94237092e-01 9.85202651e-03 -1.80552104e+01] [ 2.06239634e-02 -6.94459309e-04 9.99787062e-01 1.01166615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.237628 meters Centerline goodness [0,1] 0.9993242482261516 Centerline is valid? [True, True] Translation: X:66.43, Y:-18.07, Z:1.01 [[ 8.93428613e-01 4.48828939e-01 -1.83819736e-02 6.64307036e+01] [-4.48718179e-01 8.93617435e-01 9.99376379e-03 -1.80693680e+01] [ 2.09119425e-02 -6.80388788e-04 9.99781090e-01 1.01232766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.267628 meters Centerline goodness [0,1] 0.9993927944946701 Centerline is valid? [True, True] Translation: X:66.46, Y:-18.08, Z:1.01 [[ 8.91935968e-01 4.51799647e-01 -1.80916523e-02 6.64578331e+01] [-4.51692862e-01 8.92119225e-01 9.84108199e-03 -1.80841224e+01] [ 2.05861082e-02 -6.05744802e-04 9.99787900e-01 1.01311543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.297628 meters Centerline goodness [0,1] 0.9993939121846098 Centerline is valid? [True, True] Translation: X:66.49, Y:-18.10, Z:1.01 [[ 8.90953203e-01 4.53750245e-01 -1.76947695e-02 6.64876383e+01] [-4.53648399e-01 8.91128728e-01 9.62909231e-03 -1.80958520e+01] [ 2.01375204e-02 -5.51866800e-04 9.99797067e-01 1.01439141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.327628 meters Centerline goodness [0,1] 0.9996184747968939 Centerline is valid? [True, True] Translation: X:66.52, Y:-18.11, Z:1.02 [[ 8.90061221e-01 4.55513149e-01 -1.72856510e-02 6.65182737e+01] [-4.55416196e-01 8.90228913e-01 9.41121913e-03 -1.81078128e+01] [ 1.96751203e-02 -5.04395768e-04 9.99806299e-01 1.01583725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.357628 meters Centerline goodness [0,1] 0.9996872696405835 Centerline is valid? [True, True] Translation: X:66.55, Y:-18.12, Z:1.02 [[ 8.88409709e-01 4.58743345e-01 -1.68146830e-02 6.65472217e+01] [-4.58652119e-01 8.88568717e-01 9.15804902e-03 -1.81196572e+01] [ 1.91421953e-02 -4.24009676e-04 9.99816681e-01 1.01692308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.387628 meters Centerline goodness [0,1] 0.9995310092234853 Centerline is valid? [True, True] Translation: X:66.58, Y:-18.13, Z:1.02 [[ 8.87526263e-01 4.60470096e-01 -1.62610953e-02 6.65761138e+01] [-4.60384980e-01 8.87675136e-01 8.86127397e-03 -1.81333478e+01] [ 1.85149217e-02 -3.78249325e-04 9.99828513e-01 1.01737425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41762800000001 meters Centerline goodness [0,1] 0.999687597625742 Centerline is valid? [True, True] Translation: X:66.60, Y:-18.15, Z:1.02 [[ 8.85816583e-01 4.63752399e-01 -1.62078679e-02 6.66047162e+01] [-4.63668294e-01 8.85964793e-01 8.83734200e-03 -1.81464274e+01] [ 1.84579389e-02 -3.13189618e-04 9.99829589e-01 1.01765946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.44762800000001 meters Centerline goodness [0,1] 0.999754814550642 Centerline is valid? [True, True] Translation: X:66.63, Y:-18.16, Z:1.02 [[ 8.85009110e-01 4.65281417e-01 -1.64947763e-02 6.66333155e+01] [-4.65194480e-01 8.85162764e-01 8.99874944e-03 -1.81600554e+01] [ 1.87875126e-02 -2.90696381e-04 9.99823457e-01 1.01802888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47762800000001 meters Centerline goodness [0,1] 0.9997542448614835 Centerline is valid? [True, True] Translation: X:66.66, Y:-18.17, Z:1.02 [[ 8.84394269e-01 4.66455561e-01 -1.63091242e-02 6.66624920e+01] [-4.66370674e-01 8.84544594e-01 8.90259837e-03 -1.81737527e+01] [ 1.85788141e-02 -2.67309749e-04 9.99827363e-01 1.01802159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.50762800000001 meters Centerline goodness [0,1] 0.9997775008899964 Centerline is valid? [True, True] Translation: X:66.69, Y:-18.19, Z:1.02 [[ 8.83964095e-01 4.67275405e-01 -1.61608884e-02 6.66901182e+01] [-4.67192096e-01 8.84111776e-01 8.82680919e-03 -1.81882294e+01] [ 1.84125825e-02 -2.52343098e-04 9.99830442e-01 1.01766512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53762800000001 meters Centerline goodness [0,1] 0.9999331997327989 Centerline is valid? [True, True] Translation: X:66.72, Y:-18.20, Z:1.02 [[ 8.83662041e-01 4.67873127e-01 -1.53666707e-02 6.67191052e+01] [-4.67797818e-01 8.83795612e-01 8.39751316e-03 -1.82036520e+01] [ 1.75099669e-02 -2.32068598e-04 9.99846662e-01 1.01837147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.56762800000001 meters Centerline goodness [0,1] 0.9997548528002496 Centerline is valid? [True, True] Translation: X:66.75, Y:-18.22, Z:1.02 [[ 8.83622605e-01 4.67958452e-01 -1.50326078e-02 6.67478688e+01] [-4.67886303e-01 8.83750437e-01 8.22027046e-03 -1.82203342e+01] [ 1.71318187e-02 -2.30065513e-04 9.99853213e-01 1.01985814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.597628 meters Centerline goodness [0,1] 0.9998436697411618 Centerline is valid? [True, True] Translation: X:66.78, Y:-18.24, Z:1.02 [[ 8.83685187e-01 4.67846907e-01 -1.48243821e-02 6.67760868e+01] [-4.67776637e-01 8.83809492e-01 8.11172747e-03 -1.82375047e+01] [ 1.68969762e-02 -2.33713806e-04 9.99857209e-01 1.02212507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.627628 meters Centerline goodness [0,1] 0.9998440736863208 Centerline is valid? [True, True] Translation: X:66.80, Y:-18.25, Z:1.02 [[ 8.83415864e-01 4.68341097e-01 -1.52652634e-02 6.68049923e+01] [-4.68266560e-01 8.83547713e-01 8.35866037e-03 -1.82525972e+01] [ 1.74022928e-02 -2.35960768e-04 9.99848541e-01 1.02205217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.657628 meters Centerline goodness [0,1] 0.9998443683578638 Centerline is valid? [True, True] Translation: X:66.83, Y:-18.27, Z:1.02 [[ 8.82932559e-01 4.69220467e-01 -1.61941325e-02 6.68349990e+01] [-4.69136616e-01 8.83081025e-01 8.87346475e-03 -1.82671757e+01] [ 1.84643424e-02 -2.37410407e-04 9.99829491e-01 1.02165792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.687628 meters Centerline goodness [0,1] 0.9998439033092499 Centerline is valid? [True, True] Translation: X:66.86, Y:-18.28, Z:1.02 [[ 8.82416289e-01 4.70165697e-01 -1.69029877e-02 6.68643252e+01] [-4.70074393e-01 8.82578134e-01 9.26834455e-03 -1.82823422e+01] [ 1.92758650e-02 -2.32876525e-04 9.99814176e-01 1.02111897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.717628 meters Centerline goodness [0,1] 0.9998438162386488 Centerline is valid? [True, True] Translation: X:66.89, Y:-18.30, Z:1.02 [[ 8.81520493e-01 4.71830454e-01 -1.72523535e-02 6.68921074e+01] [-4.71735531e-01 8.81689277e-01 9.46618136e-03 -1.82973593e+01] [ 1.96776477e-02 -2.06084716e-04 9.99806355e-01 1.02137866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.747628 meters Centerline goodness [0,1] 0.9998658048354991 Centerline is valid? [True, True] Translation: X:66.92, Y:-18.31, Z:1.02 [[ 8.80858152e-01 4.73097168e-01 -1.63702644e-02 6.69209191e+01] [-4.73011839e-01 8.81010238e-01 8.98662561e-03 -1.83126570e+01] [ 1.86739177e-02 -1.72613542e-04 9.99825612e-01 1.02337492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.777628 meters Centerline goodness [0,1] 0.9999553810458682 Centerline is valid? [True, True] Translation: X:66.95, Y:-18.33, Z:1.02 [[ 8.80699435e-01 4.73408534e-01 -1.59017485e-02 6.69499762e+01] [-4.73328029e-01 8.80842967e-01 8.73177222e-03 -1.83287949e+01] [ 1.81406388e-02 -1.63323591e-04 9.99835432e-01 1.02399629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80762800000001 meters Centerline goodness [0,1] 0.9999330102940848 Centerline is valid? [True, True] Translation: X:66.98, Y:-18.34, Z:1.02 [[ 8.80613820e-01 4.73569153e-01 -1.58605483e-02 6.69786614e+01] [-4.73488986e-01 8.80756624e-01 8.71491392e-03 -1.83447938e+01] [ 1.80963974e-02 -1.64678710e-04 9.99836233e-01 1.02462296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83762800000001 meters Centerline goodness [0,1] 0.9999107302267453 Centerline is valid? [True, True] Translation: X:67.01, Y:-18.36, Z:1.03 [[ 8.80380522e-01 4.74004172e-01 -1.58171024e-02 6.70060727e+01] [-4.73924412e-01 8.80522583e-01 8.69674260e-03 -1.83610527e+01] [ 1.80496082e-02 -1.60331832e-04 9.99837080e-01 1.02507369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.86762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.03, Y:-18.38, Z:1.03 [[ 8.80082547e-01 4.74533533e-01 -1.65116785e-02 6.70344145e+01] [-4.74446595e-01 8.80237411e-01 9.08451673e-03 -1.83768001e+01] [ 1.88451050e-02 -1.61214965e-04 9.99822402e-01 1.02506235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89762800000001 meters Centerline goodness [0,1] 0.9998882606655195 Centerline is valid? [True, True] Translation: X:67.06, Y:-18.39, Z:1.02 [[ 8.79551316e-01 4.75481861e-01 -1.75066525e-02 6.70635045e+01] [-4.75384184e-01 8.79725511e-01 9.63857639e-03 -1.83925163e+01] [ 1.99840171e-02 -1.55236829e-04 9.99800288e-01 1.02465346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.92762800000001 meters Centerline goodness [0,1] 0.9999552272218492 Centerline is valid? [True, True] Translation: X:67.09, Y:-18.41, Z:1.02 [[ 8.78330562e-01 4.77652826e-01 -1.95755443e-02 6.70918656e+01] [-4.77531060e-01 8.78548668e-01 1.07853696e-02 -1.84083821e+01] [ 2.23497306e-02 -1.25189336e-04 9.99750206e-01 1.02300072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95762800000001 meters Centerline goodness [0,1] 0.9999327640691186 Centerline is valid? [True, True] Translation: X:67.12, Y:-18.42, Z:1.02 [[ 8.77515238e-01 4.79105456e-01 -2.06147836e-02 6.71204058e+01] [-4.78970635e-01 8.77757342e-01 1.13656988e-02 -1.84240624e+01] [ 2.35401459e-02 -9.96979491e-05 9.99722887e-01 1.02262160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.987628 meters Centerline goodness [0,1] 0.9999775714349796 Centerline is valid? [True, True] Translation: X:67.15, Y:-18.44, Z:1.02 [[ 8.75751944e-01 4.82295576e-01 -2.12016709e-02 6.71501095e+01] [-4.82153711e-01 8.76008549e-01 1.16970991e-02 -1.84390018e+01] [ 2.42143041e-02 -2.12929919e-05 9.99706791e-01 1.02239251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.18, Y:-18.45, Z:1.02 [[ 8.74624680e-01 4.84354010e-01 -2.08053266e-02 6.71792935e+01] [-4.84217805e-01 8.74872100e-01 1.14858761e-02 -1.84543631e+01] [ 2.37652300e-02 2.84789105e-05 9.99717567e-01 1.02279885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.21, Y:-18.47, Z:1.02 [[ 8.73381394e-01 4.86574999e-01 -2.12063880e-02 6.72085545e+01] [-4.86433955e-01 8.73638806e-01 1.17151056e-02 -1.84701628e+01] [ 2.42270010e-02 8.37519178e-05 9.99706480e-01 1.02390879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.077628 meters Centerline goodness [0,1] 0.9998877992953795 Centerline is valid? [True, True] Translation: X:67.24, Y:-18.48, Z:1.02 [[ 8.71287352e-01 4.90333014e-01 -2.07818633e-02 6.72362532e+01] [-4.90198460e-01 8.71535142e-01 1.14876407e-02 -1.84848403e+01] [ 2.37448937e-02 1.78201339e-04 9.99718034e-01 1.02232010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.26, Y:-18.50, Z:1.03 [[ 8.70484619e-01 4.91794739e-01 -1.98610646e-02 6.72644630e+01] [-4.91672106e-01 8.70711142e-01 1.09839279e-02 -1.85006226e+01] [ 2.26950882e-02 2.03791131e-04 9.99742413e-01 1.02571683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.29, Y:-18.52, Z:1.03 [[ 8.70097370e-01 4.92507918e-01 -1.91446305e-02 6.72926958e+01] [-4.92394038e-01 8.70307938e-01 1.05926916e-02 -1.85180887e+01] [ 2.18787084e-02 2.10028845e-04 9.99760610e-01 1.02724061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.16762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.32, Y:-18.54, Z:1.03 [[ 8.71033112e-01 4.90917178e-01 -1.73678214e-02 6.73183853e+01] [-4.90823027e-01 8.71206234e-01 9.61530337e-03 -1.85378665e+01] [ 1.98512719e-02 1.49279073e-04 9.99802933e-01 1.02969736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.34, Y:-18.56, Z:1.03 [[ 8.71803879e-01 4.89583620e-01 -1.63056840e-02 6.73443360e+01] [-4.89500308e-01 8.71956345e-01 9.03222087e-03 -1.85551905e+01] [ 1.86398720e-02 1.07312148e-04 9.99826257e-01 1.03123532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.22762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.37, Y:-18.57, Z:1.03 [[ 8.72686995e-01 4.88041678e-01 -1.52554583e-02 6.73706998e+01] [-4.87968445e-01 8.72820323e-01 8.45457228e-03 -1.85725734e+01] [ 1.74414577e-02 6.59870063e-05 9.99847884e-01 1.03225037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.40, Y:-18.59, Z:1.03 [[ 8.73627116e-01 4.86377579e-01 -1.45778063e-02 6.73977658e+01] [-4.86310432e-01 8.73748734e-01 8.08170881e-03 -1.85908386e+01] [ 1.66681018e-02 2.89393216e-05 9.99861077e-01 1.03328297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.28762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.42, Y:-18.61, Z:1.03 [[ 8.75294469e-01 4.83374044e-01 -1.44611841e-02 6.74244490e+01] [-4.83307472e-01 8.75413921e-01 8.02214343e-03 -1.86108856e+01] [ 1.65372178e-02 -3.25394555e-05 9.99863250e-01 1.03429335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.45, Y:-18.63, Z:1.04 [[ 8.75510037e-01 4.82999177e-01 -1.39273211e-02 6.74518755e+01] [-4.82937304e-01 8.75620804e-01 7.73094157e-03 -1.86263671e+01] [ 1.59290905e-02 -4.24940461e-05 9.99873123e-01 1.03508909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.48, Y:-18.64, Z:1.03 [[ 8.75905567e-01 4.82259951e-01 -1.46552914e-02 6.74812820e+01] [-4.82191248e-01 8.76028159e-01 8.14033003e-03 -1.86407812e+01] [ 1.67642031e-02 -6.35071274e-05 9.99859469e-01 1.03491805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.51, Y:-18.66, Z:1.03 [[ 8.76449069e-01 4.81251734e-01 -1.52904333e-02 6.75107951e+01] [-4.81176691e-01 8.76582432e-01 8.49892864e-03 -1.86562288e+01] [ 1.74934494e-02 -9.14779802e-05 9.99846974e-01 1.03446467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.407628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.54, Y:-18.67, Z:1.03 [[ 8.77220814e-01 4.79821860e-01 -1.59570388e-02 6.75377913e+01] [-4.79739786e-01 8.77365925e-01 8.87535415e-03 -1.86708463e+01] [ 1.82587510e-02 -1.30419031e-04 9.99833287e-01 1.03354356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.57, Y:-18.69, Z:1.03 [[ 8.79803977e-01 4.75026784e-01 -1.71614622e-02 6.75653979e+01] [-4.74930830e-01 8.79971301e-01 9.55072787e-03 -1.86866240e+01] [ 1.96384458e-02 -2.52260884e-04 9.99807115e-01 1.03304709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.467628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.59, Y:-18.70, Z:1.03 [[ 8.79670419e-01 4.75274154e-01 -1.71590420e-02 6.75936648e+01] [-4.75178162e-01 8.79837721e-01 9.55507434e-03 -1.87024437e+01] [ 1.96384523e-02 -2.51714204e-04 9.99807115e-01 1.03355313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.62, Y:-18.72, Z:1.03 [[ 8.81179979e-01 4.72465569e-01 -1.72664743e-02 6.76198164e+01] [-4.72367710e-01 8.81349070e-01 9.62102793e-03 -1.87190854e+01] [ 1.97633955e-02 -3.21732287e-04 9.99804633e-01 1.03384735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.527628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.65, Y:-18.74, Z:1.03 [[ 8.82857540e-01 4.69311000e-01 -1.75996722e-02 6.76465578e+01] [-4.69208591e-01 8.83032854e-01 9.81206999e-03 -1.87364816e+01] [ 2.01460011e-02 -4.04742591e-04 9.99796967e-01 1.03453700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55762800000001 meters Centerline goodness [0,1] 0.9998640781097796 Centerline is valid? [True, True] Translation: X:67.67, Y:-18.75, Z:1.03 [[ 8.86909224e-01 4.61576857e-01 -1.84074557e-02 6.76723093e+01] [-4.61463033e-01 8.87100011e-01 1.02683505e-02 -1.87545218e+01] [ 2.10688871e-02 -6.12734378e-04 9.99777839e-01 1.03196733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.58762800000001 meters Centerline goodness [0,1] 0.9999773453252079 Centerline is valid? [True, True] Translation: X:67.70, Y:-18.78, Z:1.03 [[ 8.88745267e-01 4.58049789e-01 -1.79510677e-02 6.76958435e+01] [-4.57940726e-01 8.88926276e-01 1.00183433e-02 -1.87751019e+01] [ 2.05460758e-02 -6.83230231e-04 9.99788674e-01 1.03340193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61762800000001 meters Centerline goodness [0,1] 0.9999773970435333 Centerline is valid? [True, True] Translation: X:67.72, Y:-18.79, Z:1.03 [[ 8.90270974e-01 4.55079558e-01 -1.78937988e-02 6.77246041e+01] [-4.54970523e-01 8.90450464e-01 9.98969335e-03 -1.87885191e+01] [ 2.04796467e-02 -7.52383027e-04 9.99789987e-01 1.03400501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.64762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.75, Y:-18.80, Z:1.03 [[ 8.91503456e-01 4.52674441e-01 -1.75339382e-02 6.77537316e+01] [-4.52569197e-01 8.91675512e-01 9.79301224e-03 -1.88025195e+01] [ 2.00676297e-02 -7.95183906e-04 9.99798309e-01 1.03472270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.78, Y:-18.82, Z:1.04 [[ 8.93152645e-01 4.49414264e-01 -1.74691559e-02 6.77787041e+01] [-4.49309137e-01 8.93323048e-01 9.75865922e-03 -1.88206012e+01] [ 1.99912803e-02 -8.66920917e-04 9.99799779e-01 1.03521893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.70762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.81, Y:-18.83, Z:1.04 [[ 8.93374476e-01 4.48988676e-01 -1.70650219e-02 6.78084755e+01] [-4.48888221e-01 8.93537034e-01 9.53591423e-03 -1.88327931e+01] [ 1.95297466e-02 -8.58855055e-04 9.99808907e-01 1.03633814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.737628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.84, Y:-18.85, Z:1.04 [[ 8.93213801e-01 4.49321594e-01 -1.67095995e-02 6.78377183e+01] [-4.49225234e-01 8.93369690e-01 9.34275019e-03 -1.88472289e+01] [ 1.91257491e-02 -8.38699681e-04 9.99816734e-01 1.03812098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.767628 meters Centerline goodness [0,1] 0.9999776730893746 Centerline is valid? [True, True] Translation: X:67.87, Y:-18.86, Z:1.04 [[ 8.92166161e-01 4.51457053e-01 -1.50356799e-02 6.78671660e+01] [-4.51379256e-01 8.92292561e-01 8.41146403e-03 -1.88595729e+01] [ 1.72136401e-02 -7.17629551e-04 9.99851577e-01 1.04161175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.90, Y:-18.87, Z:1.04 [[ 8.91193917e-01 4.53416146e-01 -1.36821304e-02 6.78971911e+01] [-4.53351943e-01 8.91298724e-01 7.65513168e-03 -1.88719412e+01] [ 1.56658257e-02 -6.19386378e-04 9.99877092e-01 1.04293513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.93, Y:-18.88, Z:1.04 [[ 8.90144737e-01 4.55494515e-01 -1.29264532e-02 6.79262289e+01] [-4.55437368e-01 8.90238417e-01 7.23629837e-03 -1.88841884e+01] [ 1.48037195e-02 -5.54163065e-04 9.99890265e-01 1.04320551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.96, Y:-18.89, Z:1.04 [[ 8.88137287e-01 4.59423323e-01 -1.19318995e-02 6.79579759e+01] [-4.59374935e-01 8.88217318e-01 6.68317937e-03 -1.88920085e+01] [ 1.36685283e-02 -4.54365235e-04 9.99906478e-01 1.04313583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.99, Y:-18.90, Z:1.04 [[ 8.87081438e-01 4.61457076e-01 -1.19954028e-02 6.79872796e+01] [-4.61408352e-01 8.87162435e-01 6.71917737e-03 -1.89047262e+01] [ 1.37424827e-02 -4.25678493e-04 9.99905477e-01 1.04358698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.02, Y:-18.92, Z:1.04 [[ 8.86322545e-01 4.62911681e-01 -1.20466773e-02 6.80170260e+01] [-4.62862616e-01 8.86404314e-01 6.75205353e-03 -1.89184262e+01] [ 1.38038312e-02 -4.08540687e-04 9.99904639e-01 1.04422107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.94762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.05, Y:-18.93, Z:1.04 [[ 8.85201193e-01 4.65030213e-01 -1.28743393e-02 6.80474059e+01] [-4.64974376e-01 8.85294719e-01 7.21736273e-03 -1.89293221e+01] [ 1.47538763e-02 -4.02580204e-04 9.99891075e-01 1.04489484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.08, Y:-18.94, Z:1.05 [[ 8.84766657e-01 4.65842411e-01 -1.33720258e-02 6.80764313e+01] [-4.65782198e-01 8.84867607e-01 7.50081271e-03 -1.89429439e+01] [ 1.53266691e-02 -4.08017426e-04 9.99882456e-01 1.04514418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.00762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.11, Y:-18.96, Z:1.04 [[ 8.84336131e-01 4.66630930e-01 -1.43242080e-02 6.81050390e+01] [-4.66561859e-01 8.84452030e-01 8.03983458e-03 -1.89569177e+01] [ 1.64207103e-02 -4.26787092e-04 9.99865080e-01 1.04483712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.14, Y:-18.97, Z:1.04 [[ 8.83863027e-01 4.67479907e-01 -1.57698110e-02 6.81355528e+01] [-4.67396225e-01 8.84003579e-01 8.85670406e-03 -1.89675560e+01] [ 1.80809005e-02 -4.57363148e-04 9.99836423e-01 1.04328764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.06762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.16, Y:-18.98, Z:1.04 [[ 8.83540524e-01 4.68053162e-01 -1.68041573e-02 6.81639620e+01] [-4.67958133e-01 8.83700179e-01 9.44345299e-03 -1.89817451e+01] [ 1.92698748e-02 -4.80031342e-04 9.99814203e-01 1.04185521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.19, Y:-19.00, Z:1.04 [[ 8.83468864e-01 4.68161004e-01 -1.75510809e-02 6.81936592e+01] [-4.68057231e-01 8.83643039e-01 9.86959522e-03 -1.89959652e+01] [ 2.01294501e-02 -5.04569749e-04 9.99797255e-01 1.04069660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.22, Y:-19.01, Z:1.04 [[ 8.83615517e-01 4.67854010e-01 -1.83369513e-02 6.82215687e+01] [-4.67740526e-01 8.83805597e-01 1.03182665e-02 -1.90110301e+01] [ 2.10337426e-02 -5.40445095e-04 9.99778620e-01 1.04032120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.157628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.25, Y:-19.03, Z:1.04 [[ 8.85044800e-01 4.65115120e-01 -1.90690070e-02 6.82474777e+01] [-4.64991643e-01 8.85249978e-01 1.07354131e-02 -1.90277681e+01] [ 2.18740410e-02 -6.34392604e-04 9.99760533e-01 1.04122242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.27, Y:-19.05, Z:1.04 [[ 8.85974468e-01 4.63352431e-01 -1.88087065e-02 6.82746457e+01] [-4.63231833e-01 8.86173840e-01 1.05922148e-02 -1.90451189e+01] [ 2.15757122e-02 -6.71640290e-04 9.99766992e-01 1.04278763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.217628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.30, Y:-19.06, Z:1.04 [[ 8.87298247e-01 4.60822933e-01 -1.85484453e-02 6.83010742e+01] [-4.60704978e-01 8.87491799e-01 1.04512978e-02 -1.90622482e+01] [ 2.12777908e-02 -7.28057113e-04 9.99773337e-01 1.04379942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.33, Y:-19.08, Z:1.05 [[ 8.89860001e-01 4.55885923e-01 -1.78101992e-02 6.83260872e+01] [-4.55776083e-01 8.90037841e-01 1.00401325e-02 -1.90804789e+01] [ 2.04289063e-02 -8.16849540e-04 9.99790974e-01 1.04504232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.277628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.35, Y:-19.10, Z:1.05 [[ 8.90955119e-01 4.53761450e-01 -1.73067205e-02 6.83531835e+01] [-4.53657248e-01 8.91122793e-01 9.76054505e-03 -1.90966492e+01] [ 1.98513722e-02 -8.44888389e-04 9.99802585e-01 1.04613782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.30762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.38, Y:-19.11, Z:1.05 [[ 8.91905752e-01 4.51930496e-01 -1.62159526e-02 6.83802560e+01] [-4.51838633e-01 8.92052763e-01 9.14975787e-03 -1.91129352e+01] [ 1.86005399e-02 -8.33727829e-04 9.99826647e-01 1.04710174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33762800000001 meters Centerline goodness [0,1] 0.999913015113624 Centerline is valid? [True, True] Translation: X:68.41, Y:-19.13, Z:1.05 [[ 8.92644706e-01 4.50480498e-01 -1.58981215e-02 6.84061856e+01] [-4.50391896e-01 8.92785863e-01 8.97454849e-03 -1.91294011e+01] [ 1.82364772e-02 -8.50698120e-04 9.99833340e-01 1.04786750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.36762800000001 meters Centerline goodness [0,1] 0.9999783164924758 Centerline is valid? [True, True] Translation: X:68.43, Y:-19.14, Z:1.05 [[ 8.93933445e-01 4.47909134e-01 -1.61370286e-02 6.84318373e+01] [-4.47817391e-01 8.94078612e-01 9.11156315e-03 -1.91448358e+01] [ 1.85089245e-02 -9.18688991e-04 9.99828273e-01 1.04834827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.46, Y:-19.16, Z:1.05 [[ 8.94027853e-01 4.47718966e-01 -1.61840966e-02 6.84601244e+01] [-4.47626635e-01 8.94173848e-01 9.13924362e-03 -1.91604287e+01] [ 1.85632087e-02 -9.26305636e-04 9.99827260e-01 1.04903297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.42762800000001 meters Centerline goodness [0,1] 0.9999782674838092 Centerline is valid? [True, True] Translation: X:68.49, Y:-19.18, Z:1.05 [[ 8.93709099e-01 4.48343521e-01 -1.64964580e-02 6.84882749e+01] [-4.48247604e-01 8.93860846e-01 9.32061029e-03 -1.91752362e+01] [ 1.89243731e-02 -9.35416474e-04 9.99820480e-01 1.04956661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.52, Y:-19.19, Z:1.05 [[ 8.92263043e-01 4.51180246e-01 -1.74082355e-02 6.85171497e+01] [-4.51073882e-01 8.92432364e-01 9.84013977e-03 -1.91861953e+01] [ 1.99753494e-02 -9.27592700e-04 9.99800043e-01 1.04950000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.487628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.55, Y:-19.20, Z:1.05 [[ 8.91083491e-01 4.53464491e-01 -1.84436247e-02 6.85464792e+01] [-4.53345567e-01 8.91273859e-01 1.04261401e-02 -1.91978064e+01] [ 2.11662049e-02 -9.29225822e-04 9.99775539e-01 1.04882152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.58, Y:-19.20, Z:1.05 [[ 8.87762972e-01 4.59836420e-01 -2.06729727e-02 6.85771841e+01] [-4.59688706e-01 8.88003213e-01 1.16870784e-02 -1.92047351e+01] [ 2.37318104e-02 -8.72223384e-04 9.99717980e-01 1.04603233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.61, Y:-19.22, Z:1.05 [[ 8.86047817e-01 4.63078576e-01 -2.18517553e-02 6.86069176e+01] [-4.62914499e-01 8.86316841e-01 1.23541101e-02 -1.92166610e+01] [ 2.50885025e-02 -8.30837910e-04 9.99684889e-01 1.04522821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.63, Y:-19.23, Z:1.05 [[ 8.84420045e-01 4.66141406e-01 -2.26577694e-02 6.86347980e+01] [-4.65965974e-01 8.84709892e-01 1.28108568e-02 -1.92283661e+01] [ 2.60172235e-02 -7.72429011e-04 9.99661196e-01 1.04517332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.67, Y:-19.24, Z:1.05 [[ 8.81034953e-01 4.72476866e-01 -2.33028549e-02 6.86668238e+01] [-4.72293491e-01 8.81342866e-01 1.31761572e-02 -1.92355200e+01] [ 2.67632344e-02 -6.02868328e-04 9.99641619e-01 1.04531089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.70, Y:-19.24, Z:1.05 [[ 8.79298225e-01 4.75699309e-01 -2.33409337e-02 6.86994974e+01] [-4.75516367e-01 8.79607815e-01 1.32013624e-02 -1.92423434e+01] [ 2.68107467e-02 -5.08938482e-04 9.99640398e-01 1.04862382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.66762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.73, Y:-19.26, Z:1.05 [[ 8.77600617e-01 4.78822226e-01 -2.33759007e-02 6.87278548e+01] [-4.78639630e-01 8.77911783e-01 1.32289755e-02 -1.92564291e+01] [ 2.68563061e-02 -4.21124576e-04 9.99639216e-01 1.04865953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.76, Y:-19.27, Z:1.05 [[ 8.75924738e-01 4.81885773e-01 -2.32799207e-02 6.87554700e+01] [-4.81705554e-01 8.76233982e-01 1.31820901e-02 -1.92709473e+01] [ 2.67509193e-02 -3.32451723e-04 9.99642075e-01 1.04908927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.72762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.79, Y:-19.28, Z:1.05 [[ 8.73135094e-01 4.86936728e-01 -2.29724013e-02 6.87851346e+01] [-4.86762846e-01 8.73437228e-01 1.30131050e-02 -1.92845832e+01] [ 2.64015093e-02 -1.80087178e-04 9.99651403e-01 1.05197429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.81, Y:-19.30, Z:1.05 [[ 8.71747961e-01 4.89462706e-01 -2.19488411e-02 6.88122550e+01] [-4.89304673e-01 8.72024225e-01 1.24373914e-02 -1.92991339e+01] [ 2.52275604e-02 -1.02600080e-04 9.99681729e-01 1.05236294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.78762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.84, Y:-19.31, Z:1.05 [[ 8.70563520e-01 4.91598560e-01 -2.12135105e-02 6.88400368e+01] [-4.91451441e-01 8.70821941e-01 1.20261187e-02 -1.93140277e+01] [ 2.43852131e-02 -4.40899397e-05 9.99702636e-01 1.05310483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.87, Y:-19.33, Z:1.05 [[ 8.68612946e-01 4.95097839e-01 -1.97402979e-02 6.88679602e+01] [-4.94971250e-01 8.68837227e-01 1.11952499e-02 -1.93290960e+01] [ 2.26938497e-02 4.65409322e-05 9.99742460e-01 1.05490499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.90, Y:-19.35, Z:1.06 [[ 8.67646287e-01 4.96830723e-01 -1.86856504e-02 6.88962507e+01] [-4.96717572e-01 8.67847467e-01 1.06031977e-02 -1.93458708e+01] [ 2.14842888e-02 8.16657713e-05 9.99769183e-01 1.05610505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.92, Y:-19.36, Z:1.06 [[ 8.67041131e-01 4.97888739e-01 -1.86140170e-02 6.89231336e+01] [-4.97776563e-01 8.67240908e-01 1.05688243e-02 -1.93625317e+01] [ 2.14049356e-02 1.02016001e-04 9.99770883e-01 1.05674851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.907628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.95, Y:-19.38, Z:1.06 [[ 8.66483350e-01 4.98856044e-01 -1.86882748e-02 6.89502700e+01] [-4.98743085e-01 8.66684852e-01 1.06161411e-02 -1.93811518e+01] [ 2.14927708e-02 1.21938313e-04 9.99768996e-01 1.05794611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.98, Y:-19.40, Z:1.06 [[ 8.66628258e-01 4.98612889e-01 -1.84567127e-02 6.89755522e+01] [-4.98502511e-01 8.66824766e-01 1.04914591e-02 -1.94018000e+01] [ 2.12299123e-02 1.08522732e-04 9.99774614e-01 1.05858660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.967628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.00, Y:-19.42, Z:1.06 [[ 8.66774623e-01 4.98353365e-01 -1.85923744e-02 6.90026041e+01] [-4.98241155e-01 8.66973998e-01 1.05753541e-02 -1.94206406e+01] [ 2.13893685e-02 9.70375005e-05 9.99771217e-01 1.05881608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.03, Y:-19.44, Z:1.06 [[ 8.67045726e-01 4.97856953e-01 -1.92396514e-02 6.90291243e+01] [-4.97736506e-01 8.67259159e-01 1.09508928e-02 -1.94387332e+01] [ 2.21377420e-02 8.13520776e-05 9.99754927e-01 1.05808146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.027628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.05, Y:-19.46, Z:1.06 [[ 8.67946252e-01 4.96217439e-01 -2.09178788e-02 6.90539828e+01] [-4.96074392e-01 8.68198279e-01 1.19140827e-02 -1.94611031e+01] [ 2.40728420e-02 3.60405758e-05 9.99710206e-01 1.05623678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.08, Y:-19.48, Z:1.06 [[ 8.68718931e-01 4.94833433e-01 -2.16169482e-02 6.90806763e+01] [-4.94680031e-01 8.68987844e-01 1.23204626e-02 -1.94815950e+01] [ 2.48814420e-02 -9.54649098e-06 9.99690409e-01 1.05582642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.08762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.10, Y:-19.51, Z:1.06 [[ 8.70818966e-01 4.91044738e-01 -2.34391502e-02 6.91026811e+01] [-4.90862774e-01 8.71134345e-01 1.33675157e-02 -1.95068877e+01] [ 2.69826970e-02 -1.35279896e-04 9.99635892e-01 1.05563542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.13, Y:-19.53, Z:1.06 [[ 8.72181157e-01 4.88604656e-01 -2.37806540e-02 6.91265877e+01] [-4.88416241e-01 8.72505267e-01 1.35695830e-02 -1.95280827e+01] [ 2.73789073e-02 -2.20276962e-04 9.99625103e-01 1.05591447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.14762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.15, Y:-19.55, Z:1.06 [[ 8.73723004e-01 4.85843242e-01 -2.37582781e-02 6.91518780e+01] [-4.85653956e-01 8.74045906e-01 1.35642746e-02 -1.95492279e+01] [ 2.73559369e-02 -3.13116987e-04 9.99625707e-01 1.05698930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.18, Y:-19.57, Z:1.06 [[ 8.75263171e-01 4.83063200e-01 -2.37555331e-02 6.91771296e+01] [-4.82872719e-01 8.75585392e-01 1.35704921e-02 -1.95703333e+01] [ 2.73554031e-02 -4.06853128e-04 9.99625688e-01 1.05774665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.20762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.20, Y:-19.60, Z:1.06 [[ 8.78749258e-01 4.76724757e-01 -2.30921481e-02 6.91992290e+01] [-4.76542384e-01 8.79052418e-01 1.31986116e-02 -1.95954338e+01] [ 2.65913135e-02 -5.93882827e-04 9.99646212e-01 1.05862165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.237628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.22, Y:-19.62, Z:1.06 [[ 8.80174085e-01 4.74099784e-01 -2.28686479e-02 6.92228853e+01] [-4.73919860e-01 8.80470864e-01 1.30775850e-02 -1.96169043e+01] [ 2.63352584e-02 -6.72645013e-04 9.99652941e-01 1.05925158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.24, Y:-19.64, Z:1.06 [[ 8.82831622e-01 4.69158105e-01 -2.23383131e-02 6.92432877e+01] [-4.68984712e-01 8.83113823e-01 1.27795157e-02 -1.96419210e+01] [ 2.57228864e-02 -8.05833219e-04 9.99668787e-01 1.06035676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.27, Y:-19.66, Z:1.06 [[ 8.83724837e-01 4.67500771e-01 -2.17587201e-02 6.92690376e+01] [-4.67335651e-01 8.83992268e-01 1.24522359e-02 -1.96606241e+01] [ 2.50559702e-02 -8.35724545e-04 9.99685701e-01 1.06231216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.30, Y:-19.68, Z:1.06 [[ 8.84519825e-01 4.66012426e-01 -2.13798436e-02 6.92951153e+01] [-4.65852413e-01 8.84777749e-01 1.22419273e-02 -1.96793668e+01] [ 2.46213002e-02 -8.68375688e-04 9.99696473e-01 1.06398226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.32, Y:-19.70, Z:1.06 [[ 8.85117009e-01 4.64911841e-01 -2.06121281e-02 6.93185554e+01] [-4.64762688e-01 8.85356550e-01 1.18077953e-02 -1.97005750e+01] [ 2.37386665e-02 -8.71532365e-04 9.99717818e-01 1.06447344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.35, Y:-19.72, Z:1.06 [[ 8.84993120e-01 4.65147723e-01 -2.06100421e-02 6.93466372e+01] [-4.64998548e-01 8.85232647e-01 1.18114354e-02 -1.97167646e+01] [ 2.37387444e-02 -8.69399373e-04 9.99717818e-01 1.06497905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.37, Y:-19.73, Z:1.07 [[ 8.85105972e-01 4.64986804e-01 -1.93569296e-02 6.93748086e+01] [-4.64855035e-01 8.85317225e-01 1.10998816e-02 -1.97345209e+01] [ 2.22983217e-02 -8.26405322e-04 9.99751020e-01 1.06680521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.44762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.40, Y:-19.75, Z:1.07 [[ 8.84371809e-01 4.66412331e-01 -1.86021622e-02 6.94012044e+01] [-4.66290822e-01 8.84567099e-01 1.06732178e-02 -1.97510310e+01] [ 2.14329810e-02 -7.65075420e-04 9.99769995e-01 1.06751115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.43, Y:-19.77, Z:1.07 [[ 8.82932666e-01 4.69141385e-01 -1.83376478e-02 6.94276260e+01] [-4.69023807e-01 8.83122801e-01 1.05255303e-02 -1.97659563e+01] [ 2.11323567e-02 -6.92541120e-04 9.99776447e-01 1.06885086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.50762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.46, Y:-19.78, Z:1.07 [[ 8.81986045e-01 4.70927558e-01 -1.81066823e-02 6.94578784e+01] [-4.70813256e-01 8.82171651e-01 1.03950500e-02 -1.97775509e+01] [ 2.08685173e-02 -6.43422991e-04 9.99782022e-01 1.07062246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.49, Y:-19.79, Z:1.07 [[ 8.81104455e-01 4.72583210e-01 -1.78899368e-02 6.94865222e+01] [-4.72471850e-01 8.81285849e-01 1.02763542e-02 -1.97920974e+01] [ 2.06225806e-02 -6.02049880e-04 9.99787151e-01 1.07144432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.56762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.52, Y:-19.81, Z:1.07 [[ 8.79885807e-01 4.74822921e-01 -1.85515615e-02 6.95160184e+01] [-4.74703557e-01 8.80081169e-01 1.06615598e-02 -1.98062327e+01] [ 2.13892329e-02 -5.74462946e-04 9.99771059e-01 1.07185935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.54, Y:-19.82, Z:1.07 [[ 8.79472670e-01 4.75583842e-01 -1.86502306e-02 6.95433938e+01] [-4.75463309e-01 8.79670219e-01 1.07214138e-02 -1.98210927e+01] [ 2.15049836e-02 -5.61690078e-04 9.99768583e-01 1.07165700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.627628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.57, Y:-19.84, Z:1.07 [[ 8.79254105e-01 4.75991919e-01 -1.85448498e-02 6.95727923e+01] [-4.75872708e-01 8.79449479e-01 1.06667689e-02 -1.98357616e+01] [ 2.13865543e-02 -5.53812413e-04 9.99771128e-01 1.07135437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.657628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.60, Y:-19.85, Z:1.07 [[ 8.78954203e-01 4.76534081e-01 -1.88355713e-02 6.96018953e+01] [-4.76411073e-01 8.79155823e-01 1.08410517e-02 -1.98512683e+01] [ 2.17255329e-02 -5.55313240e-04 9.99763819e-01 1.07134767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.63, Y:-19.87, Z:1.07 [[ 8.78937261e-01 4.76592526e-01 -1.81343863e-02 6.96307361e+01] [-4.76478383e-01 8.79124151e-01 1.04439763e-02 -1.98678464e+01] [ 2.09198980e-02 -5.38956843e-04 9.99781010e-01 1.07346904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.717628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.66, Y:-19.88, Z:1.08 [[ 8.78981378e-01 4.76528029e-01 -1.76854235e-02 6.96589581e+01] [-4.76419325e-01 8.79159117e-01 1.01917904e-02 -1.98844067e+01] [ 2.04049751e-02 -5.32716409e-04 9.99791655e-01 1.07500070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.69, Y:-19.90, Z:1.08 [[ 8.79077562e-01 4.76361623e-01 -1.73851729e-02 6.96878160e+01] [-4.76256420e-01 8.79249294e-01 1.00250830e-02 -1.98994948e+01] [ 2.00614658e-02 -5.33025341e-04 9.99798606e-01 1.07645146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.777628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.72, Y:-19.91, Z:1.08 [[ 8.79268026e-01 4.75995260e-01 -1.77834209e-02 6.97162293e+01] [-4.75884972e-01 8.79447667e-01 1.02612982e-02 -1.99135613e+01] [ 2.05239173e-02 -5.59568633e-04 9.99789206e-01 1.07673492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.80762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.74, Y:-19.93, Z:1.08 [[ 8.79539244e-01 4.75480758e-01 -1.81319382e-02 6.97439433e+01] [-4.75365869e-01 8.79725925e-01 1.04684266e-02 -1.99291589e+01] [ 2.09286715e-02 -5.88087430e-04 9.99780798e-01 1.07662133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.77, Y:-19.95, Z:1.08 [[ 8.79885742e-01 4.74825359e-01 -1.84921560e-02 6.97705086e+01] [-4.74705586e-01 8.80079822e-01 1.06824022e-02 -1.99456091e+01] [ 2.13468488e-02 -6.20963623e-04 9.99771937e-01 1.07627317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.86762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.80, Y:-19.96, Z:1.08 [[ 8.81364785e-01 4.72045667e-01 -1.92094779e-02 6.97988383e+01] [-4.71915655e-01 8.81573803e-01 1.11015369e-02 -1.99612497e+01] [ 2.21750049e-02 -7.19250308e-04 9.99753846e-01 1.07624432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.83, Y:-19.98, Z:1.08 [[ 8.81861225e-01 4.71124817e-01 -1.90311963e-02 6.98264188e+01] [-4.70996925e-01 8.82066246e-01 1.10015892e-02 -1.99775080e+01] [ 2.19698975e-02 -7.38240001e-04 9.99758360e-01 1.07648293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.92762800000001 meters Centerline goodness [0,1] 0.9998652442448063 Centerline is valid? [True, True] Translation: X:69.85, Y:-19.99, Z:1.07 [[ 8.82602336e-01 4.69702840e-01 -1.98080357e-02 6.98520548e+01] [-4.69563784e-01 8.82824209e-01 1.14572157e-02 -1.99946957e+01] [ 2.28685002e-02 -8.11029102e-04 9.99738153e-01 1.07399643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.88, Y:-20.01, Z:1.08 [[ 8.82705475e-01 4.69524599e-01 -1.94343869e-02 6.98804737e+01] [-4.69390565e-01 8.82919023e-01 1.12470251e-02 -2.00103365e+01] [ 2.24397448e-02 -8.05492774e-04 9.99747873e-01 1.07682073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.987628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.91, Y:-20.02, Z:1.08 [[ 8.82173745e-01 4.70504922e-01 -1.98645872e-02 6.99088809e+01] [-4.70364987e-01 8.82397004e-01 1.15024839e-02 -2.00248734e+01] [ 2.29404276e-02 -8.03582991e-04 9.99736511e-01 1.07710290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.94, Y:-20.04, Z:1.08 [[ 8.81123341e-01 4.72455840e-01 -2.01776606e-02 6.99357735e+01] [-4.72311817e-01 8.81354007e-01 1.16902059e-02 -2.00399956e+01] [ 2.33067681e-02 -7.70365758e-04 9.99728064e-01 1.07621350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.96, Y:-20.05, Z:1.08 [[ 8.80437745e-01 4.73761991e-01 -1.94666952e-02 6.99645573e+01] [-4.73628129e-01 8.80652636e-01 1.12841214e-02 -2.00547019e+01] [ 2.24893843e-02 -7.14992034e-04 9.99746826e-01 1.07718773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.99, Y:-20.07, Z:1.08 [[ 8.79495584e-01 4.75511213e-01 -1.94062865e-02 6.99909389e+01] [-4.75378483e-01 8.79709403e-01 1.12545250e-02 -2.00717287e+01] [ 2.24235456e-02 -6.72974044e-04 9.99748334e-01 1.07717106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.02, Y:-20.08, Z:1.08 [[ 8.78591599e-01 4.77155366e-01 -1.99889567e-02 7.00201197e+01] [-4.77014861e-01 8.78818712e-01 1.15971422e-02 -2.00845552e+01] [ 2.31003078e-02 -6.54122271e-04 9.99732938e-01 1.07789665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.05, Y:-20.10, Z:1.08 [[ 8.76458124e-01 4.81013977e-01 -2.11355252e-02 7.00474934e+01] [-4.80857849e-01 8.76712727e-01 1.22687693e-02 -2.00994248e+01] [ 2.44312335e-02 -5.89879343e-04 9.99701339e-01 1.07697016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.16762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.08, Y:-20.11, Z:1.08 [[ 8.75171673e-01 4.83325569e-01 -2.17010639e-02 7.00757061e+01] [-4.83161536e-01 8.75440516e-01 1.26028796e-02 -2.01147658e+01] [ 2.50892845e-02 -5.44563845e-04 9.99685066e-01 1.07761224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.10, Y:-20.13, Z:1.08 [[ 8.73796918e-01 4.85797488e-01 -2.19031040e-02 7.01022573e+01] [-4.85631006e-01 8.74071260e-01 1.27263329e-02 -2.01314726e+01] [ 2.53272943e-02 -4.83404060e-04 9.99679096e-01 1.07705469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.22762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.13, Y:-20.15, Z:1.08 [[ 8.72260786e-01 4.88558810e-01 -2.17119817e-02 7.01304218e+01] [-4.88395943e-01 8.72530874e-01 1.26204903e-02 -2.01468246e+01] [ 2.51102260e-02 -4.04315005e-04 9.99684607e-01 1.07836571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.16, Y:-20.16, Z:1.08 [[ 8.69090784e-01 4.94212108e-01 -2.08710751e-02 7.01578686e+01] [-4.94063094e-01 8.69341323e-01 1.21376897e-02 -2.01612239e+01] [ 2.41426812e-02 -2.37126302e-04 9.99708495e-01 1.07981577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.28762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.18, Y:-20.18, Z:1.08 [[ 8.67464057e-01 4.97056452e-01 -2.09998621e-02 7.01848246e+01] [-4.96906289e-01 8.67718190e-01 1.22181724e-02 -2.01764409e+01] [ 2.42950837e-02 -1.63861861e-04 9.99704817e-01 1.08017530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.21, Y:-20.19, Z:1.08 [[ 8.64317524e-01 5.02490524e-01 -2.14124044e-02 7.02130392e+01] [-5.02335895e-01 8.64582716e-01 1.24649745e-02 -2.01916606e+01] [ 2.47763263e-02 -1.74765750e-05 9.99693020e-01 1.07957774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.24, Y:-20.21, Z:1.08 [[ 8.62957935e-01 5.04821037e-01 -2.14318286e-02 7.02416706e+01] [-5.04666662e-01 8.63224026e-01 1.24836646e-02 -2.02085777e+01] [ 2.48024859e-02 4.30519369e-05 9.99692370e-01 1.07966118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.27, Y:-20.23, Z:1.08 [[ 8.61950598e-01 5.06550784e-01 -2.11535057e-02 7.02686737e+01] [-5.06400724e-01 8.62210123e-01 1.23292505e-02 -2.02251534e+01] [ 2.44841583e-02 8.49458111e-05 9.99700214e-01 1.08000906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.407628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.29, Y:-20.24, Z:1.08 [[ 8.61244121e-01 5.07795395e-01 -2.00599321e-02 7.02940751e+01] [-5.07660632e-01 8.61477698e-01 1.16986335e-02 -2.02441361e+01] [ 2.32216964e-02 1.08258469e-04 9.99730334e-01 1.08187792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.32, Y:-20.26, Z:1.08 [[ 8.61328290e-01 5.07693731e-01 -1.89908369e-02 7.03206369e+01] [-5.07572789e-01 8.61537618e-01 1.10813866e-02 -2.02626927e+01] [ 2.19872709e-02 9.45203223e-05 9.99758246e-01 1.08379048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.467628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.35, Y:-20.28, Z:1.08 [[ 8.61297591e-01 5.07776756e-01 -1.81445907e-02 7.03476457e+01] [-5.07666248e-01 8.61488687e-01 1.05935254e-02 -2.02792483e+01] [ 2.10105056e-02 8.72183916e-05 9.99779251e-01 1.08497481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.38, Y:-20.29, Z:1.09 [[ 8.60772298e-01 5.08690254e-01 -1.74721605e-02 7.03770717e+01] [-5.08587851e-01 8.60949601e-01 1.02069723e-02 -2.02943833e+01] [ 2.02348369e-02 1.00249605e-04 9.99795250e-01 1.08606062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.527628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.41, Y:-20.31, Z:1.09 [[ 8.60733014e-01 5.08747529e-01 -1.77378230e-02 7.04056511e+01] [-5.08641866e-01 8.60915758e-01 1.03687027e-02 -2.03114533e+01] [ 2.05458232e-02 9.75146188e-05 9.99788908e-01 1.08715424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.43, Y:-20.33, Z:1.09 [[ 8.61702136e-01 5.07072755e-01 -1.86185275e-02 7.04339487e+01] [-5.06955789e-01 8.61903254e-01 1.08908027e-02 -2.03286020e+01] [ 2.15697987e-02 5.41423603e-05 9.99767343e-01 1.08747978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.58762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.46, Y:-20.35, Z:1.09 [[ 8.61558929e-01 5.07316151e-01 -1.86154534e-02 7.04618652e+01] [-5.07199128e-01 8.61760013e-01 1.08960550e-02 -2.03450258e+01] [ 2.15697981e-02 5.41482783e-05 9.99767343e-01 1.08798603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.49, Y:-20.36, Z:1.09 [[ 8.63955846e-01 5.03190681e-01 -1.94790750e-02 7.04885951e+01] [-5.03061328e-01 8.64175408e-01 1.14090179e-02 -2.03627995e+01] [ 2.25742491e-02 -5.77184099e-05 9.99745168e-01 1.08571309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.64762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.52, Y:-20.38, Z:1.09 [[ 8.65633644e-01 5.00283262e-01 -1.98759119e-02 7.05151319e+01] [-5.00147655e-01 8.65861789e-01 1.16484318e-02 -2.03800698e+01] [ 2.30373081e-02 -1.42383722e-04 9.99734596e-01 1.08663499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.54, Y:-20.40, Z:1.09 [[ 8.68614824e-01 4.95092145e-01 -1.98003850e-02 7.05404189e+01] [-4.94956067e-01 8.68840426e-01 1.16105757e-02 -2.03980580e+01] [ 2.29516798e-02 -2.84797506e-04 9.99736535e-01 1.08674569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.70762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.57, Y:-20.42, Z:1.09 [[ 8.70098868e-01 4.92487922e-01 -1.95858680e-02 7.05667496e+01] [-4.92353999e-01 8.70319206e-01 1.14899302e-02 -2.04153850e+01] [ 2.27046090e-02 -3.54194848e-04 9.99742154e-01 1.08738713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.737628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.59, Y:-20.43, Z:1.09 [[ 8.73724277e-01 4.86044844e-01 -1.91388892e-02 7.05925839e+01] [-4.85915326e-01 8.73933720e-01 1.12316543e-02 -2.04336990e+01] [ 2.21852083e-02 -5.13489427e-04 9.99753746e-01 1.08945899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.62, Y:-20.45, Z:1.09 [[ 8.75743456e-01 4.82400294e-01 -1.90619046e-02 7.06190968e+01] [-4.82270827e-01 8.75950676e-01 1.11920884e-02 -2.04509969e+01] [ 2.20963549e-02 -6.08397649e-04 9.99755661e-01 1.09045997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.64, Y:-20.47, Z:1.09 [[ 8.77924603e-01 4.78429048e-01 -1.88158877e-02 7.06443179e+01] [-4.78301866e-01 8.78125931e-01 1.10532729e-02 -2.04687825e+01] [ 2.18109257e-02 -7.04265984e-04 9.99761865e-01 1.09097294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.67, Y:-20.49, Z:1.09 [[ 8.80202299e-01 4.74238961e-01 -1.84748786e-02 7.06707454e+01] [-4.74115334e-01 8.80395804e-01 1.08571418e-02 -2.04869315e+01] [ 2.14140853e-02 -7.97257918e-04 9.99770374e-01 1.09149705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.70, Y:-20.51, Z:1.09 [[ 8.83852861e-01 4.67436649e-01 -1.75242578e-02 7.06954598e+01] [-4.67324040e-01 8.84026098e-01 1.03004695e-02 -2.05056271e+01] [ 2.03067182e-02 -9.14592476e-04 9.99793379e-01 1.09237122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.72, Y:-20.52, Z:1.09 [[ 8.85264147e-01 4.64784322e-01 -1.68203250e-02 7.07233459e+01] [-4.64680020e-01 8.85423430e-01 9.89086173e-03 -2.05203234e+01] [ 1.94902273e-02 -9.39956315e-04 9.99809606e-01 1.09360286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.75, Y:-20.54, Z:1.09 [[ 8.86466290e-01 4.62504333e-01 -1.63480751e-02 7.07508624e+01] [-4.62405342e-01 8.86616495e-01 9.61718163e-03 -2.05360692e+01] [ 1.89424612e-02 -9.65870067e-04 9.99820109e-01 1.09472316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.94762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.78, Y:-20.55, Z:1.10 [[ 8.88135361e-01 4.59278083e-01 -1.67099750e-02 7.07785937e+01] [-4.59174062e-01 8.88291912e-01 9.83158524e-03 -2.05517720e+01] [ 1.93587673e-02 -1.05899139e-03 9.99812041e-01 1.09575966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.80, Y:-20.57, Z:1.10 [[ 8.88491229e-01 4.58574770e-01 -1.71031147e-02 7.08048750e+01] [-4.58465623e-01 8.88655145e-01 1.00650641e-02 -2.05676975e+01] [ 1.98143553e-02 -1.10153099e-03 9.99803070e-01 1.09579495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.00762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.83, Y:-20.58, Z:1.10 [[ 8.88575624e-01 4.58415855e-01 -1.69783246e-02 7.08329916e+01] [-4.58308203e-01 8.88737134e-01 9.99486359e-03 -2.05823226e+01] [ 1.96710715e-02 -1.09988673e-03 9.99805901e-01 1.09561445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.86, Y:-20.59, Z:1.10 [[ 8.87953397e-01 4.59583638e-01 -1.79344575e-02 7.08619338e+01] [-4.59463642e-01 8.88133763e-01 1.05631587e-02 -2.05948844e+01] [ 2.07828521e-02 -1.13936154e-03 9.99783364e-01 1.09509343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.06762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.89, Y:-20.61, Z:1.10 [[ 8.87449210e-01 4.60564815e-01 -1.77186667e-02 7.08894655e+01] [-4.60447805e-01 8.87625387e-01 1.04398822e-02 -2.06102963e+01] [ 2.05357808e-02 -1.10634400e-03 9.99788506e-01 1.09546936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.92, Y:-20.62, Z:1.10 [[ 8.86909413e-01 4.61601468e-01 -1.77701406e-02 7.09183253e+01] [-4.61483868e-01 8.87086747e-01 1.04758649e-02 -2.06242071e+01] [ 2.05993308e-02 -1.09050999e-03 9.99787217e-01 1.09599721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.127628 meters Centerline goodness [0,1] 0.9998217429087101 Centerline is valid? [True, True] Translation: X:70.95, Y:-20.63, Z:1.09 [[ 8.86234515e-01 4.62865860e-01 -1.85359257e-02 7.09496795e+01] [-4.62738051e-01 8.86427639e-01 1.09333529e-02 -2.06339270e+01] [ 2.14914327e-02 -1.11223657e-03 9.99768414e-01 1.09373184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.157628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.98, Y:-20.65, Z:1.10 [[ 8.85589735e-01 4.64149236e-01 -1.72135763e-02 7.09772266e+01] [-4.64039153e-01 8.85756439e-01 1.01584736e-02 -2.06479028e+01] [ 1.99620839e-02 -1.00846660e-03 9.99800229e-01 1.09710605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.01, Y:-20.66, Z:1.10 [[ 8.84907541e-01 4.65472896e-01 -1.65416892e-02 7.10061891e+01] [-4.65371378e-01 8.85061631e-01 9.76675595e-03 -2.06615668e+01] [ 1.91865746e-02 -9.44647281e-04 9.99815474e-01 1.09842440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.217628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.04, Y:-20.67, Z:1.10 [[ 8.83669005e-01 4.67882908e-01 -1.46517617e-02 7.10385939e+01] [-4.67803529e-01 8.83790107e-01 8.65472979e-03 -2.06691584e+01] [ 1.69984822e-02 -7.93770650e-04 9.99855200e-01 1.10139845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.07, Y:-20.68, Z:1.10 [[ 8.82816022e-01 4.69516851e-01 -1.37767491e-02 7.10679879e+01] [-4.69446853e-01 8.82923220e-01 8.13880810e-03 -2.06832604e+01] [ 1.59851192e-02 -7.17618684e-04 9.99871972e-01 1.10271663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.277628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.10, Y:-20.70, Z:1.10 [[ 8.82684116e-01 4.69764807e-01 -1.37759976e-02 7.10958722e+01] [-4.69694820e-01 8.82791320e-01 8.14007992e-03 -2.06998125e+01] [ 1.59852542e-02 -7.14604552e-04 9.99871972e-01 1.10322208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.30762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.12, Y:-20.71, Z:1.10 [[ 8.81587855e-01 4.71831280e-01 -1.33453391e-02 7.11240706e+01] [-4.71765760e-01 8.81688611e-01 7.89051681e-03 -2.07130742e+01] [ 1.54894262e-02 -6.60309732e-04 9.99879814e-01 1.10423888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.15, Y:-20.73, Z:1.11 [[ 8.80302166e-01 4.74232877e-01 -1.30872284e-02 7.11502069e+01] [-4.74170084e-01 8.80399232e-01 7.74105959e-03 -2.07291285e+01] [ 1.51930508e-02 -6.08899321e-04 9.99884394e-01 1.10502781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.36762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.18, Y:-20.74, Z:1.10 [[ 8.76769850e-01 4.80723397e-01 -1.34032232e-02 7.11809961e+01] [-4.80658278e-01 8.76872144e-01 7.92866841e-03 -2.07367367e+01] [ 1.55644095e-02 -5.09247244e-04 9.99878738e-01 1.10420369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.21, Y:-20.74, Z:1.10 [[ 8.74458963e-01 4.84894538e-01 -1.40999562e-02 7.12129456e+01] [-4.84823008e-01 8.74572511e-01 8.34106636e-03 -2.07439197e+01] [ 1.63759716e-02 -4.57937077e-04 9.99865800e-01 1.10347433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.42762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.25, Y:-20.75, Z:1.10 [[ 8.69499283e-01 4.93696670e-01 -1.53164940e-02 7.12453932e+01] [-4.93613606e-01 8.69634117e-01 9.06149470e-03 -2.07503319e+01] [ 1.77933755e-02 -3.18533288e-04 9.99841635e-01 1.10162320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.28, Y:-20.76, Z:1.10 [[ 8.66901457e-01 4.98226645e-01 -1.58768351e-02 7.12760027e+01] [-4.98138133e-01 8.67046801e-01 9.39392175e-03 -2.07623946e+01] [ 1.84462612e-02 -2.34747440e-04 9.99829826e-01 1.10151015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.487628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.31, Y:-20.77, Z:1.10 [[ 8.64359640e-01 5.02603813e-01 -1.64869512e-02 7.13065415e+01] [-5.02509109e-01 8.64516851e-01 9.75758577e-03 -2.07744918e+01] [ 1.91574469e-02 -1.49220174e-04 9.99816468e-01 1.10128457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.34, Y:-20.78, Z:1.10 [[ 8.59691887e-01 5.10517276e-01 -1.73772967e-02 7.13373801e+01] [-5.10413554e-01 8.59867496e-01 1.02904971e-02 -2.07837281e+01] [ 2.01956491e-02 2.29509120e-05 9.99796047e-01 1.10054828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.37, Y:-20.80, Z:1.10 [[ 8.57519897e-01 5.14137923e-01 -1.79393905e-02 7.13663306e+01] [-5.14028050e-01 8.57707517e-01 1.06291903e-02 -2.07978188e+01] [ 2.08516200e-02 1.06607711e-04 9.99782576e-01 1.10105934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.39, Y:-20.81, Z:1.10 [[ 8.54352161e-01 5.19368957e-01 -1.83921617e-02 7.13949891e+01] [-5.19254541e-01 8.54550075e-01 1.09036986e-02 -2.08099361e+01] [ 2.13800658e-02 2.34615031e-04 9.99771393e-01 1.10044039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.42, Y:-20.83, Z:1.10 [[ 8.53350095e-01 5.21035950e-01 -1.77525866e-02 7.14225234e+01] [-5.20929614e-01 8.53534692e-01 1.05293806e-02 -2.08253480e+01] [ 2.06386344e-02 2.62600101e-04 9.99786966e-01 1.10102757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.45, Y:-20.84, Z:1.10 [[ 8.52835050e-01 5.21906085e-01 -1.69238553e-02 7.14502854e+01] [-5.21809544e-01 8.53002912e-01 1.00415190e-02 -2.08425974e+01] [ 1.96768277e-02 2.67269819e-04 9.99806357e-01 1.10207465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.66762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.48, Y:-20.86, Z:1.10 [[ 8.52767003e-01 5.22025269e-01 -1.66750285e-02 7.14771817e+01] [-5.21931449e-01 8.52929980e-01 9.90013256e-03 -2.08612914e+01] [ 1.93907511e-02 2.60715412e-04 9.99811948e-01 1.10336342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.50, Y:-20.88, Z:1.10 [[ 8.54596588e-01 5.19026882e-01 -1.66062170e-02 7.15019494e+01] [-5.18933148e-01 8.54757896e-01 9.86547194e-03 -2.08824774e+01] [ 1.93147402e-02 1.86517789e-04 9.99813436e-01 1.10300974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.72762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.53, Y:-20.90, Z:1.10 [[ 8.55979598e-01 5.16751404e-01 -1.63374874e-02 7.15272614e+01] [-5.16660162e-01 8.56135485e-01 9.71120642e-03 -2.09022094e+01] [ 1.90053823e-02 1.28334319e-04 9.99819373e-01 1.10371037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.55, Y:-20.92, Z:1.10 [[ 8.57484297e-01 5.14262380e-01 -1.59651212e-02 7.15520534e+01] [-5.14174721e-01 8.57632905e-01 9.49507786e-03 -2.09221690e+01] [ 1.85751746e-02 6.69815684e-05 9.99827464e-01 1.10446211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.78762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.57, Y:-20.95, Z:1.11 [[ 8.60458801e-01 5.09274469e-01 -1.58166657e-02 7.15748524e+01] [-5.09187494e-01 8.60604156e-01 9.41184417e-03 -2.09476796e+01] [ 1.84051001e-02 -4.48558006e-05 9.99830611e-01 1.10606323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.60, Y:-20.97, Z:1.11 [[ 8.61666261e-01 5.07232635e-01 -1.56942417e-02 7.16001167e+01] [-5.07146553e-01 8.61809170e-01 9.34494747e-03 -2.09679629e+01] [ 1.82655037e-02 -9.29453499e-05 9.99833167e-01 1.10643779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.62, Y:-20.99, Z:1.11 [[ 8.63890765e-01 5.03396554e-01 -1.68717437e-02 7.16232947e+01] [-5.03296214e-01 8.64055480e-01 1.00523088e-02 -2.09908176e+01] [ 1.96384202e-02 -1.92612027e-04 9.99807129e-01 1.10549763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.65, Y:-21.01, Z:1.10 [[ 8.64501647e-01 5.02308357e-01 -1.79782442e-02 7.16490163e+01] [-5.02194062e-01 8.64688533e-01 1.07175214e-02 -2.10107696e+01] [ 2.09290822e-02 -2.36747426e-04 9.99780935e-01 1.10495678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.907628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.67, Y:-21.03, Z:1.10 [[ 8.65174624e-01 5.01095959e-01 -1.93832450e-02 7.16741676e+01] [-5.00962644e-01 8.65391677e-01 1.15617594e-02 -2.10303683e+01] [ 2.25676498e-02 -2.92659191e-04 9.99745275e-01 1.10480945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.70, Y:-21.05, Z:1.10 [[ 8.65734301e-01 5.00074024e-01 -2.07386480e-02 7.16986389e+01] [-4.99920955e-01 8.65982592e-01 1.23769531e-02 -2.10508706e+01] [ 2.41487009e-02 -3.47468132e-04 9.99708317e-01 1.10398264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.967628 meters Centerline goodness [0,1] 0.9999331163329915 Centerline is valid? [True, True] Translation: X:71.72, Y:-21.07, Z:1.10 [[ 8.67735969e-01 4.96518527e-01 -2.24419174e-02 7.17227904e+01] [-4.96337947e-01 8.68025987e-01 1.33988217e-02 -2.10733645e+01] [ 2.61329307e-02 -4.87864295e-04 9.99658358e-01 1.10289550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.75, Y:-21.09, Z:1.10 [[ 8.68830942e-01 4.94619924e-01 -2.19982957e-02 7.17470589e+01] [-4.94445703e-01 8.69109223e-01 1.31379438e-02 -2.10939361e+01] [ 2.56172105e-02 -5.37689326e-04 9.99671681e-01 1.10418613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.027628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.77, Y:-21.11, Z:1.11 [[ 8.70244761e-01 4.92159291e-01 -2.12905677e-02 7.17721310e+01] [-4.91995198e-01 8.70504955e-01 1.27219753e-02 -2.11137778e+01] [ 2.47947830e-02 -5.96375253e-04 9.99692384e-01 1.10538171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.79, Y:-21.14, Z:1.11 [[ 8.73656901e-01 4.86121621e-01 -2.02333470e-02 7.17923035e+01] [-4.85971675e-01 8.73890857e-01 1.20954677e-02 -2.11389955e+01] [ 2.35616053e-02 -7.34455331e-04 9.99722117e-01 1.10692121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.08762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.82, Y:-21.16, Z:1.11 [[ 8.75443795e-01 4.82918911e-01 -1.96847032e-02 7.18170574e+01] [-4.82776117e-01 8.75664710e-01 1.17701732e-02 -2.11588074e+01] [ 2.29212391e-02 -8.00820496e-04 9.99736953e-01 1.10817048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.84, Y:-21.18, Z:1.11 [[ 8.77264143e-01 4.79630878e-01 -1.90222027e-02 7.18420769e+01] [-4.79496686e-01 8.77469932e-01 1.13774693e-02 -2.11782339e+01] [ 2.21483965e-02 -8.59962661e-04 9.99754324e-01 1.10977353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.14762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.86, Y:-21.20, Z:1.11 [[ 8.79936191e-01 4.74800034e-01 -1.66501360e-02 7.18626213e+01] [-4.74696277e-01 8.80093281e-01 9.96300484e-03 -2.12034224e+01] [ 1.93841079e-02 -8.63050940e-04 9.99811738e-01 1.11280605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.89, Y:-21.22, Z:1.11 [[ 8.79875341e-01 4.74970179e-01 -1.49235658e-02 7.18940288e+01] [-4.74886794e-01 8.80001552e-01 8.93317817e-03 -2.12153275e+01] [ 1.73757543e-02 -7.73078881e-04 9.99848731e-01 1.11467316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.20762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.92, Y:-21.23, Z:1.12 [[ 8.79941295e-01 4.74880636e-01 -1.38455613e-02 7.19204170e+01] [-4.74808772e-01 8.80049918e-01 8.29285341e-03 -2.12323045e+01] [ 1.61229006e-02 -7.23230184e-04 9.99869756e-01 1.11536495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.237628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.95, Y:-21.25, Z:1.12 [[ 8.79879160e-01 4.74988551e-01 -1.40904338e-02 7.19463970e+01] [-4.74914063e-01 8.79991666e-01 8.44402667e-03 -2.12516881e+01] [ 1.64102803e-02 -7.37977933e-04 9.99865070e-01 1.11559426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.98, Y:-21.27, Z:1.12 [[ 8.79731563e-01 4.75255468e-01 -1.43044601e-02 7.19757830e+01] [-4.75178649e-01 8.79847532e-01 8.57744002e-03 -2.12663293e+01] [ 1.66622192e-02 -7.48670712e-04 9.99860895e-01 1.11589733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.01, Y:-21.28, Z:1.11 [[ 8.79187243e-01 4.76206663e-01 -1.60314161e-02 7.20057427e+01] [-4.76110209e-01 8.79333005e-01 9.61949498e-03 -2.12792439e+01] [ 1.86778209e-02 -8.24616390e-04 9.99825214e-01 1.11473797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.327628 meters Centerline goodness [0,1] 0.9999548328816622 Centerline is valid? [True, True] Translation: X:72.03, Y:-21.30, Z:1.11 [[ 8.78808443e-01 4.76874997e-01 -1.69102882e-02 7.20329496e+01] [-4.76767685e-01 8.78970703e-01 1.01527018e-02 -2.12950441e+01] [ 1.97052175e-02 -8.60001163e-04 9.99805463e-01 1.11322941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.06, Y:-21.31, Z:1.11 [[ 8.78013549e-01 4.78323186e-01 -1.72956019e-02 7.20587926e+01] [-4.78211106e-01 8.78183470e-01 1.03890174e-02 -2.13118584e+01] [ 2.01580196e-02 -8.50749131e-04 9.99796445e-01 1.11337964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.09, Y:-21.32, Z:1.11 [[ 8.77317508e-01 4.79599570e-01 -1.72696741e-02 7.20909845e+01] [-4.79487996e-01 8.77487079e-01 1.03772620e-02 -2.13209128e+01] [ 2.01308462e-02 -8.23552228e-04 9.99797015e-01 1.11398701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.12, Y:-21.33, Z:1.11 [[ 8.76047998e-01 4.81934176e-01 -1.67139110e-02 7.21204031e+01] [-4.81830001e-01 8.76207104e-01 1.00479681e-02 -2.13319407e+01] [ 1.94873068e-02 -7.49238615e-04 9.99809824e-01 1.11373235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.44762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.15, Y:-21.35, Z:1.11 [[ 8.75162341e-01 4.83562610e-01 -1.60648521e-02 7.21492487e+01] [-4.83466602e-01 8.75309505e-01 9.65997723e-03 -2.13462332e+01] [ 1.87329216e-02 -6.87228817e-04 9.99824287e-01 1.11455977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.18, Y:-21.36, Z:1.12 [[ 8.74274606e-01 4.85182864e-01 -1.55403281e-02 7.21766118e+01] [-4.85093193e-01 8.74412480e-01 9.34927718e-03 -2.13614360e+01] [ 1.81247659e-02 -6.35328250e-04 9.99835531e-01 1.11581523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.50762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.20, Y:-21.37, Z:1.12 [[ 8.72644357e-01 4.88157311e-01 -1.39379479e-02 7.22046217e+01] [-4.88085521e-01 8.72755506e-01 8.38756834e-03 -2.13741789e+01] [ 1.62588736e-02 -5.16453615e-04 9.99867682e-01 1.11774882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.23, Y:-21.39, Z:1.12 [[ 8.71646408e-01 4.89963557e-01 -1.29712150e-02 7.22323419e+01] [-4.89901570e-01 8.71742801e-01 7.80649524e-03 -2.13877318e+01] [ 1.51324615e-02 -4.49884915e-04 9.99885397e-01 1.11847201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.56762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.26, Y:-21.40, Z:1.12 [[ 8.69472611e-01 4.93836040e-01 -1.19726123e-02 7.22638646e+01] [-4.93783546e-01 8.69554966e-01 7.20909427e-03 -2.13973216e+01] [ 1.39709550e-02 -3.56231069e-04 9.99902338e-01 1.11829277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.29, Y:-21.41, Z:1.12 [[ 8.67968288e-01 4.96473121e-01 -1.20619864e-02 7.22922335e+01] [-4.96420086e-01 8.68052038e-01 7.26344338e-03 -2.14111883e+01] [ 1.40765363e-02 -3.16626176e-04 9.99900871e-01 1.11814008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.627628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.32, Y:-21.42, Z:1.12 [[ 8.66182608e-01 4.99588106e-01 -1.18073966e-02 7.23217366e+01] [-4.99537524e-01 8.66263040e-01 7.11389620e-03 -2.14249616e+01] [ 1.37823292e-02 -2.63695486e-04 9.99904984e-01 1.11817817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.657628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.35, Y:-21.44, Z:1.12 [[ 8.64050428e-01 5.03258398e-01 -1.21590677e-02 7.23496215e+01] [-5.03205062e-01 8.64135949e-01 7.32985687e-03 -2.14386918e+01] [ 1.41958995e-02 -2.14861539e-04 9.99899210e-01 1.11865755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.38, Y:-21.45, Z:1.12 [[ 8.59498322e-01 5.10967225e-01 -1.32336514e-02 7.23799645e+01] [-5.10904886e-01 8.59600189e-01 7.98196296e-03 -2.14486735e+01] [ 1.54541707e-02 -9.93466036e-05 9.99880572e-01 1.11881457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.717628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.41, Y:-21.46, Z:1.12 [[ 8.56943644e-01 5.15228988e-01 -1.36631034e-02 7.24094442e+01] [-5.15163066e-01 8.57052559e-01 8.24172182e-03 -2.14610291e+01] [ 1.59563717e-02 -2.39649028e-05 9.99872689e-01 1.11823025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.44, Y:-21.47, Z:1.12 [[ 8.54397589e-01 5.19427592e-01 -1.41328064e-02 7.24396813e+01] [-5.19357556e-01 8.54514467e-01 8.52967021e-03 -2.14737043e+01] [ 1.65072336e-02 5.22501482e-05 9.99863745e-01 1.11696084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.777628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.47, Y:-21.48, Z:1.11 [[ 8.50393037e-01 5.25904330e-01 -1.60099674e-02 7.24696101e+01] [-5.25815490e-01 8.50543707e-01 9.66814082e-03 -2.14841814e+01] [ 1.87016942e-02 1.96569244e-04 9.99825089e-01 1.11453814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.80762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.50, Y:-21.50, Z:1.11 [[ 8.48820564e-01 5.28418064e-01 -1.66733589e-02 7.24983256e+01] [-5.28322128e-01 8.48984265e-01 1.00720398e-02 -2.14994366e+01] [ 1.94776671e-02 2.59549950e-04 9.99810259e-01 1.11407442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.52, Y:-21.52, Z:1.11 [[ 8.47724207e-01 5.30157473e-01 -1.72256634e-02 7.25243352e+01] [-5.30055322e-01 8.47899146e-01 1.04112963e-02 -2.15179013e+01] [ 2.01252518e-02 3.04646687e-04 9.99797420e-01 1.11460714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.86762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.55, Y:-21.54, Z:1.11 [[ 8.46766983e-01 5.31648678e-01 -1.83128123e-02 7.25503694e+01] [-5.31533435e-01 8.46964908e-01 1.10748084e-02 -2.15358067e+01] [ 2.13982167e-02 3.56089929e-04 9.99770969e-01 1.11432381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.58, Y:-21.55, Z:1.12 [[ 8.46693420e-01 5.31746604e-01 -1.88626790e-02 7.25770549e+01] [-5.31624216e-01 8.46903428e-01 1.14138472e-02 -2.15549319e+01] [ 2.20441420e-02 3.63827585e-04 9.99756932e-01 1.11512087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.92762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.60, Y:-21.57, Z:1.11 [[ 8.47292065e-01 5.30765443e-01 -1.96010546e-02 7.26017597e+01] [-5.30632853e-01 8.47518687e-01 1.18680218e-02 -2.15733217e+01] [ 2.29113959e-02 3.45282806e-04 9.99737440e-01 1.11400626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.63, Y:-21.59, Z:1.11 [[ 8.47661091e-01 5.30157817e-01 -2.00839049e-02 7.26276111e+01] [-5.30018289e-01 8.47898920e-01 1.21669215e-02 -2.15926568e+01] [ 2.34795098e-02 3.31410962e-04 9.99724263e-01 1.11372066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.987628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.65, Y:-21.61, Z:1.11 [[ 8.48228321e-01 5.29224260e-01 -2.07460134e-02 7.26528196e+01] [-5.29074928e-01 8.48481931e-01 1.25751402e-02 -2.16125348e+01] [ 2.42576868e-02 3.09605507e-04 9.99705691e-01 1.11386629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.68, Y:-21.63, Z:1.11 [[ 8.49292815e-01 5.27488120e-01 -2.14008944e-02 7.26759673e+01] [-5.27328477e-01 8.49562367e-01 1.29793103e-02 -2.16344718e+01] [ 2.50278265e-02 2.62066119e-04 9.99686721e-01 1.11343248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.70, Y:-21.66, Z:1.11 [[ 8.49634169e-01 5.26925774e-01 -2.17027110e-02 7.27021556e+01] [-5.26761222e-01 8.49911272e-01 1.31698364e-02 -2.16555106e+01] [ 2.53849049e-02 2.42603561e-04 9.99677722e-01 1.11467644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.73, Y:-21.68, Z:1.12 [[ 8.49947605e-01 5.26404793e-01 -2.20695068e-02 7.27275701e+01] [-5.26234266e-01 8.50234052e-01 1.33997469e-02 -2.16754583e+01] [ 2.58179372e-02 2.24647969e-04 9.99666636e-01 1.11516126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.75, Y:-21.70, Z:1.11 [[ 8.50489961e-01 5.25492979e-01 -2.28900676e-02 7.27513309e+01] [-5.25309054e-01 8.50797913e-01 1.39035470e-02 -2.16971962e+01] [ 2.67810381e-02 1.99532572e-04 9.99641304e-01 1.11472106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.78, Y:-21.72, Z:1.12 [[ 8.50497852e-01 5.25481104e-01 -2.28694718e-02 7.27776341e+01] [-5.25297321e-01 8.50805249e-01 1.38979079e-02 -2.17169601e+01] [ 2.67605546e-02 1.93131453e-04 9.99641854e-01 1.11607177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.16762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.80, Y:-21.74, Z:1.12 [[ 8.50070291e-01 5.26165777e-01 -2.30233601e-02 7.28024070e+01] [-5.25979529e-01 8.50381991e-01 1.40001396e-02 -2.17372406e+01] [ 2.69450451e-02 2.08713352e-04 9.99636895e-01 1.11652456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.83, Y:-21.75, Z:1.12 [[ 8.49925040e-01 5.26400536e-01 -2.30195933e-02 7.28300408e+01] [-5.26214206e-01 8.50236692e-01 1.40063311e-02 -2.17541492e+01] [ 2.69450431e-02 2.08905477e-04 9.99636895e-01 1.11703076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.22762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.86, Y:-21.77, Z:1.12 [[ 8.49104494e-01 5.27721302e-01 -2.30604788e-02 7.28558976e+01] [-5.27534579e-01 8.49417546e-01 1.40392237e-02 -2.17709246e+01] [ 2.69967727e-02 2.44432089e-04 9.99635491e-01 1.11802680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.88, Y:-21.79, Z:1.12 [[ 8.47668589e-01 5.30035374e-01 -2.28137050e-02 7.28833282e+01] [-5.29853277e-01 8.47975475e-01 1.38959801e-02 -2.17865514e+01] [ 2.67108234e-02 3.08730487e-04 9.99643155e-01 1.12022220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.28762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.91, Y:-21.80, Z:1.12 [[ 8.46564227e-01 5.31779236e-01 -2.32347682e-02 7.29122061e+01] [-5.31590802e-01 8.46882939e-01 1.41600599e-02 -2.18015999e+01] [ 2.72071546e-02 3.63988877e-04 9.99629751e-01 1.12087844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.94, Y:-21.81, Z:1.12 [[ 8.45693532e-01 5.33139082e-01 -2.37732772e-02 7.29408344e+01] [-5.32942170e-01 8.46027511e-01 1.44946109e-02 -2.18135991e+01] [ 2.78404902e-02 4.11783249e-04 9.99612294e-01 1.12064213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.97, Y:-21.83, Z:1.12 [[ 8.45686990e-01 5.33144737e-01 -2.38789698e-02 7.29702301e+01] [-5.32945897e-01 8.46023949e-01 1.45653191e-02 -2.18291544e+01] [ 2.79676035e-02 4.08498140e-04 9.99608747e-01 1.12078764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.00, Y:-21.85, Z:1.12 [[ 8.45910085e-01 5.32776289e-01 -2.41982245e-02 7.29989480e+01] [-5.32571682e-01 8.46256031e-01 1.47693325e-02 -2.18452217e+01] [ 2.83466436e-02 3.93761822e-04 9.99598076e-01 1.12134550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.407628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.03, Y:-21.86, Z:1.12 [[ 8.46834149e-01 5.31344802e-01 -2.33372136e-02 7.30258493e+01] [-5.31153727e-01 8.47155591e-01 1.42521232e-02 -2.18628271e+01] [ 2.73430425e-02 3.26463358e-04 9.99626056e-01 1.12406429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.05, Y:-21.88, Z:1.13 [[ 8.47255730e-01 5.30714165e-01 -2.23652340e-02 7.30521736e+01] [-5.30538270e-01 8.47550820e-01 1.36657008e-02 -2.18797662e+01] [ 2.62082534e-02 2.87269210e-04 9.99656463e-01 1.12546086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.467628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.08, Y:-21.90, Z:1.13 [[ 8.47579500e-01 5.30208869e-01 -2.20804272e-02 7.30785790e+01] [-5.30037074e-01 8.47867022e-01 1.34986873e-02 -2.18976872e+01] [ 2.58783897e-02 2.62234375e-04 9.99665064e-01 1.12704134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.10, Y:-21.92, Z:1.13 [[ 8.48124648e-01 5.29349793e-01 -2.17572541e-02 7.31049921e+01] [-5.29182523e-01 8.48403645e-01 1.33083383e-02 -2.19167271e+01] [ 2.55036998e-02 2.26428842e-04 9.99674702e-01 1.12873048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.527628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.13, Y:-21.93, Z:1.13 [[ 8.48298446e-01 5.29064230e-01 -2.19268526e-02 7.31319469e+01] [-5.28894048e-01 8.48581755e-01 1.34198119e-02 -2.19337169e+01] [ 2.57066696e-02 2.12976233e-04 9.99669506e-01 1.12844939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.16, Y:-21.95, Z:1.13 [[ 8.48792974e-01 5.28208221e-01 -2.33786687e-02 7.31593334e+01] [-5.28014179e-01 8.49114856e-01 1.43174226e-02 -2.19514491e+01] [ 2.74137552e-02 1.91740845e-04 9.99624154e-01 1.12712334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.58762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.19, Y:-21.97, Z:1.13 [[ 8.49033977e-01 5.27776463e-01 -2.43579644e-02 7.31862957e+01] [-5.27565377e-01 8.49383290e-01 1.49264785e-02 -2.19687143e+01] [ 2.85670920e-02 1.77331232e-04 9.99591862e-01 1.12622054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.21, Y:-21.99, Z:1.13 [[ 8.49422665e-01 5.27132654e-01 -2.47446991e-02 7.32123808e+01] [-5.26914320e-01 8.49782997e-01 1.51709654e-02 -2.19863541e+01] [ 2.90247358e-02 1.51774410e-04 9.99578682e-01 1.12696072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.64762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.24, Y:-22.00, Z:1.13 [[ 8.49688948e-01 5.26697207e-01 -2.48745539e-02 7.32394719e+01] [-5.26476167e-01 8.50052960e-01 1.52581049e-02 -2.20046496e+01] [ 2.91810894e-02 1.31216667e-04 9.99574133e-01 1.12945328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.27, Y:-22.02, Z:1.13 [[ 8.50309346e-01 5.25765442e-01 -2.33391607e-02 7.32665353e+01] [-5.25570278e-01 8.50629586e-01 1.43244630e-02 -2.20223434e+01] [ 2.73842882e-02 8.61443984e-05 9.99624976e-01 1.13152877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.70762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.29, Y:-22.04, Z:1.13 [[ 8.50392562e-01 5.25675428e-01 -2.23122003e-02 7.32940213e+01] [-5.25496838e-01 8.50685217e-01 1.37016185e-02 -2.20391843e+01] [ 2.61832631e-02 7.32362772e-05 9.99657157e-01 1.13346669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.737628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.32, Y:-22.06, Z:1.13 [[ 8.50273401e-01 5.25909222e-01 -2.13221423e-02 7.33209698e+01] [-5.25746030e-01 8.50540702e-01 1.31006581e-02 -2.20554166e+01] [ 2.50251067e-02 7.08905661e-05 9.99686820e-01 1.13426531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.35, Y:-22.07, Z:1.14 [[ 8.50000860e-01 5.26378054e-01 -2.06078184e-02 7.33488686e+01] [-5.26225589e-01 8.50250633e-01 1.26685331e-02 -2.20718320e+01] [ 2.41902484e-02 7.60973413e-05 9.99707370e-01 1.13578010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.38, Y:-22.09, Z:1.14 [[ 8.49976608e-01 5.26422431e-01 -2.04741401e-02 7.33765791e+01] [-5.26271768e-01 8.50223158e-01 1.25939215e-02 -2.20892442e+01] [ 2.40373108e-02 7.04232121e-05 9.99711060e-01 1.13679448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.40, Y:-22.11, Z:1.14 [[ 8.50652054e-01 5.25303103e-01 -2.11597274e-02 7.34043730e+01] [-5.25141623e-01 8.50915183e-01 1.30240506e-02 -2.21068939e+01] [ 2.48467075e-02 3.29182112e-05 9.99691272e-01 1.13574509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.43, Y:-22.12, Z:1.14 [[ 8.51058518e-01 5.24614449e-01 -2.18878741e-02 7.34318544e+01] [-5.24441213e-01 8.51339932e-01 1.34808850e-02 -2.21248918e+01] [ 2.57062883e-02 5.88122927e-06 9.99669539e-01 1.13523153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.46, Y:-22.14, Z:1.14 [[ 8.51652067e-01 5.23622308e-01 -2.25485086e-02 7.34595293e+01] [-5.23437871e-01 8.51950514e-01 1.38966608e-02 -2.21434687e+01] [ 2.64868151e-02 -3.23764968e-05 9.99649162e-01 1.13576697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.49, Y:-22.16, Z:1.14 [[ 8.52635418e-01 5.21964848e-01 -2.37811303e-02 7.34858712e+01] [-5.21758794e-01 8.52966991e-01 1.46653455e-02 -2.21612183e+01] [ 2.79393140e-02 -9.61791092e-05 9.99609617e-01 1.13583466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.51, Y:-22.18, Z:1.14 [[ 8.52999675e-01 5.21358490e-01 -2.40183041e-02 7.35129331e+01] [-5.21147863e-01 8.53337746e-01 1.48187598e-02 -2.21783127e+01] [ 2.82216118e-02 -1.23309450e-04 9.99601683e-01 1.13558063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.54, Y:-22.20, Z:1.14 [[ 8.53029518e-01 5.21288627e-01 -2.44705710e-02 7.35413400e+01] [-5.21069745e-01 8.53380424e-01 1.51053692e-02 -2.21952662e+01] [ 2.87569634e-02 -1.34451586e-04 9.99586424e-01 1.13616147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.00762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.57, Y:-22.21, Z:1.14 [[ 8.53046373e-01 5.21249369e-01 -2.47179995e-02 7.35682546e+01] [-5.21025792e-01 8.53404402e-01 1.52659742e-02 -2.22116565e+01] [ 2.90518290e-02 -1.43868720e-04 9.99577896e-01 1.13605882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.60, Y:-22.23, Z:1.14 [[ 8.53158249e-01 5.21016239e-01 -2.57503445e-02 7.35950362e+01] [-5.20773271e-01 8.53546748e-01 1.59106586e-02 -2.22278460e+01] [ 3.02688343e-02 -1.64218446e-04 9.99541780e-01 1.13537203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.06762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.62, Y:-22.24, Z:1.14 [[ 8.53098502e-01 5.21104552e-01 -2.59420897e-02 7.36232991e+01] [-5.20857719e-01 8.53492834e-01 1.60380723e-02 -2.22446336e+01] [ 3.04989002e-02 -1.69917796e-04 9.99534786e-01 1.13656561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.65, Y:-22.26, Z:1.14 [[ 8.52945945e-01 5.21309891e-01 -2.68181376e-02 7.36514193e+01] [-5.21045891e-01 8.53367428e-01 1.65895493e-02 -2.22608069e+01] [ 3.15340212e-02 -1.76508362e-04 9.99502664e-01 1.13712810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.68, Y:-22.28, Z:1.14 [[ 8.52716730e-01 5.21669797e-01 -2.71072193e-02 7.36786413e+01] [-5.21400003e-01 8.53147463e-01 1.67763062e-02 -2.22769107e+01] [ 3.18781476e-02 -1.71732756e-04 9.99491748e-01 1.13673925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.157628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.71, Y:-22.29, Z:1.14 [[ 8.52351226e-01 5.22265593e-01 -2.71300135e-02 7.37061070e+01] [-5.21995383e-01 8.52782872e-01 1.67986388e-02 -2.22931406e+01] [ 3.19093619e-02 -1.56598577e-04 9.99490754e-01 1.13670577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.73, Y:-22.31, Z:1.14 [[ 8.51205980e-01 5.24157431e-01 -2.65963680e-02 7.37341412e+01] [-5.23898383e-01 8.51621382e-01 1.64774093e-02 -2.23083789e+01] [ 3.12867923e-02 -9.18751519e-05 9.99510444e-01 1.13889695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.217628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.76, Y:-22.32, Z:1.14 [[ 8.50428286e-01 5.25425648e-01 -2.64502974e-02 7.37621146e+01] [-5.25169764e-01 8.50839518e-01 1.63961355e-02 -2.23244711e+01] [ 3.11199084e-02 -5.28409724e-05 9.99515657e-01 1.13958964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.79, Y:-22.34, Z:1.14 [[ 8.49852015e-01 5.26366831e-01 -2.62585718e-02 7.37905074e+01] [-5.26114791e-01 8.50257584e-01 1.62870657e-02 -2.23408059e+01] [ 3.08995210e-02 -2.65726035e-05 9.99522495e-01 1.14063449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.277628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.82, Y:-22.36, Z:1.14 [[ 8.49106629e-01 5.27605469e-01 -2.55029860e-02 7.38180288e+01] [-5.27368011e-01 8.49489534e-01 1.58275630e-02 -2.23563570e+01] [ 3.00152285e-02 1.01703274e-05 9.99549441e-01 1.14240141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.85, Y:-22.37, Z:1.14 [[ 8.48928335e-01 5.27895460e-01 -2.54374651e-02 7.38459802e+01] [-5.27659074e-01 8.49309357e-01 1.57961497e-02 -2.23737067e+01] [ 2.99429929e-02 1.25102457e-05 9.99551608e-01 1.14295870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.87, Y:-22.39, Z:1.14 [[ 8.48658118e-01 5.28328987e-01 -2.54534980e-02 7.38734025e+01] [-5.28092200e-01 8.49039741e-01 1.58160098e-02 -2.23923323e+01] [ 2.99670878e-02 1.94086396e-05 9.99550886e-01 1.14358296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.36762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.90, Y:-22.41, Z:1.14 [[ 8.48490293e-01 5.28592869e-01 -2.55695437e-02 7.39001671e+01] [-5.28353748e-01 8.48875479e-01 1.58977560e-02 -2.24099113e+01] [ 3.01087992e-02 2.06726007e-05 9.99546627e-01 1.14357971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.93, Y:-22.43, Z:1.14 [[ 8.48702064e-01 5.28263591e-01 -2.53452914e-02 7.39271285e+01] [-5.28028217e-01 8.49080431e-01 1.57678303e-02 -2.24281813e+01] [ 2.98497616e-02 8.38883210e-07 9.99554397e-01 1.14489129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.42762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.95, Y:-22.45, Z:1.15 [[ 8.48902013e-01 5.27946806e-01 -2.52495888e-02 7.39543579e+01] [-5.27712772e-01 8.49277440e-01 1.57181678e-02 -2.24466937e+01] [ 2.97422626e-02 -1.86537431e-05 9.99557601e-01 1.14531506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.98, Y:-22.46, Z:1.15 [[ 8.49151753e-01 5.27548921e-01 -2.51681545e-02 7.39807387e+01] [-5.27315937e-01 8.49524652e-01 1.56769943e-02 -2.24648928e+01] [ 2.96513491e-02 -4.05782276e-05 9.99560301e-01 1.14511424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.48762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.01, Y:-22.48, Z:1.15 [[ 8.49478617e-01 5.27044001e-01 -2.47123565e-02 7.40080783e+01] [-5.26818903e-01 8.49837994e-01 1.54021572e-02 -2.24838502e+01] [ 2.91191140e-02 -6.48666198e-05 9.99575947e-01 1.14576287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.03, Y:-22.50, Z:1.15 [[ 8.50272051e-01 5.25773104e-01 -2.44965861e-02 7.40329230e+01] [-5.25551135e-01 8.50624847e-01 1.52765855e-02 -2.25035339e+01] [ 2.88694225e-02 -1.15045070e-04 9.99583185e-01 1.14711492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.06, Y:-22.52, Z:1.15 [[ 8.50371855e-01 5.25631161e-01 -2.40747008e-02 7.40601114e+01] [-5.25416472e-01 8.50712564e-01 1.50220926e-02 -2.25216383e+01] [ 2.83767305e-02 -1.25120377e-04 9.99597292e-01 1.14829789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.09, Y:-22.54, Z:1.15 [[ 8.49360080e-01 5.27331562e-01 -2.25583295e-02 7.40872411e+01] [-5.27143474e-01 8.49659590e-01 1.40833172e-02 -2.25371489e+01] [ 2.65934787e-02 -7.03312474e-05 9.99646328e-01 1.14958464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.12, Y:-22.55, Z:1.15 [[ 8.48715649e-01 5.28359303e-01 -2.27638590e-02 7.41157946e+01] [-5.28167939e-01 8.49020874e-01 1.42191184e-02 -2.25543551e+01] [ 2.68397950e-02 -4.48478120e-05 9.99639747e-01 1.14963618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.14, Y:-22.57, Z:1.15 [[ 8.47837600e-01 5.29738406e-01 -2.34227399e-02 7.41441426e+01] [-5.29536083e-01 8.48161082e-01 1.46395498e-02 -2.25713133e+01] [ 2.76213882e-02 -8.77479328e-06 9.99618457e-01 1.15080069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.17, Y:-22.59, Z:1.15 [[ 8.46218092e-01 5.32239667e-01 -2.52166110e-02 7.41722195e+01] [-5.32005983e-01 8.46593723e-01 1.57703076e-02 -2.25866845e+01] [ 2.97418078e-02 7.02683540e-05 9.99557612e-01 1.15026141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.20, Y:-22.60, Z:1.15 [[ 8.45280823e-01 5.33694755e-01 -2.58889577e-02 7.41998953e+01] [-5.33448847e-01 8.45677181e-01 1.61997841e-02 -2.26029292e+01] [ 3.05394406e-02 1.17067812e-04 9.99533556e-01 1.15008297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.72762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.23, Y:-22.62, Z:1.15 [[ 8.44493547e-01 5.34916594e-01 -2.63606822e-02 7.42276324e+01] [-5.34661952e-01 8.44904854e-01 1.65040672e-02 -2.26193262e+01] [ 3.11005678e-02 1.56475534e-04 9.99516248e-01 1.15019610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.25, Y:-22.63, Z:1.15 [[ 8.43327528e-01 5.36717065e-01 -2.70826866e-02 7.42549687e+01] [-5.36448917e-01 8.43762255e-01 1.69651522e-02 -2.26338713e+01] [ 3.19568355e-02 2.21298044e-04 9.99489225e-01 1.14973659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.78762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.28, Y:-22.65, Z:1.15 [[ 8.42889666e-01 5.37389022e-01 -2.73870393e-02 7.42830968e+01] [-5.37114850e-01 8.43334442e-01 1.71655803e-02 -2.26504314e+01] [ 3.23210279e-02 2.41295314e-04 9.99477510e-01 1.15027486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.31, Y:-22.67, Z:1.15 [[ 8.42480384e-01 5.38024405e-01 -2.75053133e-02 7.43112406e+01] [-5.37747848e-01 8.42929222e-01 1.72504747e-02 -2.26668794e+01] [ 3.24662087e-02 2.57736504e-04 9.99472800e-01 1.15069351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.34, Y:-22.68, Z:1.15 [[ 8.42196747e-01 5.38481145e-01 -2.72524666e-02 7.43389301e+01] [-5.38209547e-01 8.42637518e-01 1.71025233e-02 -2.26839828e+01] [ 3.21733372e-02 2.63848199e-04 9.99482269e-01 1.15160969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.37, Y:-22.70, Z:1.15 [[ 8.42651860e-01 5.37837817e-01 -2.58519925e-02 7.43652565e+01] [-5.37592837e-01 8.43048299e-01 1.62328911e-02 -2.27012773e+01] [ 3.05251410e-02 2.19170110e-04 9.99533975e-01 1.15360987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.907628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.39, Y:-22.72, Z:1.16 [[ 8.43585153e-01 5.36412894e-01 -2.50059138e-02 7.43910110e+01] [-5.36182826e-01 8.43955676e-01 1.57096823e-02 -2.27188102e+01] [ 2.95307590e-02 1.55286795e-04 9.99563860e-01 1.15509492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.42, Y:-22.74, Z:1.16 [[ 8.44616260e-01 5.34834873e-01 -2.39798165e-02 7.44170651e+01] [-5.34622448e-01 8.44956597e-01 1.50727268e-02 -2.27381006e+01] [ 2.83233240e-02 8.94780403e-05 9.99598810e-01 1.15721564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.967628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.44, Y:-22.76, Z:1.16 [[ 8.47353278e-01 5.30576838e-01 -2.19235290e-02 7.44418732e+01] [-5.30397723e-01 8.47636842e-01 1.37854639e-02 -2.27598590e+01] [ 2.58974387e-02 -5.29682157e-05 9.99664604e-01 1.16043823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.47, Y:-22.78, Z:1.16 [[ 8.48326162e-01 5.29049931e-01 -2.11871066e-02 7.44678561e+01] [-5.28882084e-01 8.48590691e-01 1.33259472e-02 -2.27790106e+01] [ 2.50292729e-02 -9.92685419e-05 9.99686714e-01 1.16200584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.027628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.49, Y:-22.80, Z:1.16 [[ 8.49923575e-01 5.26549244e-01 -1.93858587e-02 7.44932112e+01] [-5.26407955e-01 8.50144616e-01 1.21982570e-02 -2.27986503e+01] [ 2.29037664e-02 -1.62715953e-04 9.99737661e-01 1.16422700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.52, Y:-22.82, Z:1.17 [[ 8.50072076e-01 5.26334175e-01 -1.87030045e-02 7.45207671e+01] [-5.26202464e-01 8.50277783e-01 1.17753803e-02 -2.28164580e+01] [ 2.21005343e-02 -1.68354922e-04 9.99755739e-01 1.16507395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.08762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.55, Y:-22.83, Z:1.17 [[ 8.49925375e-01 5.26571151e-01 -1.86997206e-02 7.45481340e+01] [-5.26439382e-01 8.50131046e-01 1.17805935e-02 -2.28337858e+01] [ 2.21005337e-02 -1.68355976e-04 9.99755739e-01 1.16558021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.57, Y:-22.85, Z:1.17 [[ 8.49757924e-01 5.26854567e-01 -1.83231086e-02 7.45744574e+01] [-5.26727969e-01 8.49955434e-01 1.15502262e-02 -2.28509221e+01] [ 2.16591151e-02 -1.63602514e-04 9.99765400e-01 1.16605032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.14762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.60, Y:-22.87, Z:1.17 [[ 8.49211751e-01 5.27736017e-01 -1.82783572e-02 7.46027639e+01] [-5.27610096e-01 8.49408426e-01 1.15287524e-02 -2.28681553e+01] [ 2.16099285e-02 -1.46506246e-04 9.99766467e-01 1.16714358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.63, Y:-22.88, Z:1.17 [[ 8.47913286e-01 5.29784379e-01 -1.92761816e-02 7.46305787e+01] [-5.29644705e-01 8.48132360e-01 1.21649395e-02 -2.28844508e+01] [ 2.27935483e-02 -1.05286269e-04 9.99740188e-01 1.16667720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.20762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.66, Y:-22.90, Z:1.17 [[ 8.47298895e-01 5.30731775e-01 -2.02080414e-02 7.46588381e+01] [-5.30578394e-01 8.47539837e-01 1.27590132e-02 -2.29013376e+01] [ 2.38987338e-02 -8.87476226e-05 9.99714381e-01 1.16639224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.23762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.69, Y:-22.92, Z:1.16 [[ 8.46465125e-01 5.31995147e-01 -2.18621911e-02 7.46863604e+01] [-5.31815836e-01 8.46747400e-01 1.38115079e-02 -2.29154853e+01] [ 2.58594086e-02 -6.43003754e-05 9.99665588e-01 1.16411471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.72, Y:-22.93, Z:1.16 [[ 8.45957537e-01 5.32783274e-01 -2.23120559e-02 7.47150229e+01] [-5.32596580e-01 8.46251724e-01 1.41032687e-02 -2.29322071e+01] [ 2.63956015e-02 -4.74418218e-05 9.99651574e-01 1.16338926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.74, Y:-22.95, Z:1.16 [[ 8.45627509e-01 5.33289355e-01 -2.27283993e-02 7.47432474e+01] [-5.33095574e-01 8.45932894e-01 1.43752318e-02 -2.29488229e+01] [ 2.68928587e-02 -3.96823456e-05 9.99638321e-01 1.16441327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.77, Y:-22.97, Z:1.17 [[ 8.46170018e-01 5.32442193e-01 -2.23966931e-02 7.47711264e+01] [-5.32253499e-01 8.46466364e-01 1.41741782e-02 -2.29661682e+01] [ 2.65049780e-02 -7.30463543e-05 9.99648679e-01 1.16562747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.80, Y:-22.98, Z:1.17 [[ 8.46815194e-01 5.31438636e-01 -2.18403847e-02 7.47983315e+01] [-5.31258648e-01 8.47096785e-01 1.38305995e-02 -2.29838699e+01] [ 2.58510346e-02 -1.09068521e-04 9.99665800e-01 1.16673173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.83, Y:-23.00, Z:1.17 [[ 8.47398697e-01 5.30527919e-01 -2.13442367e-02 7.48251182e+01] [-5.30355522e-01 8.47667451e-01 1.35245216e-02 -2.30016218e+01] [ 2.52679510e-02 -1.40628216e-04 9.99680704e-01 1.16753856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.85, Y:-23.02, Z:1.17 [[ 8.49039683e-01 5.27932293e-01 -2.04722028e-02 7.48514722e+01] [-5.27772768e-01 8.49286434e-01 1.29791415e-02 -2.30195476e+01] [ 2.42388721e-02 -2.15135103e-04 9.99706172e-01 1.16852929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.88, Y:-23.04, Z:1.17 [[ 8.49914205e-01 5.26531550e-01 -2.02576247e-02 7.48767516e+01] [-5.26374792e-01 8.50155551e-01 1.28498384e-02 -2.30375935e+01] [ 2.39879774e-02 -2.58157150e-04 9.99712214e-01 1.16876009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.90, Y:-23.06, Z:1.17 [[ 8.50715122e-01 5.25251264e-01 -1.98718685e-02 7.49035287e+01] [-5.25099921e-01 8.50947133e-01 1.26115213e-02 -2.30556027e+01] [ 2.35341270e-02 -2.94095325e-04 9.99722991e-01 1.17042279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.50762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.93, Y:-23.07, Z:1.17 [[ 8.51432980e-01 5.24110771e-01 -1.92296803e-02 7.49300292e+01] [-5.23968615e-01 8.51650044e-01 1.22103664e-02 -2.30735654e+01] [ 2.27765426e-02 -3.20559643e-04 9.99740530e-01 1.17213960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53762800000001 meters Centerline goodness [0,1] 0.9998648952938527 Centerline is valid? [True, True] Translation: X:74.96, Y:-23.09, Z:1.17 [[ 8.52741071e-01 5.21988845e-01 -1.89819065e-02 7.49559655e+01] [-5.21849658e-01 8.52952228e-01 1.20594637e-02 -2.30918867e+01] [ 2.24855650e-02 -3.77898516e-04 9.99747096e-01 1.17078879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.56762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.98, Y:-23.11, Z:1.17 [[ 8.52759639e-01 5.21974822e-01 -1.85279316e-02 7.49835788e+01] [-5.21842069e-01 8.52960811e-01 1.17775438e-02 -2.31090320e+01] [ 2.19511809e-02 -3.74759860e-04 9.99758974e-01 1.17392945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.01, Y:-23.13, Z:1.17 [[ 8.52655883e-01 5.22112926e-01 -1.93917020e-02 7.50103658e+01] [-5.21967363e-01 8.52876273e-01 1.23343287e-02 -2.31256878e+01] [ 2.29786350e-02 -3.95102321e-04 9.99735878e-01 1.17395355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.627628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.04, Y:-23.14, Z:1.17 [[ 8.52422325e-01 5.22487988e-01 -1.95571299e-02 7.50390880e+01] [-5.22339857e-01 8.52646554e-01 1.24469838e-02 -2.31423314e+01] [ 2.31787190e-02 -3.94618401e-04 9.99731260e-01 1.17437143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.657628 meters Centerline goodness [0,1] 0.9998875165913028 Centerline is valid? [True, True] Translation: X:75.07, Y:-23.16, Z:1.17 [[ 8.52068423e-01 5.23026498e-01 -2.05593174e-02 7.50658732e+01] [-5.22862749e-01 8.52316324e-01 1.30930934e-02 -2.31594783e+01] [ 2.43710766e-02 -4.06510184e-04 9.99702899e-01 1.17205942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.09, Y:-23.18, Z:1.18 [[ 8.51028653e-01 5.24715186e-01 -2.05962170e-02 7.50925885e+01] [-5.24551161e-01 8.51277769e-01 1.31240289e-02 -2.31764450e+01] [ 2.44194789e-02 -3.65155121e-04 9.99701733e-01 1.17542574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.717628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.12, Y:-23.19, Z:1.18 [[ 8.50556771e-01 5.25494270e-01 -2.02225351e-02 7.51200162e+01] [-5.25336199e-01 8.50797070e-01 1.28927464e-02 -2.31936625e+01] [ 2.39803380e-02 -3.42382990e-04 9.99712372e-01 1.17643847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.15, Y:-23.21, Z:1.18 [[ 8.50118522e-01 5.26222936e-01 -1.96956998e-02 7.51459193e+01] [-5.26073040e-01 8.50346588e-01 1.25633003e-02 -2.32100370e+01] [ 2.33592678e-02 -3.18917605e-04 9.99727084e-01 1.17730786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.777628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.17, Y:-23.23, Z:1.18 [[ 8.49187743e-01 5.27748508e-01 -1.90181424e-02 7.51745721e+01] [-5.27608995e-01 8.49400634e-01 1.21371396e-02 -2.32252378e+01] [ 2.25593795e-02 -2.72567198e-04 9.99745468e-01 1.17847038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.20, Y:-23.24, Z:1.18 [[ 8.48573027e-01 5.28738110e-01 -1.89691327e-02 7.52011768e+01] [-5.28599435e-01 8.48784983e-01 1.21115382e-02 -2.32411909e+01] [ 2.25045468e-02 -2.50451805e-04 9.99746709e-01 1.17867720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.23, Y:-23.26, Z:1.18 [[ 8.47696139e-01 5.30144245e-01 -1.89297418e-02 7.52286400e+01] [-5.30006393e-01 8.47907443e-01 1.20909346e-02 -2.32572076e+01] [ 2.24606084e-02 -2.16554359e-04 9.99747705e-01 1.17907548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.86762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.25, Y:-23.27, Z:1.18 [[ 8.46443326e-01 5.32138941e-01 -1.90221962e-02 7.52547020e+01] [-5.32000097e-01 8.46657026e-01 1.21563777e-02 -2.32734153e+01] [ 2.25741580e-02 -1.69874539e-04 9.99745157e-01 1.17942597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.28, Y:-23.29, Z:1.18 [[ 8.45752306e-01 5.33232078e-01 -1.91464807e-02 7.52828156e+01] [-5.33091545e-01 8.45968989e-01 1.22423426e-02 -2.32903998e+01] [ 2.27253387e-02 -1.47162526e-04 9.99741735e-01 1.18063231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.92762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.31, Y:-23.31, Z:1.18 [[ 8.43937633e-01 5.36110876e-01 -1.88254976e-02 7.53108718e+01] [-5.35975575e-01 8.44147572e-01 1.20441109e-02 -2.33065530e+01] [ 2.23484769e-02 -7.44715228e-05 9.99750239e-01 1.18157087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.34, Y:-23.32, Z:1.18 [[ 8.42870020e-01 5.37800360e-01 -1.84635554e-02 7.53378777e+01] [-5.37670477e-01 8.43072222e-01 1.18189104e-02 -2.33227904e+01] [ 2.19223250e-02 -3.44965781e-05 9.99759676e-01 1.18198116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.98762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.37, Y:-23.34, Z:1.18 [[ 8.41713432e-01 5.39623336e-01 -1.80320133e-02 7.53659268e+01] [-5.39499731e-01 8.41906560e-01 1.15492514e-02 -2.33390783e+01] [ 2.14135158e-02 7.10622471e-06 9.99770704e-01 1.18293607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.39, Y:-23.35, Z:1.18 [[ 8.39047603e-01 5.43777281e-01 -1.74753819e-02 7.53947822e+01] [-5.43661953e-01 8.39229562e-01 1.11992353e-02 -2.33535926e+01] [ 2.07557468e-02 1.04008737e-04 9.99784571e-01 1.18360307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.42, Y:-23.37, Z:1.18 [[ 8.37640483e-01 5.45936957e-01 -1.76425553e-02 7.54223432e+01] [-5.45819758e-01 8.37826244e-01 1.13126750e-02 -2.33696146e+01] [ 2.09574032e-02 1.53700718e-04 9.99780358e-01 1.18422918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.45, Y:-23.39, Z:1.18 [[ 8.36359532e-01 5.47890058e-01 -1.78666547e-02 7.54488480e+01] [-5.47770181e-01 8.36550324e-01 1.14623160e-02 -2.33850363e+01] [ 2.12264447e-02 2.00203449e-04 9.99774674e-01 1.18466585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.48, Y:-23.40, Z:1.18 [[ 8.35277366e-01 5.49520628e-01 -1.84065755e-02 7.54757571e+01] [-5.49393661e-01 8.35480114e-01 1.18146010e-02 -2.34015705e+01] [ 2.18706948e-02 2.43987094e-04 9.99760778e-01 1.18492952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.50, Y:-23.42, Z:1.18 [[ 8.34997298e-01 5.49955136e-01 -1.81345280e-02 7.55039678e+01] [-5.49831865e-01 8.35194161e-01 1.16461416e-02 -2.34192366e+01] [ 2.15507073e-02 2.46444604e-04 9.99767726e-01 1.18491002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.53, Y:-23.44, Z:1.18 [[ 8.35082024e-01 5.49816295e-01 -1.84405700e-02 7.55312746e+01] [-5.49688630e-01 8.35285570e-01 1.18501290e-02 -2.34368540e+01] [ 2.19185360e-02 2.40741976e-04 9.99759731e-01 1.18444175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.56, Y:-23.46, Z:1.19 [[ 8.35396326e-01 5.49334702e-01 -1.85570122e-02 7.55583536e+01] [-5.49205137e-01 8.35602379e-01 1.19324327e-02 -2.34552134e+01] [ 2.20611829e-02 2.23295970e-04 9.99756598e-01 1.18508347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.22762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.59, Y:-23.47, Z:1.19 [[ 8.35810143e-01 5.48700302e-01 -1.86918276e-02 7.55852929e+01] [-5.48568521e-01 8.36019102e-01 1.20266064e-02 -2.34743196e+01] [ 2.22257275e-02 2.01788610e-04 9.99752958e-01 1.18600411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.61, Y:-23.49, Z:1.19 [[ 8.37723577e-01 5.45764594e-01 -1.89793366e-02 7.56099906e+01] [-5.45627809e-01 8.37938538e-01 1.22188951e-02 -2.34944813e+01] [ 2.25721579e-02 1.19597298e-04 9.99745209e-01 1.18728788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.64, Y:-23.51, Z:1.19 [[ 8.38886395e-01 5.43975273e-01 -1.89873408e-02 7.56363119e+01] [-5.43837764e-01 8.39101244e-01 1.22306648e-02 -2.35136780e+01] [ 2.25854805e-02 6.58946854e-05 9.99744913e-01 1.18790799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.66, Y:-23.53, Z:1.19 [[ 8.40164235e-01 5.41998744e-01 -1.90110237e-02 7.56628560e+01] [-5.41860226e-01 8.40379296e-01 1.22529395e-02 -2.35334437e+01] [ 2.26175486e-02 6.83604841e-06 9.99744191e-01 1.18848143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.69, Y:-23.55, Z:1.19 [[ 8.41616545e-01 5.39729625e-01 -1.93267366e-02 7.56878200e+01] [-5.39585689e-01 8.41838421e-01 1.24641870e-02 -2.35531597e+01] [ 2.29972804e-02 -6.16355083e-05 9.99735526e-01 1.18809385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.71, Y:-23.57, Z:1.19 [[ 8.45288437e-01 5.33944461e-01 -1.97679122e-02 7.57118643e+01] [-5.33792115e-01 8.45519521e-01 1.27561005e-02 -2.35749459e+01] [ 2.35252048e-02 -2.30628608e-04 9.99723217e-01 1.18888197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.407628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.74, Y:-23.60, Z:1.19 [[ 8.47121512e-01 5.31018655e-01 -2.01080173e-02 7.57374366e+01] [-5.30860026e-01 8.47360067e-01 1.29826362e-02 -2.35950168e+01] [ 2.39327529e-02 -3.23327749e-04 9.99713518e-01 1.18867139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.76, Y:-23.62, Z:1.19 [[ 8.51423554e-01 5.24072995e-01 -2.06258725e-02 7.57608111e+01] [-5.23903905e-01 8.51673181e-01 1.33226042e-02 -2.36172557e+01] [ 2.45485195e-02 -5.37203881e-04 9.99698495e-01 1.18838199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.467628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.78, Y:-23.64, Z:1.19 [[ 8.53594589e-01 5.20525777e-01 -2.07169922e-02 7.57844745e+01] [-5.20354068e-01 8.53845712e-01 1.33844767e-02 -2.36372416e+01] [ 2.46560800e-02 -6.44745730e-04 9.99695785e-01 1.18862765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.81, Y:-23.66, Z:1.19 [[ 8.55773317e-01 5.16937312e-01 -2.06844127e-02 7.58096663e+01] [-5.16764979e-01 8.56022927e-01 1.33680446e-02 -2.36564259e+01] [ 2.46167726e-02 -7.51035715e-04 9.99696679e-01 1.18994750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.527628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.83, Y:-23.68, Z:1.19 [[ 8.60017906e-01 5.09894456e-01 -1.94124932e-02 7.58339484e+01] [-5.09740734e-01 8.60236499e-01 1.25518612e-02 -2.36760299e+01] [ 2.30994596e-02 -8.99486831e-04 9.99732767e-01 1.19251680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.86, Y:-23.69, Z:1.19 [[ 8.61970137e-01 5.06614318e-01 -1.86926758e-02 7.58581059e+01] [-5.06470898e-01 8.62172268e-01 1.20917200e-02 -2.36946057e+01] [ 2.22421452e-02 -9.55405279e-04 9.99752156e-01 1.19374416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.58762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.88, Y:-23.71, Z:1.19 [[ 8.63654943e-01 5.03738162e-01 -1.86548513e-02 7.58845336e+01] [-5.03594574e-01 8.63855776e-01 1.20707477e-02 -2.37130362e+01] [ 2.21955973e-02 -1.03047908e-03 9.99753116e-01 1.19485663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.91, Y:-23.73, Z:1.20 [[ 8.64965314e-01 5.01494277e-01 -1.83982524e-02 7.59098820e+01] [-5.01354043e-01 8.65160293e-01 1.19075573e-02 -2.37308895e+01] [ 2.18890093e-02 -1.07558577e-03 9.99759828e-01 1.19542507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.64762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.94, Y:-23.75, Z:1.20 [[ 8.66517527e-01 4.98818624e-01 -1.80929734e-02 7.59374755e+01] [-4.98682327e-01 8.66705664e-01 1.17144474e-02 -2.37469933e+01] [ 2.15246671e-02 -1.12812788e-03 9.99767681e-01 1.19662663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.96, Y:-23.76, Z:1.20 [[ 8.66452169e-01 4.98933348e-01 -1.80597083e-02 7.59642076e+01] [-4.98797512e-01 8.66639629e-01 1.16959445e-02 -2.37645771e+01] [ 2.14867556e-02 -1.12583891e-03 9.99768499e-01 1.19729963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.70762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.99, Y:-23.78, Z:1.20 [[ 8.65338449e-01 5.00872489e-01 -1.77796915e-02 7.59939834e+01] [-5.00741133e-01 8.65520430e-01 1.15196911e-02 -2.37768035e+01] [ 2.11585826e-02 -1.06540878e-03 9.99775564e-01 1.19817722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.73762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.02, Y:-23.79, Z:1.20 [[ 8.64170614e-01 5.02875451e-01 -1.80397135e-02 7.60207299e+01] [-5.02740621e-01 8.64358267e-01 1.16899325e-02 -2.37912177e+01] [ 2.14713556e-02 -1.03279935e-03 9.99768930e-01 1.19853963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.05, Y:-23.80, Z:1.20 [[ 8.62712372e-01 5.05383393e-01 -1.77479133e-02 7.60496390e+01] [-5.05253363e-01 8.62894379e-01 1.15034236e-02 -2.38042705e+01] [ 2.11282139e-02 -9.56952940e-04 9.99776316e-01 1.19914566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.08, Y:-23.81, Z:1.20 [[ 8.59473745e-01 5.10892338e-01 -1.71435581e-02 7.60797854e+01] [-5.10772062e-01 8.59644337e-01 1.11136851e-02 -2.38130722e+01] [ 2.04152592e-02 -7.95470088e-04 9.99791270e-01 1.20004969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.11, Y:-23.82, Z:1.20 [[ 8.58032260e-01 5.13319849e-01 -1.68337235e-02 7.61101679e+01] [-5.13204302e-01 8.58197067e-01 1.09150744e-02 -2.38239273e+01] [ 2.00495765e-02 -7.26346662e-04 9.99798723e-01 1.20085223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.14, Y:-23.83, Z:1.20 [[ 8.54991784e-01 5.18338145e-01 -1.77374188e-02 7.61415344e+01] [-5.18210886e-01 8.55175510e-01 1.15032615e-02 -2.38326668e+01] [ 2.11311854e-02 -6.43470518e-04 9.99776504e-01 1.20080237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.17, Y:-23.85, Z:1.20 [[ 8.53368576e-01 5.20980857e-01 -1.84667084e-02 7.61691584e+01] [-5.20843451e-01 8.53568146e-01 1.19799784e-02 -2.38467295e+01] [ 2.20039335e-02 -6.05072983e-04 9.99757701e-01 1.19953765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.20, Y:-23.86, Z:1.20 [[ 8.51915092e-01 5.23342514e-01 -1.87959854e-02 7.62007711e+01] [-5.23200594e-01 8.52122233e-01 1.21999308e-02 -2.38566046e+01] [ 2.24012195e-02 -5.59234501e-04 9.99748905e-01 1.19955835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.94762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.23, Y:-23.87, Z:1.20 [[ 8.50298972e-01 5.25942381e-01 -1.93977007e-02 7.62283618e+01] [-5.25791737e-01 8.50520046e-01 1.25976114e-02 -2.38718954e+01] [ 2.31237510e-02 -5.12585269e-04 9.99732479e-01 1.19897123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.26, Y:-23.88, Z:1.20 [[ 8.47830091e-01 5.29914845e-01 -1.93492499e-02 7.62592264e+01] [-5.29765839e-01 8.48050759e-01 1.25724390e-02 -2.38819518e+01] [ 2.30714681e-02 -4.08720482e-04 9.99733735e-01 1.20059314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.00762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.29, Y:-23.90, Z:1.20 [[ 8.47679698e-01 5.30155487e-01 -1.93465377e-02 7.62863619e+01] [-5.30006448e-01 8.47900344e-01 1.25766114e-02 -2.38996670e+01] [ 2.30714955e-02 -4.07148462e-04 9.99733735e-01 1.20109883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.32, Y:-23.91, Z:1.20 [[ 8.46724353e-01 5.31695883e-01 -1.89039115e-02 7.63155289e+01] [-5.31553807e-01 8.46935273e-01 1.22960942e-02 -2.39143335e+01] [ 2.25481721e-02 -3.62956309e-04 9.99745692e-01 1.20235116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.06762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.35, Y:-23.93, Z:1.20 [[ 8.45421788e-01 5.33801916e-01 -1.78189612e-02 7.63453171e+01] [-5.33676023e-01 8.45609501e-01 1.15962953e-02 -2.39262020e+01] [ 2.12580075e-02 -2.94208396e-04 9.99773980e-01 1.20359260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.37, Y:-23.94, Z:1.20 [[ 8.45238893e-01 5.34107473e-01 -1.73326630e-02 7.63745429e+01] [-5.33988302e-01 8.45416540e-01 1.12856695e-02 -2.39414455e+01] [ 2.06810804e-02 -2.83647513e-04 9.99786083e-01 1.20380977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.40, Y:-23.96, Z:1.20 [[ 8.45109407e-01 5.34330166e-01 -1.67739113e-02 7.64023038e+01] [-5.34218471e-01 8.45275812e-01 1.09282670e-02 -2.39569696e+01] [ 2.00178842e-02 -2.74647985e-04 9.99799584e-01 1.20426065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.157628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.43, Y:-23.97, Z:1.20 [[ 8.45587451e-01 5.33587930e-01 -1.63028476e-02 7.64310584e+01] [-5.33482170e-01 8.45744546e-01 1.06271886e-02 -2.39719916e+01] [ 1.94585840e-02 -2.88938830e-04 9.99810622e-01 1.20498409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.46, Y:-23.99, Z:1.21 [[ 8.45690074e-01 5.33420172e-01 -1.64687076e-02 7.64591969e+01] [-5.33312101e-01 8.45850359e-01 1.07411663e-02 -2.39892889e+01] [ 1.96596170e-02 -3.00736667e-04 9.99806686e-01 1.20589332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.217628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.49, Y:-24.01, Z:1.21 [[ 8.45985106e-01 5.32955682e-01 -1.63536045e-02 7.64864483e+01] [-5.32848910e-01 8.46143098e-01 1.06722802e-02 -2.40055961e+01] [ 1.95253420e-02 -3.14589731e-04 9.99809313e-01 1.20666256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.51, Y:-24.02, Z:1.21 [[ 8.46575938e-01 5.32024020e-01 -1.61127947e-02 7.65138004e+01] [-5.31920098e-01 8.46729195e-01 1.05204660e-02 -2.40205449e+01] [ 1.92403143e-02 -3.35653993e-04 9.99814832e-01 1.20756263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.277628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.54, Y:-24.04, Z:1.21 [[ 8.46495950e-01 5.32144835e-01 -1.63242589e-02 7.65425484e+01] [-5.32038084e-01 8.46653269e-01 1.06639292e-02 -2.40376210e+01] [ 1.94957420e-02 -3.41845458e-04 9.99809882e-01 1.20795106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.30762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.57, Y:-24.05, Z:1.21 [[ 8.45767558e-01 5.33283282e-01 -1.69168447e-02 7.65713718e+01] [-5.33168737e-01 8.45936659e-01 1.10574569e-02 -2.40525370e+01] [ 2.02073360e-02 -3.32505604e-04 9.99795756e-01 1.20831378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.60, Y:-24.07, Z:1.21 [[ 8.45400525e-01 5.33856294e-01 -1.71874988e-02 7.65996430e+01] [-5.33738050e-01 8.45575159e-01 1.12403309e-02 -2.40696427e+01] [ 2.05340434e-02 -3.28959521e-04 9.99789100e-01 1.20844599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.36762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.63, Y:-24.09, Z:1.21 [[ 8.45001427e-01 5.34463945e-01 -1.79131437e-02 7.66277365e+01] [-5.34335506e-01 8.45191210e-01 1.17211644e-02 -2.40852257e+01] [ 2.14045713e-02 -3.32771951e-04 9.99770841e-01 1.20717199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.65, Y:-24.10, Z:1.21 [[ 8.44862161e-01 5.34684138e-01 -1.79109094e-02 7.66548113e+01] [-5.34555677e-01 8.45051929e-01 1.17245777e-02 -2.41030625e+01] [ 2.14045943e-02 -3.31273784e-04 9.99770841e-01 1.20767773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.42762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.69, Y:-24.12, Z:1.21 [[ 8.44743316e-01 5.34836544e-01 -1.89367915e-02 7.66851250e+01] [-5.34692811e-01 8.44955471e-01 1.24036422e-02 -2.41171864e+01] [ 2.26346667e-02 -3.52527588e-04 9.99743741e-01 1.20751798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.71, Y:-24.13, Z:1.21 [[ 8.44975899e-01 5.34416789e-01 -2.03574306e-02 7.67111857e+01] [-5.34250361e-01 8.45220999e-01 1.33422101e-02 -2.41334490e+01] [ 2.43368289e-02 -3.97881355e-04 9.99703736e-01 1.20643405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.48762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.74, Y:-24.15, Z:1.21 [[ 8.45182114e-01 5.34075118e-01 -2.07596554e-02 7.67378490e+01] [-5.33901769e-01 8.45436923e-01 1.36128750e-02 -2.41506714e+01] [ 2.48212771e-02 -4.21741745e-04 9.99691816e-01 1.20710711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.76, Y:-24.17, Z:1.21 [[ 8.45115131e-01 5.34163977e-01 -2.11957904e-02 7.67649201e+01] [-5.33983093e-01 8.45380776e-01 1.39068194e-02 -2.41693103e+01] [ 2.53470357e-02 -4.34669772e-04 9.99678618e-01 1.20749290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.79, Y:-24.19, Z:1.21 [[ 8.44767654e-01 5.34720091e-01 -2.10246313e-02 7.67918711e+01] [-5.34542079e-01 8.45029140e-01 1.38028728e-02 -2.41876308e+01] [ 2.51470995e-02 -4.21670386e-04 9.99683673e-01 1.20933607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.82, Y:-24.20, Z:1.21 [[ 8.44354836e-01 5.35396060e-01 -2.03953380e-02 7.68177689e+01] [-5.35228585e-01 8.44601032e-01 1.33962132e-02 -2.42042207e+01] [ 2.43982033e-02 -3.94989457e-04 9.99702242e-01 1.21040263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.84, Y:-24.22, Z:1.21 [[ 8.43621249e-01 5.36576919e-01 -1.97078181e-02 7.68449199e+01] [-5.36420756e-01 8.43851341e-01 1.29494132e-02 -2.42208739e+01] [ 2.35788250e-02 -3.52717490e-04 9.99721919e-01 1.21190056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.87, Y:-24.24, Z:1.21 [[ 8.42224289e-01 5.38811725e-01 -1.84437757e-02 7.68728991e+01] [-5.38675354e-01 8.42426168e-01 1.21249694e-02 -2.42362113e+01] [ 2.20705950e-02 -2.76736340e-04 9.99756376e-01 1.21424361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.66762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.90, Y:-24.25, Z:1.22 [[ 8.41461721e-01 5.40026205e-01 -1.77163715e-02 7.68999391e+01] [-5.39900519e-01 8.41648169e-01 1.16529181e-02 -2.42528809e+01] [ 2.12038328e-02 -2.40406396e-04 9.99775145e-01 1.21551144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.93, Y:-24.27, Z:1.22 [[ 8.40855166e-01 5.41020206e-01 -1.61160286e-02 7.69262341e+01] [-5.40916289e-01 8.41009570e-01 1.06052168e-02 -2.42696376e+01] [ 1.92913709e-02 -2.00028928e-04 9.99813884e-01 1.21632045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.72762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.95, Y:-24.29, Z:1.22 [[ 8.40750170e-01 5.41205081e-01 -1.53691878e-02 7.69539134e+01] [-5.41110540e-01 8.40890614e-01 1.01172676e-02 -2.42880569e+01] [ 1.83993224e-02 -1.89664955e-04 9.99830700e-01 1.21714109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.98, Y:-24.31, Z:1.22 [[ 8.40863965e-01 5.41042300e-01 -1.48667838e-02 7.69807553e+01] [-5.40953709e-01 8.40995358e-01 9.79243798e-03 -2.43065775e+01] [ 1.78010194e-02 -1.91866381e-04 9.99841531e-01 1.21827056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.78762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.01, Y:-24.33, Z:1.22 [[ 8.41125243e-01 5.40646323e-01 -1.44871578e-02 7.70078450e+01] [-5.40562039e-01 8.41249971e-01 9.54823408e-03 -2.43254270e+01] [ 1.73495387e-02 -2.00053143e-04 9.99849465e-01 1.21930762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.03, Y:-24.35, Z:1.22 [[ 8.42476549e-01 5.38547373e-01 -1.41418368e-02 7.70309829e+01] [-5.38466669e-01 8.42595198e-01 9.32621718e-03 -2.43459297e+01] [ 1.69384536e-02 -2.42211492e-04 9.99856505e-01 1.22004500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.06, Y:-24.37, Z:1.22 [[ 8.43202054e-01 5.37408604e-01 -1.42228350e-02 7.70563261e+01] [-5.37326762e-01 8.43321955e-01 9.38246367e-03 -2.43652219e+01] [ 1.70366457e-02 -2.69002759e-04 9.99854830e-01 1.22033341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.08, Y:-24.39, Z:1.22 [[ 8.43832036e-01 5.36412359e-01 -1.44663862e-02 7.70820718e+01] [-5.36327454e-01 8.43955977e-01 9.54830239e-03 -2.43850105e+01] [ 1.73308205e-02 -2.98443357e-04 9.99849766e-01 1.22040906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.907628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.11, Y:-24.41, Z:1.22 [[ 8.45358430e-01 5.33960683e-01 -1.59722872e-02 7.71065580e+01] [-5.33856624e-01 8.45509218e-01 1.05483571e-02 -2.44058628e+01] [ 1.91371240e-02 -3.90231276e-04 9.99816792e-01 1.21931760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.13, Y:-24.43, Z:1.22 [[ 8.45970034e-01 5.32958963e-01 -1.70131080e-02 7.71306075e+01] [-5.32840568e-01 8.46140973e-01 1.12420168e-02 -2.44254737e+01] [ 2.03870214e-02 -4.45135190e-04 9.99792064e-01 1.21837650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.967628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.15, Y:-24.45, Z:1.22 [[ 8.46987108e-01 5.31261108e-01 -1.93513177e-02 7.71542587e+01] [-5.31107346e-01 8.47207958e-01 1.27930740e-02 -2.44463369e+01] [ 2.31910530e-02 -5.57941735e-04 9.99730896e-01 1.21631409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.18, Y:-24.47, Z:1.22 [[ 8.47156586e-01 5.30959362e-01 -2.01959134e-02 7.71798980e+01] [-5.30791680e-01 8.47397074e-01 1.33563199e-02 -2.44657676e+01] [ 2.42056211e-02 -5.95071548e-04 9.99706824e-01 1.21576858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.027628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.21, Y:-24.48, Z:1.22 [[ 8.47155886e-01 5.30938783e-01 -2.07584658e-02 7.72055286e+01] [-5.30761438e-01 8.47409952e-01 1.37356946e-02 -2.44845519e+01] [ 2.48837435e-02 -6.18481322e-04 9.99690160e-01 1.21619198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05762800000001 meters Centerline goodness [0,1] 0.9998919736415686 Centerline is valid? [True, True] Translation: X:77.23, Y:-24.50, Z:1.21 [[ 8.47169339e-01 5.30877691e-01 -2.17482789e-02 7.72304199e+01] [-5.30682804e-01 8.47448197e-01 1.43984696e-02 -2.45047336e+01] [ 2.60743661e-02 -6.56504327e-04 9.99659790e-01 1.21369845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.08762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.26, Y:-24.52, Z:1.22 [[ 8.46657234e-01 5.31736169e-01 -2.06923870e-02 7.72568068e+01] [-5.31559831e-01 8.46909842e-01 1.37064311e-02 -2.45233333e+01] [ 2.48127914e-02 -6.05407296e-04 9.99691932e-01 1.21713748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.28, Y:-24.54, Z:1.22 [[ 8.46109393e-01 5.32623998e-01 -2.02625624e-02 7.72828306e+01] [-5.32454995e-01 8.46351788e-01 1.34287038e-02 -2.45423542e+01] [ 2.43017058e-02 -5.73249909e-04 9.99704506e-01 1.21789710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.14762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.31, Y:-24.56, Z:1.22 [[ 8.44264031e-01 5.35584538e-01 -1.91689221e-02 7.73086455e+01] [-5.35433941e-01 8.44481489e-01 1.27086465e-02 -2.45610379e+01] [ 2.29943544e-02 -4.65761641e-04 9.99735486e-01 1.21959627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.34, Y:-24.58, Z:1.22 [[ 8.42817553e-01 5.37870682e-01 -1.88069736e-02 7.73360115e+01] [-5.37726217e-01 8.43027266e-01 1.24717472e-02 -2.45784896e+01] [ 2.25629787e-02 -3.98404637e-04 9.99745344e-01 1.22078113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.20762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.36, Y:-24.60, Z:1.22 [[ 8.41105806e-01 5.40555018e-01 -1.84741941e-02 7.73614195e+01] [-5.40416124e-01 8.41308603e-01 1.22574992e-02 -2.45960660e+01] [ 2.21683512e-02 -3.26101363e-04 9.99754199e-01 1.22145761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.23762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.39, Y:-24.61, Z:1.22 [[ 8.37039761e-01 5.46854501e-01 -1.77367736e-02 7.73875521e+01] [-5.46727758e-01 8.37227645e-01 1.17740642e-02 -2.46137918e+01] [ 2.12884172e-02 -1.58173430e-04 9.99773363e-01 1.22214164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.41, Y:-24.63, Z:1.22 [[ 8.34643683e-01 5.50513276e-01 -1.74658547e-02 7.74148365e+01] [-5.50391046e-01 8.34826406e-01 1.16003493e-02 -2.46308272e+01] [ 2.09671030e-02 -6.91082513e-05 9.99780164e-01 1.22296456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.44, Y:-24.65, Z:1.22 [[ 8.30210973e-01 5.57196531e-01 -1.67858822e-02 7.74416730e+01] [-5.57084872e-01 8.30380646e-01 1.11547188e-02 -2.46490363e+01] [ 2.01540423e-02 9.03910435e-05 9.99796883e-01 1.22302604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.47, Y:-24.67, Z:1.22 [[ 8.28368386e-01 5.59936721e-01 -1.66338537e-02 7.74673902e+01] [-5.59827496e-01 8.28535362e-01 1.10602330e-02 -2.46675481e+01] [ 1.99747666e-02 1.50141309e-04 9.99800473e-01 1.22399000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.49, Y:-24.69, Z:1.22 [[ 8.26710937e-01 5.62388477e-01 -1.63776440e-02 7.74923752e+01] [-5.62282958e-01 8.26873122e-01 1.08956047e-02 -2.46859456e+01] [ 1.96697961e-02 2.01354561e-04 9.99806511e-01 1.22496631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.52, Y:-24.71, Z:1.23 [[ 8.24853553e-01 5.65099795e-01 -1.66984374e-02 7.75168201e+01] [-5.64990541e-01 8.25022515e-01 1.11147374e-02 -2.47076693e+01] [ 2.00575227e-02 2.66428589e-04 9.99798792e-01 1.22542541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.54, Y:-24.73, Z:1.23 [[ 8.24477281e-01 5.65635630e-01 -1.71332463e-02 7.75423983e+01] [-5.65520596e-01 8.24655234e-01 1.14105453e-02 -2.47280224e+01] [ 2.05832322e-02 2.81468283e-04 9.99788103e-01 1.22528761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.57, Y:-24.75, Z:1.22 [[ 8.24687737e-01 5.65325144e-01 -1.72515940e-02 7.75661731e+01] [-5.65208302e-01 8.24868116e-01 1.14963799e-02 -2.47522167e+01] [ 2.07294824e-02 2.69820651e-04 9.99785085e-01 1.22432204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.59, Y:-24.77, Z:1.22 [[ 8.25151617e-01 5.64638087e-01 -1.75681374e-02 7.75910087e+01] [-5.64516636e-01 8.25338577e-01 1.17133087e-02 -2.47738037e+01] [ 2.11134417e-02 2.52250159e-04 9.99777055e-01 1.22437340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.50762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.62, Y:-24.80, Z:1.22 [[ 8.25702486e-01 5.63820259e-01 -1.79477145e-02 7.76152556e+01] [-5.63693234e-01 8.25897488e-01 1.19698520e-02 -2.47957434e+01] [ 2.15718173e-02 2.33468702e-04 9.99767274e-01 1.22464584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.64, Y:-24.82, Z:1.22 [[ 8.26445351e-01 5.62727131e-01 -1.80626061e-02 7.76395281e+01] [-5.62598072e-01 8.26642689e-01 1.20529529e-02 -2.48178931e+01] [ 2.17138449e-02 2.00880519e-04 9.99764206e-01 1.22482194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.56762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.66, Y:-24.84, Z:1.22 [[ 8.28284180e-01 5.60001486e-01 -1.85378628e-02 7.76603067e+01] [-5.59864715e-01 8.28491593e-01 1.23766894e-02 -2.48431066e+01] [ 2.22894279e-02 1.27279283e-04 9.99751552e-01 1.22380501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.68, Y:-24.87, Z:1.22 [[ 8.29186458e-01 5.58662923e-01 -1.85891133e-02 7.76848309e+01] [-5.58524910e-01 8.29394798e-01 1.24174988e-02 -2.48657069e+01] [ 2.23549100e-02 8.60609697e-05 9.99750094e-01 1.22394512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.627628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.71, Y:-24.89, Z:1.22 [[ 8.30908986e-01 5.56079433e-01 -1.91290582e-02 7.77067655e+01] [-5.55932416e-01 8.31129150e-01 1.27861517e-02 -2.48919724e+01] [ 2.30088338e-02 1.03351898e-05 9.99735262e-01 1.22358191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.657628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.73, Y:-24.91, Z:1.22 [[ 8.30803141e-01 5.56241601e-01 -1.90111062e-02 7.77318099e+01] [-5.56096278e-01 8.31020626e-01 1.27141073e-02 -2.49118246e+01] [ 2.28707368e-02 9.08512659e-06 9.99738430e-01 1.22442990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.76, Y:-24.93, Z:1.23 [[ 8.29204590e-01 5.58651314e-01 -1.81234139e-02 7.77597154e+01] [-5.58519707e-01 8.29402619e-01 1.21256975e-02 -2.49285206e+01] [ 2.18056438e-02 6.75997823e-05 9.99762226e-01 1.22551993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.717628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.79, Y:-24.94, Z:1.23 [[ 8.26572160e-01 5.62515429e-01 -1.88376314e-02 7.77870947e+01] [-5.62374071e-01 8.26786770e-01 1.26111621e-02 -2.49449732e+01] [ 2.26686777e-02 1.69759889e-04 9.99743018e-01 1.22634177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.81, Y:-24.96, Z:1.23 [[ 8.25780572e-01 5.63662190e-01 -1.92713050e-02 7.78144926e+01] [-5.63514397e-01 8.26005385e-01 1.29084673e-02 -2.49622165e+01] [ 2.31942166e-02 2.00096351e-04 9.99730958e-01 1.22661336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.777628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.84, Y:-24.98, Z:1.23 [[ 8.25509323e-01 5.64036711e-01 -1.99235121e-02 7.78411721e+01] [-5.63878678e-01 8.25749686e-01 1.33526166e-02 -2.49788818e+01] [ 2.39831998e-02 2.11734138e-04 9.99712339e-01 1.22550279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.80762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.87, Y:-25.00, Z:1.22 [[ 8.27193303e-01 5.61540843e-01 -2.05699282e-02 7.78667692e+01] [-5.61371430e-01 8.27449009e-01 1.37932694e-02 -2.49986228e+01] [ 2.47660508e-02 1.37669944e-04 9.99693265e-01 1.22451718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.89, Y:-25.02, Z:1.23 [[ 8.28504207e-01 5.59624066e-01 -2.00420471e-02 7.78925656e+01] [-5.59462510e-01 8.28746584e-01 1.34461966e-02 -2.50182810e+01] [ 2.41345933e-02 7.25434702e-05 9.99708716e-01 1.22577623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.86762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.92, Y:-25.04, Z:1.23 [[ 8.31651924e-01 5.55011234e-01 -1.78215546e-02 7.79172675e+01] [-5.54882310e-01 8.31842850e-01 1.19622618e-02 -2.50381475e+01] [ 2.14639224e-02 -5.95726346e-05 9.99769622e-01 1.22925196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.94, Y:-25.06, Z:1.23 [[ 8.31493862e-01 5.55248106e-01 -1.78184595e-02 7.79441144e+01] [-5.55119138e-01 8.31684758e-01 1.19668706e-02 -2.50562622e+01] [ 2.14639235e-02 -5.90115423e-05 9.99769622e-01 1.22975795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.92762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.97, Y:-25.08, Z:1.23 [[ 8.33521586e-01 5.52228608e-01 -1.68917414e-02 7.79697225e+01] [-5.52111953e-01 8.33692717e-01 1.13509780e-02 -2.50761819e+01] [ 2.03508565e-02 -1.35152835e-04 9.99792891e-01 1.23179989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.00, Y:-25.10, Z:1.23 [[ 8.35721168e-01 5.48915253e-01 -1.61918210e-02 7.79950143e+01] [-5.48807333e-01 8.35877982e-01 1.08862706e-02 -2.50960791e+01] [ 1.95100267e-02 -2.11696691e-04 9.99809639e-01 1.23362051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.98762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.02, Y:-25.12, Z:1.23 [[ 8.40070135e-01 5.42251972e-01 -1.56514585e-02 7.80206606e+01] [-5.42149884e-01 8.40215848e-01 1.05277308e-02 -2.51153589e+01] [ 1.88592862e-02 -3.58595833e-04 9.99822084e-01 1.23393195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.05, Y:-25.13, Z:1.23 [[ 8.41868179e-01 5.39464921e-01 -1.53482282e-02 7.80454760e+01] [-5.39366255e-01 8.42007973e-01 1.03255066e-02 -2.51332060e+01] [ 1.84935791e-02 -4.14399085e-04 9.99828893e-01 1.23363843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.07, Y:-25.15, Z:1.23 [[ 8.45481927e-01 5.33772232e-01 -1.57326395e-02 7.80712725e+01] [-5.33667522e-01 8.45628108e-01 1.05867622e-02 -2.51521310e+01] [ 1.89548818e-02 -5.54917404e-04 9.99820186e-01 1.23388214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.10, Y:-25.17, Z:1.23 [[ 8.46806734e-01 5.31666404e-01 -1.57857523e-02 7.80951576e+01] [-5.31560584e-01 8.46953640e-01 1.06244154e-02 -2.51715187e+01] [ 1.90184451e-02 -6.05742803e-04 9.99818950e-01 1.23445197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.107628 meters Centerline goodness [0,1] 0.9998409994321408 Centerline is valid? [True, True] Translation: X:78.12, Y:-25.19, Z:1.23 [[ 8.47630313e-01 5.30342489e-01 -1.61151129e-02 7.81222507e+01] [-5.30231884e-01 8.47783238e-01 1.08503507e-02 -2.51886048e+01] [ 1.94165247e-02 -6.52339505e-04 9.99811269e-01 1.23213690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.15, Y:-25.20, Z:1.24 [[ 8.46984731e-01 5.31394152e-01 -1.53987325e-02 7.81502942e+01] [-5.31293238e-01 8.47124483e-01 1.03733040e-02 -2.52041983e+01] [ 1.85569563e-02 -6.04787629e-04 9.99827622e-01 1.23520163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16762800000001 meters Centerline goodness [0,1] 0.9998640288258889 Centerline is valid? [True, True] Translation: X:78.18, Y:-25.22, Z:1.23 [[ 8.45731497e-01 5.33376855e-01 -1.57278792e-02 7.81779896e+01] [-5.33271814e-01 8.45877531e-01 1.06007390e-02 -2.52202810e+01] [ 1.89580485e-02 -5.78144177e-04 9.99820113e-01 1.23293926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.21, Y:-25.23, Z:1.24 [[ 8.43534952e-01 5.36864278e-01 -1.50177087e-02 7.82060087e+01] [-5.36768971e-01 8.43668486e-01 1.01270110e-02 -2.52341693e+01] [ 1.81067981e-02 -4.81447672e-04 9.99835943e-01 1.23616864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.24, Y:-25.24, Z:1.24 [[ 8.37384228e-01 5.46416056e-01 -1.47359954e-02 7.82375959e+01] [-5.46325688e-01 8.37513832e-01 9.94099244e-03 -2.52435801e+01] [ 1.77735179e-02 -2.73777435e-04 9.99842001e-01 1.23591608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25762800000001 meters Centerline goodness [0,1] 0.999910342045098 Centerline is valid? [True, True] Translation: X:78.27, Y:-25.26, Z:1.23 [[ 8.33982900e-01 5.51575837e-01 -1.53823890e-02 7.82665914e+01] [-5.51478145e-01 8.34124730e-01 1.03822368e-02 -2.52577097e+01] [ 1.85574220e-02 -1.75556670e-04 9.99827781e-01 1.23425944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.30, Y:-25.27, Z:1.24 [[ 8.27678902e-01 5.60992056e-01 -1.53475690e-02 7.82967764e+01] [-5.60896310e-01 8.27821184e-01 1.03642114e-02 -2.52695945e+01] [ 1.85192830e-02 3.01556502e-05 9.99828503e-01 1.23690072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.32, Y:-25.28, Z:1.24 [[ 8.25338507e-01 5.64441430e-01 -1.49070630e-02 7.83237559e+01] [-5.64351570e-01 8.25473114e-01 1.00718941e-02 -2.52844390e+01] [ 1.79903741e-02 1.00102332e-04 9.99838155e-01 1.23712734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.35, Y:-25.30, Z:1.24 [[ 8.23333078e-01 5.67376936e-01 -1.43546019e-02 7.83512943e+01] [-5.67293978e-01 8.23458189e-01 9.70326933e-03 -2.53007203e+01] [ 1.73258257e-02 1.54256600e-04 9.99849885e-01 1.23788664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.38, Y:-25.32, Z:1.24 [[ 8.21158879e-01 5.70541039e-01 -1.34543198e-02 7.83789568e+01] [-5.70468512e-01 8.21269067e-01 9.09920282e-03 -2.53162928e+01] [ 1.62410853e-02 2.03374630e-04 9.99868084e-01 1.23819346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.407628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.41, Y:-25.34, Z:1.24 [[ 8.20667745e-01 5.71258231e-01 -1.29802141e-02 7.84058736e+01] [-5.71190777e-01 8.20770364e-01 8.78102409e-03 -2.53350657e+01] [ 1.56700073e-02 2.07875324e-04 9.99877196e-01 1.23897430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.43, Y:-25.35, Z:1.24 [[ 8.20625653e-01 5.71320828e-01 -1.28860006e-02 7.84317579e+01] [-5.71254274e-01 8.20726794e-01 8.72261517e-03 -2.53537162e+01] [ 1.55592977e-02 2.03181159e-04 9.99878926e-01 1.24009033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.467628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.46, Y:-25.37, Z:1.24 [[ 8.20841565e-01 5.71010821e-01 -1.28750552e-02 7.84575244e+01] [-5.70944265e-01 8.20942510e-01 8.72018181e-03 -2.53737138e+01] [ 1.55489983e-02 1.93051232e-04 9.99879088e-01 1.24128936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.497628 meters Centerline goodness [0,1] 0.9998655612816492 Centerline is valid? [True, True] Translation: X:78.48, Y:-25.40, Z:1.24 [[ 8.22784234e-01 5.68198564e-01 -1.32851644e-02 7.84809399e+01] [-5.68127243e-01 8.22891471e-01 9.00351141e-03 -2.53964675e+01] [ 1.60480307e-02 1.39716604e-04 9.99871212e-01 1.23984691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.527628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.51, Y:-25.42, Z:1.24 [[ 8.23940414e-01 5.66533695e-01 -1.27187722e-02 7.85057645e+01] [-5.66468059e-01 8.24038569e-01 8.62409798e-03 -2.54167133e+01] [ 1.53666010e-02 9.90353637e-05 9.99881922e-01 1.24295700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.53, Y:-25.44, Z:1.24 [[ 8.27122615e-01 5.61853860e-01 -1.37265890e-02 7.85275627e+01] [-5.61776675e-01 8.27236508e-01 9.31278881e-03 -2.54401574e+01] [ 1.65875619e-02 8.45927525e-06 9.99862417e-01 1.24267320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.55, Y:-25.46, Z:1.24 [[ 8.28947943e-01 5.59149473e-01 -1.40419026e-02 7.85527662e+01] [-5.59068229e-01 8.29066863e-01 9.53160242e-03 -2.54622055e+01] [ 1.69712666e-02 -5.08205752e-05 9.99855976e-01 1.24285017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.57, Y:-25.49, Z:1.24 [[ 8.32271450e-01 5.54149144e-01 -1.55871394e-02 7.85739332e+01] [-5.54048024e-01 8.32417380e-01 1.05873744e-02 -2.54870838e+01] [ 1.88419903e-02 -1.75545685e-04 9.99822459e-01 1.24146658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.64762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.60, Y:-25.51, Z:1.24 [[ 8.33418135e-01 5.52404661e-01 -1.62265940e-02 7.85990841e+01] [-5.52294629e-01 8.33576054e-01 1.10274147e-02 -2.55067230e+01] [ 1.96176955e-02 -2.28586702e-04 9.99807528e-01 1.24154798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.63, Y:-25.53, Z:1.24 [[ 8.33283492e-01 5.52604963e-01 -1.63210508e-02 7.86255364e+01] [-5.52493576e-01 8.33443280e-01 1.10971588e-02 -2.55252865e+01] [ 1.97350151e-02 -2.29803493e-04 9.99805219e-01 1.24206994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.70762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.65, Y:-25.54, Z:1.24 [[ 8.32049961e-01 5.54442241e-01 -1.69311296e-02 7.86530304e+01] [-5.54322650e-01 8.32222183e-01 1.15168296e-02 -2.55416444e+01] [ 2.04758785e-02 -1.97268968e-04 9.99790328e-01 1.24207382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.73762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.68, Y:-25.56, Z:1.24 [[ 8.31593652e-01 5.55110131e-01 -1.74568285e-02 7.86805214e+01] [-5.54983005e-01 8.31776837e-01 1.18810134e-02 -2.55591049e+01] [ 2.11154565e-02 -1.91932180e-04 9.99777025e-01 1.24207773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.71, Y:-25.58, Z:1.24 [[ 8.31464722e-01 5.55283799e-01 -1.80642646e-02 7.87074044e+01] [-5.55147549e-01 8.31660906e-01 1.23018865e-02 -2.55771686e+01] [ 2.18543810e-02 -2.00252422e-04 9.99761144e-01 1.24179269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.73, Y:-25.60, Z:1.24 [[ 8.32542738e-01 5.53637312e-01 -1.89292626e-02 7.87337028e+01] [-5.53487105e-01 8.32757863e-01 1.28982750e-02 -2.55961483e+01] [ 2.29044586e-02 -2.61262367e-04 9.99737624e-01 1.24113601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.76, Y:-25.62, Z:1.24 [[ 8.33528213e-01 5.52157629e-01 -1.87795054e-02 7.87597425e+01] [-5.52009263e-01 8.33739683e-01 1.28029046e-02 -2.56150195e+01] [ 2.27264404e-02 -3.05121227e-04 9.99741675e-01 1.24184722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.79, Y:-25.63, Z:1.24 [[ 8.34823041e-01 5.50202961e-01 -1.86331039e-02 7.87856315e+01] [-5.50056261e-01 8.35030881e-01 1.27097613e-02 -2.56340133e+01] [ 2.25521655e-02 -3.61146137e-04 9.99745602e-01 1.24250738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.81, Y:-25.65, Z:1.24 [[ 8.38791796e-01 5.44150949e-01 -1.81126367e-02 7.88098608e+01] [-5.44010779e-01 8.38987175e-01 1.23609535e-02 -2.56541194e+01] [ 2.19224944e-02 -5.14796773e-04 9.99759541e-01 1.24401476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.84, Y:-25.67, Z:1.25 [[ 8.41202309e-01 5.40440837e-01 -1.73890005e-02 7.88356502e+01] [-5.40310755e-01 8.41381812e-01 1.18716118e-02 -2.56734887e+01] [ 2.10466925e-02 -5.90963290e-04 9.99778319e-01 1.24539408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.94762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.86, Y:-25.70, Z:1.25 [[ 8.45561937e-01 5.33639446e-01 -1.59358815e-02 7.88564151e+01] [-5.33528946e-01 8.45711803e-01 1.08816650e-02 -2.56972801e+01] [ 1.92840488e-02 -6.98867670e-04 9.99813801e-01 1.24727828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.88, Y:-25.71, Z:1.25 [[ 8.47285843e-01 5.30926775e-01 -1.49485810e-02 7.88842141e+01] [-5.30829047e-01 8.47417397e-01 1.02116379e-02 -2.57128787e+01] [ 1.80893196e-02 -7.17035247e-04 9.99836118e-01 1.24856913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.00762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.91, Y:-25.73, Z:1.25 [[ 8.48825077e-01 5.28481026e-01 -1.42756530e-02 7.89100843e+01] [-5.28391481e-01 8.48944792e-01 9.75615201e-03 -2.57318615e+01] [ 1.72751825e-02 -7.38133051e-04 9.99850500e-01 1.24957597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.94, Y:-25.75, Z:1.25 [[ 8.50647610e-01 5.25573142e-01 -1.30963741e-02 7.89359178e+01] [-5.25497418e-01 8.50748104e-01 8.95144074e-03 -2.57495587e+01] [ 1.58463522e-02 -7.32410928e-04 9.99874170e-01 1.25117483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.06762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.96, Y:-25.77, Z:1.25 [[ 8.50759027e-01 5.25402495e-01 -1.27002472e-02 7.89638678e+01] [-5.25331238e-01 8.50853517e-01 8.68230461e-03 -2.57660823e+01] [ 1.53677545e-02 -7.14712446e-04 9.99881654e-01 1.25176360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.99, Y:-25.78, Z:1.25 [[ 8.49628106e-01 5.27231930e-01 -1.25926114e-02 7.89923279e+01] [-5.27162008e-01 8.49721148e-01 8.61323347e-03 -2.57802937e+01] [ 1.52413800e-02 -6.79698906e-04 9.99883612e-01 1.25146401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.02, Y:-25.80, Z:1.25 [[ 8.48414673e-01 5.29175544e-01 -1.28757728e-02 7.90192117e+01] [-5.29102599e-01 8.48512112e-01 8.81108997e-03 -2.57960135e+01] [ 1.55878625e-02 -6.62853185e-04 9.99878282e-01 1.25129229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.157628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.05, Y:-25.81, Z:1.25 [[ 8.46794099e-01 5.31760999e-01 -1.30381419e-02 7.90458029e+01] [-5.31686444e-01 8.46894236e-01 8.92625197e-03 -2.58116502e+01] [ 1.57885599e-02 -6.26494180e-04 9.99875157e-01 1.25145924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.08, Y:-25.82, Z:1.25 [[ 8.42824521e-01 5.38001870e-01 -1.41709071e-02 7.90764798e+01] [-5.37914601e-01 8.42943460e-01 9.70592867e-03 -2.58230668e+01] [ 1.71670812e-02 -5.57656859e-04 9.99852479e-01 1.25060701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.217628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.11, Y:-25.84, Z:1.25 [[ 8.40705256e-01 5.41289195e-01 -1.48553130e-02 7.91051643e+01] [-5.41193723e-01 8.40836333e-01 1.01791794e-02 -2.58377026e+01] [ 1.80007668e-02 -5.18087487e-04 9.99837839e-01 1.25002115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.13, Y:-25.85, Z:1.25 [[ 8.36584728e-01 5.47613337e-01 -1.56724542e-02 7.91345545e+01] [-5.47508147e-01 8.36731420e-01 1.07405913e-02 -2.58499395e+01] [ 1.89953259e-02 -4.04618309e-04 9.99819491e-01 1.24845589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.277628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.16, Y:-25.87, Z:1.25 [[ 8.34301390e-01 5.51074450e-01 -1.60667753e-02 7.91628615e+01] [-5.50964476e-01 8.34456013e-01 1.10140186e-02 -2.58658924e+01] [ 1.94765615e-02 -3.36788581e-04 9.99810257e-01 1.24818428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.19, Y:-25.88, Z:1.25 [[ 8.32320576e-01 5.54056027e-01 -1.62597235e-02 7.91895520e+01] [-5.53943849e-01 8.32479335e-01 1.11520840e-02 -2.58821462e+01] [ 1.97147632e-02 -2.75135139e-04 9.99805607e-01 1.24780800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.22, Y:-25.90, Z:1.25 [[ 8.29330954e-01 5.58513418e-01 -1.65206036e-02 7.92180927e+01] [-5.58398378e-01 8.29495468e-01 1.13366717e-02 -2.58968383e+01] [ 2.00354491e-02 -1.76774521e-04 9.99799255e-01 1.24804614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.36762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.24, Y:-25.91, Z:1.25 [[ 8.28371279e-01 5.59941641e-01 -1.63212173e-02 7.92434268e+01] [-5.59829524e-01 8.28532038e-01 1.12056365e-02 -2.59144968e+01] [ 1.97971539e-02 -1.45328114e-04 9.99804007e-01 1.24825730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.27, Y:-25.93, Z:1.25 [[ 8.27899538e-01 5.60639649e-01 -1.62953680e-02 7.92705881e+01] [-5.60527909e-01 8.28059881e-01 1.11936217e-02 -2.59336899e+01] [ 1.97691287e-02 -1.33185659e-04 9.99804563e-01 1.24882261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.42762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.30, Y:-25.95, Z:1.25 [[ 8.28099957e-01 5.60340303e-01 -1.64074801e-02 7.92960977e+01] [-5.60226837e-01 8.28262473e-01 1.12768807e-02 -2.59529858e+01] [ 1.99085908e-02 -1.46473811e-04 9.99801794e-01 1.24906957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.32, Y:-25.97, Z:1.25 [[ 8.28445730e-01 5.59833318e-01 -1.62581747e-02 7.93222460e+01] [-5.59721718e-01 8.28605232e-01 1.11789274e-02 -2.59729874e+01] [ 1.97299447e-02 -1.61081200e-04 9.99805333e-01 1.24989138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.48762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.34, Y:-26.00, Z:1.25 [[ 8.30198153e-01 5.57281611e-01 -1.44302757e-02 7.93443500e+01] [-5.57193220e-01 8.30323530e-01 9.92727672e-03 -2.59953674e+01] [ 1.75140862e-02 -2.01155040e-04 9.99846596e-01 1.25343949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.37, Y:-26.02, Z:1.26 [[ 8.31337745e-01 5.55606366e-01 -1.33835798e-02 7.93681181e+01] [-5.55530050e-01 8.31445438e-01 9.21123237e-03 -2.60164474e+01] [ 1.62455357e-02 -2.22664373e-04 9.99868008e-01 1.25576028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.39, Y:-26.04, Z:1.26 [[ 8.32379803e-01 5.54060803e-01 -1.26685106e-02 7.93931635e+01] [-5.53992210e-01 8.32476167e-01 8.72134570e-03 -2.60366192e+01] [ 1.53783889e-02 -2.41215829e-04 9.99881716e-01 1.25775536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.42, Y:-26.06, Z:1.26 [[ 8.34159243e-01 5.51381077e-01 -1.25405821e-02 7.94173027e+01] [-5.51313492e-01 8.34253453e-01 8.63771343e-03 -2.60584478e+01] [ 1.52246956e-02 -2.91436406e-04 9.99884055e-01 1.25789573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.44, Y:-26.08, Z:1.26 [[ 8.35261858e-01 5.49672285e-01 -1.40715501e-02 7.94428891e+01] [-5.49586851e-01 8.35380300e-01 9.69783028e-03 -2.60780952e+01] [ 1.70857243e-02 -3.66688819e-04 9.99853961e-01 1.25559107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.47, Y:-26.10, Z:1.25 [[ 8.35392908e-01 5.49452575e-01 -1.48511493e-02 7.94684666e+01] [-5.49357275e-01 8.35524811e-01 1.02408246e-02 -2.60974258e+01] [ 1.80353512e-02 -3.96525301e-04 9.99837271e-01 1.25462632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.49, Y:-26.12, Z:1.25 [[ 8.35320973e-01 5.49530528e-01 -1.59709014e-02 7.94929782e+01] [-5.49420205e-01 8.35473527e-01 1.10192704e-02 -2.61186565e+01] [ 1.93986908e-02 -4.29891747e-04 9.99811735e-01 1.25338950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.52, Y:-26.14, Z:1.25 [[ 8.35340848e-01 5.49457842e-01 -1.73708581e-02 7.95196725e+01] [-5.49327162e-01 8.35521306e-01 1.19923189e-02 -2.61372864e+01] [ 2.11029957e-02 -4.75389708e-04 9.99777194e-01 1.25312447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.55, Y:-26.16, Z:1.25 [[ 8.34943869e-01 5.50004041e-01 -1.90864070e-02 7.95452402e+01] [-5.49846255e-01 8.35161836e-01 1.31834850e-02 -2.61569256e+01] [ 2.31912088e-02 -5.12880548e-04 9.99730916e-01 1.25195737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75762800000001 meters Centerline goodness [0,1] 0.9998177676537585 Centerline is valid? [True, True] Translation: X:79.57, Y:-26.17, Z:1.25 [[ 8.34141674e-01 5.51159650e-01 -2.07535083e-02 7.95727320e+01] [-5.50973274e-01 8.34399641e-01 1.43419257e-02 -2.61747137e+01] [ 2.52214107e-02 -5.28569513e-04 9.99681750e-01 1.24884313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.78762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.60, Y:-26.19, Z:1.25 [[ 8.33417564e-01 5.52261869e-01 -2.05424500e-02 7.95985204e+01] [-5.52079403e-01 8.33670547e-01 1.42039100e-02 -2.61923525e+01] [ 2.49699134e-02 -4.96724556e-04 9.99688080e-01 1.25150580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.63, Y:-26.21, Z:1.25 [[ 8.33264702e-01 5.52492613e-01 -2.05389680e-02 7.96251217e+01] [-5.52310093e-01 8.33517646e-01 1.42089436e-02 -2.62108431e+01] [ 2.49699287e-02 -4.95931837e-04 9.99688080e-01 1.25201179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.65, Y:-26.23, Z:1.25 [[ 8.32982891e-01 5.52897606e-01 -2.10651269e-02 7.96503630e+01] [-5.52705525e-01 8.33249053e-01 1.45814670e-02 -2.62299365e+01] [ 2.56145552e-02 -5.03300522e-04 9.99671767e-01 1.25312748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.68, Y:-26.25, Z:1.25 [[ 8.32994916e-01 5.52900499e-01 -2.05063025e-02 7.96767509e+01] [-5.52718280e-01 8.33247137e-01 1.42025286e-02 -2.62492310e+01] [ 2.49394030e-02 -4.96425845e-04 9.99688841e-01 1.25453576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.907628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.70, Y:-26.27, Z:1.26 [[ 8.33594297e-01 5.52060416e-01 -1.87041631e-02 7.97032475e+01] [-5.51908446e-01 8.33803973e-01 1.29615523e-02 -2.62685990e+01] [ 2.27511655e-02 -4.81690476e-04 9.99741043e-01 1.25744658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.73, Y:-26.29, Z:1.26 [[ 8.33963525e-01 5.51550812e-01 -1.72203303e-02 7.97297531e+01] [-5.51421753e-01 8.34141168e-01 1.19399287e-02 -2.62873307e+01] [ 2.09496638e-02 -4.61800293e-04 9.99780425e-01 1.25880128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.967628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.76, Y:-26.31, Z:1.26 [[ 8.34418619e-01 5.50891858e-01 -1.62397080e-02 7.97563013e+01] [-5.50776835e-01 8.34576511e-01 1.12661474e-02 -2.63051333e+01] [ 1.97597077e-02 -4.56228148e-04 9.99804654e-01 1.25987740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.78, Y:-26.32, Z:1.26 [[ 8.35500865e-01 5.49302670e-01 -1.43136776e-02 7.97840717e+01] [-5.49213001e-01 8.35623350e-01 9.93455073e-03 -2.63220369e+01] [ 1.74179185e-02 -4.39067888e-04 9.99848200e-01 1.26142890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.027628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.81, Y:-26.34, Z:1.26 [[ 8.36046101e-01 5.48484770e-01 -1.38338016e-02 7.98103734e+01] [-5.48400819e-01 8.36160427e-01 9.60637181e-03 -2.63408007e+01] [ 1.68362261e-02 -4.44901564e-04 9.99858162e-01 1.26251567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.84, Y:-26.36, Z:1.26 [[ 8.36576382e-01 5.47687178e-01 -1.33683133e-02 7.98364215e+01] [-5.47608603e-01 8.36683066e-01 9.28783414e-03 -2.63593009e+01] [ 1.62718690e-02 -4.49379312e-04 9.99867503e-01 1.26357835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.08762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.86, Y:-26.38, Z:1.27 [[ 8.37611518e-01 5.46093583e-01 -1.37383991e-02 7.98631793e+01] [-5.46010298e-01 8.37724030e-01 9.55007835e-03 -2.63773503e+01] [ 1.67242235e-02 -4.97948263e-04 9.99860016e-01 1.26508603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.89, Y:-26.40, Z:1.27 [[ 8.37841049e-01 5.45740772e-01 -1.37617558e-02 7.98893153e+01] [-5.45657074e-01 8.37953907e-01 9.57116527e-03 -2.63950913e+01] [ 1.67550922e-02 -5.09915721e-04 9.99859494e-01 1.26573363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.14762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.92, Y:-26.41, Z:1.26 [[ 8.37469650e-01 5.46280305e-01 -1.49135421e-02 7.99171530e+01] [-5.46182031e-01 8.37602252e-01 1.03757474e-02 -2.64112451e+01] [ 1.81596829e-02 -5.43864786e-04 9.99834951e-01 1.26497659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.94, Y:-26.43, Z:1.26 [[ 8.36958564e-01 5.47026896e-01 -1.61844417e-02 7.99449566e+01] [-5.46911175e-01 8.37114831e-01 1.12661626e-02 -2.64275133e+01] [ 1.97111302e-02 -5.77859271e-04 9.99805550e-01 1.26347388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.20762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.97, Y:-26.44, Z:1.26 [[ 8.36384739e-01 5.47876836e-01 -1.70745545e-02 7.99733688e+01] [-5.47748076e-01 8.36558796e-01 1.18922223e-02 -2.64432378e+01] [ 2.07993419e-02 -5.93918925e-04 9.99783494e-01 1.26271467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.23762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.00, Y:-26.46, Z:1.26 [[ 8.34987422e-01 5.49932899e-01 -1.92305033e-02 8.00008057e+01] [-5.49769934e-01 8.35208612e-01 1.34012797e-02 -2.64588040e+01] [ 2.34312865e-02 -6.17547419e-04 9.99725259e-01 1.26096298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.03, Y:-26.48, Z:1.26 [[ 8.34329513e-01 5.50905831e-01 -1.99256087e-02 8.00282180e+01] [-5.50730975e-01 8.34567184e-01 1.38927633e-02 -2.64763005e+01] [ 2.42828635e-02 -6.17492559e-04 9.99704937e-01 1.26096969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.05, Y:-26.49, Z:1.26 [[ 8.33495464e-01 5.52197324e-01 -1.90637467e-02 8.00546850e+01] [-5.52037454e-01 8.33713261e-01 1.32984027e-02 -2.64927729e+01] [ 2.32370408e-02 -5.60256120e-04 9.99729827e-01 1.26159464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.08, Y:-26.51, Z:1.26 [[ 8.33044076e-01 5.52887644e-01 -1.87835027e-02 8.00813852e+01] [-5.52732470e-01 8.33255641e-01 1.31092909e-02 -2.65110186e+01] [ 2.28994246e-02 -5.38365322e-04 9.99737629e-01 1.26262840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.357628 meters Centerline goodness [0,1] 0.9998197304970932 Centerline is valid? [True, True] Translation: X:80.11, Y:-26.53, Z:1.26 [[ 8.32722992e-01 5.53372928e-01 -1.87302030e-02 8.01093011e+01] [-5.53218594e-01 8.32933444e-01 1.30791641e-02 -2.65293665e+01] [ 2.28386678e-02 -5.29424104e-04 9.99739023e-01 1.26057366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.14, Y:-26.55, Z:1.27 [[ 8.31029164e-01 5.55960004e-01 -1.72916716e-02 8.01357808e+01] [-5.55828889e-01 8.31208933e-01 1.20812384e-02 -2.65472596e+01] [ 2.10896773e-02 -4.28650835e-04 9.99777496e-01 1.26521830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.16, Y:-26.56, Z:1.27 [[ 8.29900854e-01 5.57656404e-01 -1.68495688e-02 8.01611954e+01] [-5.57532136e-01 8.30071798e-01 1.17782574e-02 -2.65646387e+01] [ 2.05545726e-02 -3.80609778e-04 9.99788660e-01 1.26574373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.19, Y:-26.58, Z:1.27 [[ 8.27566919e-01 5.61135829e-01 -1.61113650e-02 8.01884743e+01] [-5.61022765e-01 8.27723685e-01 1.12675521e-02 -2.65817863e+01] [ 1.96583856e-02 -2.85810861e-04 9.99806714e-01 1.26701199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.21, Y:-26.60, Z:1.27 [[ 8.26177276e-01 5.63185062e-01 -1.59277627e-02 8.02137959e+01] [-5.63074831e-01 8.26330762e-01 1.11447821e-02 -2.65996366e+01] [ 1.94381751e-02 -2.39043440e-04 9.99811032e-01 1.26757182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.50762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.24, Y:-26.62, Z:1.27 [[ 8.24658458e-01 5.65399512e-01 -1.61808439e-02 8.02408704e+01] [-5.65286065e-01 8.24817164e-01 1.13274217e-02 -2.66174592e+01] [ 1.97507565e-02 -1.94448540e-04 9.99804916e-01 1.26778544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.27, Y:-26.64, Z:1.27 [[ 8.22451415e-01 5.68579403e-01 -1.70625875e-02 8.02677810e+01] [-5.68453804e-01 8.22628376e-01 1.19510481e-02 -2.66355863e+01] [ 2.08312885e-02 -1.29863634e-04 9.99782997e-01 1.26721897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.56762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.29, Y:-26.65, Z:1.27 [[ 8.21785599e-01 5.69533128e-01 -1.73333537e-02 8.02938657e+01] [-5.69403584e-01 8.21968371e-01 1.21472366e-02 -2.66549608e+01] [ 2.11657222e-02 -1.12750399e-04 9.99775975e-01 1.26698071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.32, Y:-26.67, Z:1.27 [[ 8.21790880e-01 5.69520839e-01 -1.74860707e-02 8.03198695e+01] [-5.69388845e-01 8.21976885e-01 1.22614929e-02 -2.66747998e+01] [ 2.13563217e-02 -1.20009443e-04 9.99771921e-01 1.26726297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.34, Y:-26.70, Z:1.27 [[ 8.23816230e-01 5.66585729e-01 -1.75336748e-02 8.03420759e+01] [-5.66452201e-01 8.24002773e-01 1.23017615e-02 -2.66966297e+01] [ 2.14177992e-02 -2.02402093e-04 9.99770592e-01 1.26588185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.657628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.37, Y:-26.72, Z:1.27 [[ 8.25476018e-01 5.64173166e-01 -1.72621509e-02 8.03656388e+01] [-5.64043108e-01 8.25656447e-01 1.21162954e-02 -2.67181299e+01] [ 2.10882950e-02 -2.65114032e-04 9.99777582e-01 1.26601943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.39, Y:-26.74, Z:1.27 [[ 8.29906174e-01 5.57655279e-01 -1.66232554e-02 8.03873255e+01] [-5.57533297e-01 8.30072536e-01 1.16707702e-02 -2.67423238e+01] [ 2.03067744e-02 -4.17625896e-04 9.99793709e-01 1.26850088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.717628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.41, Y:-26.76, Z:1.27 [[ 8.31278757e-01 5.55623651e-01 -1.60619402e-02 8.04116322e+01] [-5.55509330e-01 8.31433793e-01 1.12797214e-02 -2.67625302e+01] [ 1.96217198e-02 -4.54035117e-04 9.99807372e-01 1.27014432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.44, Y:-26.78, Z:1.27 [[ 8.31664225e-01 5.55066368e-01 -1.53604512e-02 8.04373443e+01] [-5.54961624e-01 8.31805941e-01 1.07922418e-02 -2.67810055e+01] [ 1.87673250e-02 -4.51060465e-04 9.99823777e-01 1.27108568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.777628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.46, Y:-26.80, Z:1.27 [[ 8.31517282e-01 5.55286856e-01 -1.53465857e-02 8.04647734e+01] [-5.55182231e-01 8.31658767e-01 1.07882669e-02 -2.67991170e+01] [ 1.87537054e-02 -4.50478675e-04 9.99824032e-01 1.27149956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.80762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.49, Y:-26.82, Z:1.27 [[ 8.31119190e-01 5.55864000e-01 -1.60032979e-02 8.04908519e+01] [-5.55750201e-01 8.31273120e-01 1.12567731e-02 -2.68177495e+01] [ 1.95603463e-02 -4.61884097e-04 9.99808571e-01 1.27137516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.52, Y:-26.83, Z:1.27 [[ 8.30457069e-01 5.56828998e-01 -1.68084492e-02 8.05182856e+01] [-5.56703517e-01 8.30627022e-01 1.18298436e-02 -2.68345709e+01] [ 2.05487520e-02 -4.66854434e-04 9.99788743e-01 1.27080673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.86762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.54, Y:-26.85, Z:1.27 [[ 8.30037355e-01 5.57452093e-01 -1.68864551e-02 8.05443787e+01] [-5.57325447e-01 8.30208982e-01 1.18908577e-02 -2.68522669e+01] [ 2.06478702e-02 -4.58604938e-04 9.99786705e-01 1.27041132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.57, Y:-26.87, Z:1.27 [[ 8.29661605e-01 5.57995349e-01 -1.74015167e-02 8.05718329e+01] [-5.57860863e-01 8.29843947e-01 1.22589306e-02 -2.68699198e+01] [ 2.12809696e-02 -4.63138936e-04 9.99773427e-01 1.27036837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.92762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.60, Y:-26.89, Z:1.27 [[ 8.28799483e-01 5.59259793e-01 -1.78857958e-02 8.05990074e+01] [-5.59117915e-01 8.28992331e-01 1.26044512e-02 -2.68855444e+01] [ 2.18763504e-02 -4.46293791e-04 9.99760584e-01 1.26971384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95762800000001 meters Centerline goodness [0,1] 0.9999322477924072 Centerline is valid? [True, True] Translation: X:80.63, Y:-26.90, Z:1.27 [[ 8.28463086e-01 5.59742446e-01 -1.83659653e-02 8.06276281e+01] [-5.59592812e-01 8.28666514e-01 1.29496481e-02 -2.69028178e+01] [ 2.24677282e-02 -4.50843249e-04 9.99747467e-01 1.26910750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.98762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.65, Y:-26.92, Z:1.27 [[ 8.26995709e-01 5.61900973e-01 -1.85847724e-02 8.06537998e+01] [-5.61748126e-01 8.27204409e-01 1.31113786e-02 -2.69194586e+01] [ 2.27407021e-02 -4.03092793e-04 9.99741316e-01 1.27094991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.68, Y:-26.94, Z:1.27 [[ 8.26298060e-01 5.62924904e-01 -1.86297556e-02 8.06789273e+01] [-5.62771433e-01 8.26507959e-01 1.31494322e-02 -2.69373578e+01] [ 2.27997841e-02 -3.81056059e-04 9.99739979e-01 1.27096714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.71, Y:-26.95, Z:1.27 [[ 8.25425960e-01 5.64197338e-01 -1.87975522e-02 8.07061342e+01] [-5.64041270e-01 8.25639896e-01 1.32743281e-02 -2.69539346e+01] [ 2.30093496e-02 -3.54379774e-04 9.99735187e-01 1.27197590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.73, Y:-26.97, Z:1.27 [[ 8.23518844e-01 5.66997379e-01 -1.81847528e-02 8.07346180e+01] [-5.66851861e-01 8.23719550e-01 1.28479523e-02 -2.69697688e+01] [ 2.22638917e-02 -2.72469817e-04 9.99752092e-01 1.27174507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.76, Y:-26.99, Z:1.27 [[ 8.22500311e-01 5.68501142e-01 -1.73115840e-02 8.07617432e+01] [-5.68369470e-01 8.22682442e-01 1.22370198e-02 -2.69867555e+01] [ 2.11986959e-02 -2.25576755e-04 9.99775257e-01 1.27225405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.79, Y:-27.00, Z:1.27 [[ 8.21528594e-01 5.69929534e-01 -1.64649560e-02 8.07875824e+01] [-5.69810601e-01 8.21693551e-01 1.16441576e-02 -2.70038721e+01] [ 2.01654975e-02 -1.84101928e-04 9.99796639e-01 1.27278600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.16762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.81, Y:-27.02, Z:1.27 [[ 8.19747114e-01 5.72521994e-01 -1.52720646e-02 8.08147520e+01] [-5.72420030e-01 8.19889354e-01 1.08053483e-02 -2.70211329e+01] [ 1.87077028e-02 -1.15617388e-04 9.99824989e-01 1.27461638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.84, Y:-27.04, Z:1.28 [[ 8.18743789e-01 5.73965004e-01 -1.49258999e-02 8.08412489e+01] [-5.73867756e-01 8.18879824e-01 1.05655836e-02 -2.70391393e+01] [ 1.82867935e-02 -8.50132960e-05 9.99832779e-01 1.27539654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.22762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.87, Y:-27.06, Z:1.28 [[ 8.17060682e-01 5.76356656e-01 -1.49948740e-02 8.08667340e+01] [-5.76258813e-01 8.17198264e-01 1.06196355e-02 -2.70564267e+01] [ 1.83744826e-02 -3.59583154e-05 9.99831174e-01 1.27554694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.89, Y:-27.08, Z:1.28 [[ 8.16189455e-01 5.77580812e-01 -1.53355409e-02 8.08941802e+01] [-5.77478590e-01 8.16333513e-01 1.08661554e-02 -2.70753795e+01] [ 1.87949988e-02 -1.28948809e-05 9.99823358e-01 1.27567791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.28762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.92, Y:-27.09, Z:1.28 [[ 8.15190732e-01 5.78990746e-01 -1.52900652e-02 8.09214766e+01] [-5.78889262e-01 8.15334113e-01 1.08400506e-02 -2.70942210e+01] [ 1.87428008e-02 1.45457409e-05 9.99824338e-01 1.27655426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.95, Y:-27.11, Z:1.28 [[ 8.13638206e-01 5.81166433e-01 -1.54417324e-02 8.09482549e+01] [-5.81063190e-01 8.13784722e-01 1.09542349e-02 -2.71135381e+01] [ 1.89324796e-02 5.98382220e-05 9.99820763e-01 1.27675786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.97, Y:-27.13, Z:1.28 [[ 8.12972887e-01 5.82082830e-01 -1.59581747e-02 8.09744982e+01] [-5.81972604e-01 8.13129493e-01 1.13276429e-02 -2.71317422e+01] [ 1.95696890e-02 7.81539134e-05 9.99808492e-01 1.27596869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.00, Y:-27.15, Z:1.28 [[ 8.11793198e-01 5.83710883e-01 -1.65350612e-02 8.10002116e+01] [-5.83592739e-01 8.11961570e-01 1.17441178e-02 -2.71517283e+01] [ 2.02810036e-02 1.15946727e-04 9.99794313e-01 1.27512778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.407628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.03, Y:-27.17, Z:1.27 [[ 8.11038104e-01 5.84735288e-01 -1.73734662e-02 8.10266394e+01] [-5.84604949e-01 8.11224151e-01 1.23462764e-02 -2.71691103e+01] [ 2.13130788e-02 1.43313770e-04 9.99772840e-01 1.27372387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.05, Y:-27.19, Z:1.28 [[ 8.10168192e-01 5.85931953e-01 -1.76421683e-02 8.10521257e+01] [-5.85797732e-01 8.10360238e-01 1.25419958e-02 -2.71895887e+01] [ 2.16452678e-02 1.73616077e-04 9.99765699e-01 1.27501430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.467628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.08, Y:-27.21, Z:1.27 [[ 8.09333731e-01 5.87071426e-01 -1.80569112e-02 8.10767242e+01] [-5.86930957e-01 8.09535113e-01 1.28434030e-02 -2.72078464e+01] [ 2.21576986e-02 2.03560874e-04 9.99754467e-01 1.27455448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.10, Y:-27.23, Z:1.28 [[ 8.09397208e-01 5.86975821e-01 -1.83178694e-02 8.11027050e+01] [-5.86831129e-01 8.09604438e-01 1.30338244e-02 -2.72280790e+01] [ 2.24807681e-02 1.99954890e-04 9.99747256e-01 1.27541528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.527628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.12, Y:-27.25, Z:1.28 [[ 8.11584392e-01 5.83969951e-01 -1.76031422e-02 8.11249865e+01] [-5.83835473e-01 8.11775267e-01 1.25321896e-02 -2.72505506e+01] [ 2.16082177e-02 1.06409373e-04 9.99766510e-01 1.27650691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.15, Y:-27.27, Z:1.28 [[ 8.13437315e-01 5.81396551e-01 -1.72564773e-02 8.11487590e+01] [-5.81266611e-01 8.13620335e-01 1.22913554e-02 -2.72728845e+01] [ 2.11863725e-02 3.23669885e-05 9.99775543e-01 1.27826877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.58762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.17, Y:-27.30, Z:1.28 [[ 8.15593250e-01 5.78380836e-01 -1.68302911e-02 8.11732054e+01] [-5.78256463e-01 8.15766882e-01 1.19940485e-02 -2.72960394e+01] [ 2.06667219e-02 -5.00404197e-05 9.99786419e-01 1.28005788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.20, Y:-27.32, Z:1.28 [[ 8.19583151e-01 5.72768319e-01 -1.48294041e-02 8.11959973e+01] [-5.72670740e-01 8.19717282e-01 1.05735983e-02 -2.73189899e+01] [ 1.82121409e-02 -1.73577188e-04 9.99834130e-01 1.28407121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.64762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.22, Y:-27.34, Z:1.29 [[ 8.21064130e-01 5.70664466e-01 -1.39914867e-02 8.12214655e+01] [-5.70577212e-01 8.21183306e-01 9.98113747e-03 -2.73384901e+01] [ 1.71854558e-02 -2.11930485e-04 9.99852297e-01 1.28580253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.25, Y:-27.36, Z:1.29 [[ 8.22404603e-01 5.68728586e-01 -1.40877142e-02 8.12470420e+01] [-5.68639751e-01 8.22525215e-01 1.00550846e-02 -2.73574157e+01] [ 1.73061141e-02 -2.58513576e-04 9.99850205e-01 1.28624388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.70762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.27, Y:-27.38, Z:1.29 [[ 8.22242526e-01 5.68962948e-01 -1.40851730e-02 8.12733613e+01] [-5.68874086e-01 8.22363118e-01 1.00586431e-02 -2.73762913e+01] [ 1.73061220e-02 -2.57954212e-04 9.99850205e-01 1.28674991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.73762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.30, Y:-27.40, Z:1.29 [[ 8.25718790e-01 5.63871697e-01 -1.54009442e-02 8.12990188e+01] [-5.63764449e-01 8.25862304e-01 1.10045303e-02 -2.73953582e+01] [ 1.89242024e-02 -4.04142644e-04 9.99820840e-01 1.28527826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.32, Y:-27.42, Z:1.28 [[ 8.27347118e-01 5.61463686e-01 -1.59773621e-02 8.13228506e+01] [-5.61347769e-01 8.27501239e-01 1.14184427e-02 -2.74160688e+01] [ 1.96323279e-02 -4.78159091e-04 9.99807153e-01 1.28448809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.35, Y:-27.44, Z:1.29 [[ 8.30140737e-01 5.57296732e-01 -1.69324946e-02 8.13474643e+01] [-5.57165590e-01 8.30313178e-01 1.21049926e-02 -2.74353526e+01] [ 2.08053463e-02 -6.14644103e-04 9.99783356e-01 1.28520726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.37, Y:-27.45, Z:1.29 [[ 8.30973204e-01 5.56050610e-01 -1.70661241e-02 8.13740688e+01] [-5.55917006e-01 8.31148175e-01 1.22062613e-02 -2.74523937e+01] [ 2.09717770e-02 -6.55727422e-04 9.99779853e-01 1.28679423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.40, Y:-27.47, Z:1.29 [[ 8.31482682e-01 5.55287916e-01 -1.70845037e-02 8.14004863e+01] [-5.55153736e-01 8.31657903e-01 1.22254689e-02 -2.74703600e+01] [ 2.09971177e-02 -6.80739638e-04 9.99779304e-01 1.28759066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.43, Y:-27.49, Z:1.29 [[ 8.31146827e-01 5.55757270e-01 -1.81330618e-02 8.14291827e+01] [-5.55606064e-01 8.31344299e-01 1.29829927e-02 -2.74859114e+01] [ 2.22902102e-02 -7.15934075e-04 9.99751286e-01 1.28772053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.46, Y:-27.50, Z:1.29 [[ 8.30488549e-01 5.56742299e-01 -1.80771333e-02 8.14573502e+01] [-5.56592129e-01 8.30684979e-01 1.29486722e-02 -2.75025654e+01] [ 2.22254766e-02 -6.92133927e-04 9.99752744e-01 1.28771356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.94762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.49, Y:-27.52, Z:1.29 [[ 8.27835578e-01 5.60697698e-01 -1.75027749e-02 8.14864583e+01] [-5.60557737e-01 8.28020390e-01 1.25402176e-02 -2.75152130e+01] [ 2.15239256e-02 -5.69922384e-04 9.99768171e-01 1.28892371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.51, Y:-27.53, Z:1.29 [[ 8.26203850e-01 5.63098665e-01 -1.75240293e-02 8.15125631e+01] [-5.62958790e-01 8.26389515e-01 1.25606326e-02 -2.75316941e+01] [ 2.15545495e-02 -5.12336645e-04 9.99767542e-01 1.28991289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.00762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.54, Y:-27.55, Z:1.29 [[ 8.24360673e-01 5.65794422e-01 -1.74972446e-02 8.15412668e+01] [-5.65655473e-01 8.24546223e-01 1.25463802e-02 -2.75475879e+01] [ 2.15259589e-02 -4.45330269e-04 9.99768191e-01 1.29114391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.57, Y:-27.56, Z:1.29 [[ 8.20664553e-01 5.71148352e-01 -1.72988989e-02 8.15696206e+01] [-5.71013679e-01 8.20846799e-01 1.24060608e-02 -2.75600153e+01] [ 2.12854470e-02 -3.03306454e-04 9.99773393e-01 1.29107321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.06762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.60, Y:-27.58, Z:1.29 [[ 8.18321770e-01 5.74501671e-01 -1.72427242e-02 8.15987319e+01] [-5.74368564e-01 8.18503380e-01 1.23680876e-02 -2.75751099e+01] [ 2.12187151e-02 -2.17396598e-04 9.99774834e-01 1.29148487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.63, Y:-27.59, Z:1.29 [[ 8.13492325e-01 5.81327717e-01 -1.69800515e-02 8.16304952e+01] [-5.81199988e-01 8.13669517e-01 1.21856726e-02 -2.75864786e+01] [ 2.09000195e-02 -4.41453729e-05 9.99781570e-01 1.29215108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.66, Y:-27.60, Z:1.29 [[ 8.11010789e-01 5.84794894e-01 -1.66262671e-02 8.16590985e+01] [-5.84673031e-01 8.11181195e-01 1.19380389e-02 -2.76026913e+01] [ 2.04682194e-02 3.90515963e-05 9.99790503e-01 1.29281131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.157628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.69, Y:-27.62, Z:1.29 [[ 8.06979530e-01 5.90356731e-01 -1.62162831e-02 8.16885901e+01] [-5.90241791e-01 8.07142429e-01 1.16502041e-02 -2.76166603e+01] [ 1.99666266e-02 1.70051713e-04 9.99800633e-01 1.29437701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.72, Y:-27.63, Z:1.30 [[ 8.05493476e-01 5.92385554e-01 -1.61125596e-02 8.17155702e+01] [-5.92272368e-01 8.05654584e-01 1.15816061e-02 -2.76334246e+01] [ 1.98419336e-02 2.14115683e-04 9.99803107e-01 1.29513397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.217628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.74, Y:-27.65, Z:1.30 [[ 8.03748390e-01 5.94752891e-01 -1.60475844e-02 8.17426601e+01] [-5.94640969e-01 8.03908532e-01 1.15408366e-02 -2.76499958e+01] [ 1.97647360e-02 2.66622317e-04 9.99804623e-01 1.29551652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.77, Y:-27.67, Z:1.30 [[ 8.03364271e-01 5.95268392e-01 -1.61675450e-02 8.17692726e+01] [-5.95154769e-01 8.03526892e-01 1.16333848e-02 -2.76686463e+01] [ 1.99160434e-02 2.76345864e-04 9.99801618e-01 1.29623501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.277628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.80, Y:-27.69, Z:1.30 [[ 8.03263323e-01 5.95403035e-01 -1.62252577e-02 8.17965028e+01] [-5.95288488e-01 8.03427128e-01 1.16818537e-02 -2.76879363e+01] [ 1.99912233e-02 2.75104545e-04 9.99800118e-01 1.29677518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.30762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.82, Y:-27.71, Z:1.30 [[ 8.03318062e-01 5.95328550e-01 -1.62483646e-02 8.18235860e+01] [-5.95213522e-01 8.03482325e-01 1.17054065e-02 -2.77072140e+01] [ 2.00238364e-02 2.68081903e-04 9.99799467e-01 1.29695619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.85, Y:-27.73, Z:1.30 [[ 8.04412397e-01 5.93795169e-01 -1.81105690e-02 8.18490996e+01] [-5.93651694e-01 8.04616203e-01 1.30549499e-02 -2.77259954e+01] [ 2.23240234e-02 2.49806463e-04 9.99750757e-01 1.29507796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.36762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.88, Y:-27.75, Z:1.29 [[ 8.05206400e-01 5.92667325e-01 -1.97001240e-02 8.18750140e+01] [-5.92497022e-01 8.05447322e-01 1.42088203e-02 -2.77460262e+01] [ 2.42885157e-02 2.31231753e-04 9.99704964e-01 1.29377310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.90, Y:-27.77, Z:1.29 [[ 8.07703174e-01 5.89174542e-01 -2.21120322e-02 8.18984268e+01] [-5.88958400e-01 8.08005781e-01 1.59581154e-02 -2.77681815e+01] [ 2.72687651e-02 1.33646622e-04 9.99628129e-01 1.29128380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.42762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.92, Y:-27.79, Z:1.29 [[ 8.09428297e-01 5.86767692e-01 -2.30110544e-02 8.19232106e+01] [-5.86532370e-01 8.09755317e-01 1.66164141e-02 -2.77903537e+01] [ 2.83832986e-02 4.69324999e-05 9.99597112e-01 1.29098573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.94, Y:-27.82, Z:1.29 [[ 8.13624271e-01 5.80907942e-01 -2.36961632e-02 8.19445002e+01] [-5.80655620e-01 8.13969246e-01 1.71206649e-02 -2.78160236e+01] [ 2.92334783e-02 -1.70478176e-04 9.99572596e-01 1.29242236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.48762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.97, Y:-27.84, Z:1.29 [[ 8.15891485e-01 5.77702166e-01 -2.41099948e-02 8.19684496e+01] [-5.77439277e-01 8.16247584e-01 1.74287975e-02 -2.78377973e+01] [ 2.97483791e-02 -2.97949583e-04 9.99557375e-01 1.29378455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.99, Y:-27.86, Z:1.29 [[ 8.20608822e-01 5.70964706e-01 -2.45044000e-02 8.19872539e+01] [-5.70689853e-01 8.20974416e-01 1.77228711e-02 -2.78644130e+01] [ 3.02366194e-02 -5.59131995e-04 9.99542613e-01 1.29272789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.01, Y:-27.88, Z:1.30 [[ 8.23109261e-01 5.67331279e-01 -2.50272799e-02 8.20127042e+01] [-5.67042706e-01 8.23489352e-01 1.81068194e-02 -2.78842723e+01] [ 3.08822636e-02 -7.12354227e-04 9.99522775e-01 1.29518302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.04, Y:-27.91, Z:1.30 [[ 8.25482604e-01 5.63873128e-01 -2.50113112e-02 8.20364219e+01] [-5.63583157e-01 8.25860993e-01 1.81009940e-02 -2.79055651e+01] [ 3.08625304e-02 -8.46101934e-04 9.99523281e-01 1.29612201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.06, Y:-27.93, Z:1.30 [[ 8.30424393e-01 5.56605927e-01 -2.41902670e-02 8.20582123e+01] [-5.56331340e-01 8.30775938e-01 1.75151534e-02 -2.79287041e+01] [ 2.98457300e-02 -1.08720693e-03 9.99553926e-01 1.29798285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.08, Y:-27.95, Z:1.30 [[ 8.32589880e-01 5.53380878e-01 -2.37422643e-02 8.20798548e+01] [-5.53114818e-01 8.32927484e-01 1.71989699e-02 -2.79513008e+01] [ 2.92931655e-02 -1.18749007e-03 9.99570158e-01 1.29891705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.66762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.10, Y:-27.97, Z:1.30 [[ 8.34744037e-01 5.50152259e-01 -2.31275648e-02 8.21034644e+01] [-5.49898398e-01 8.35063395e-01 1.67594105e-02 -2.79720557e+01] [ 2.85332103e-02 -1.27200713e-03 9.99592036e-01 1.30024992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.13, Y:-27.99, Z:1.30 [[ 8.38317578e-01 5.44721384e-01 -2.24110126e-02 8.21271969e+01] [-5.44480930e-01 8.38615888e-01 1.62452647e-02 -2.79937216e+01] [ 2.76433743e-02 -1.41632197e-03 9.99616846e-01 1.30200486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.72762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.15, Y:-28.01, Z:1.30 [[ 8.39583830e-01 5.42781621e-01 -2.20704435e-02 8.21520539e+01] [-5.42547549e-01 8.39872590e-01 1.60059249e-02 -2.80130470e+01] [ 2.72240824e-02 -1.46405068e-03 9.99628284e-01 1.30312821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75762800000001 meters Centerline goodness [0,1] 0.9998644710984618 Centerline is valid? [True, True] Translation: X:82.18, Y:-28.03, Z:1.30 [[ 8.41182591e-01 5.40309600e-01 -2.18491342e-02 8.21750785e+01] [-5.40079190e-01 8.41464903e-01 1.58519987e-02 -2.80327996e+01] [ 2.69502667e-02 -1.53416262e-03 9.99635598e-01 1.30309770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.78762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.20, Y:-28.05, Z:1.31 [[ 8.41063302e-01 5.40515493e-01 -2.13430172e-02 8.22021531e+01] [-5.40295525e-01 8.41332728e-01 1.54915306e-02 -2.80519817e+01] [ 2.63299912e-02 -1.49782117e-03 9.99652184e-01 1.30588010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.23, Y:-28.07, Z:1.31 [[ 8.39971927e-01 5.42227640e-01 -2.08889456e-02 8.22295824e+01] [-5.42017268e-01 8.40230427e-01 1.51694036e-02 -2.80671277e+01] [ 2.57767976e-02 -1.41970392e-03 9.99666715e-01 1.30732842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.25, Y:-28.08, Z:1.31 [[ 8.38823157e-01 5.44003730e-01 -2.08723108e-02 8.22548944e+01] [-5.43794114e-01 8.39081682e-01 1.51621878e-02 -2.80836877e+01] [ 2.57618604e-02 -1.36815448e-03 9.99667172e-01 1.30743154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.28, Y:-28.10, Z:1.31 [[ 8.37260703e-01 5.46412242e-01 -2.06924142e-02 8.22822501e+01] [-5.46206873e-01 8.37515378e-01 1.50347604e-02 -2.80993586e+01] [ 2.55453922e-02 -1.28567521e-03 9.99672836e-01 1.30735021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.907628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.31, Y:-28.11, Z:1.31 [[ 8.33516461e-01 5.52125253e-01 -2.01993493e-02 8.23142745e+01] [-5.51931158e-01 8.33760472e-01 1.46789888e-02 -2.81091178e+01] [ 2.49460594e-02 -1.08652861e-03 9.99688208e-01 1.30840813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.34, Y:-28.13, Z:1.31 [[ 8.31388411e-01 5.55317204e-01 -2.03988420e-02 8.23403474e+01] [-5.55120149e-01 8.31638021e-01 1.48264051e-02 -2.81255319e+01] [ 2.51978104e-02 -1.00269315e-03 9.99681982e-01 1.30863970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.967628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.37, Y:-28.14, Z:1.31 [[ 8.27265870e-01 5.61448299e-01 -2.01739440e-02 8.23703960e+01] [-5.61257327e-01 8.27511421e-01 1.46649170e-02 -2.81352452e+01] [ 2.49277618e-02 -8.09011401e-04 9.99688928e-01 1.30961135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.40, Y:-28.15, Z:1.31 [[ 8.25198523e-01 5.64487289e-01 -2.00374084e-02 8.23991650e+01] [-5.64299766e-01 8.25441453e-01 1.45664840e-02 -2.81496689e+01] [ 2.47623026e-02 -7.13136159e-04 9.99693113e-01 1.31000406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.027628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.43, Y:-28.16, Z:1.31 [[ 8.23518197e-01 5.66952512e-01 -1.95609020e-02 8.24278929e+01] [-5.66774465e-01 8.23750241e-01 1.42213434e-02 -2.81634885e+01] [ 2.41761241e-02 -6.24915293e-04 9.99707519e-01 1.31047221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05762800000001 meters Centerline goodness [0,1] 0.9998255217988703 Centerline is valid? [True, True] Translation: X:82.46, Y:-28.17, Z:1.31 [[ 8.20994728e-01 5.70599979e-01 -1.95785752e-02 8.24569153e+01] [-5.70422624e-01 8.21227980e-01 1.42349963e-02 -2.81749202e+01] [ 2.42009623e-02 -5.18794642e-04 9.99706979e-01 1.30971410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.08762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.49, Y:-28.19, Z:1.31 [[ 8.19444330e-01 5.72859394e-01 -1.85230787e-02 8.24864228e+01] [-5.72701167e-01 8.19653543e-01 1.34700766e-02 -2.81881154e+01] [ 2.28989670e-02 -4.29789137e-04 9.99737692e-01 1.31409693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.51, Y:-28.20, Z:1.31 [[ 8.17903857e-01 5.75032049e-01 -1.92723588e-02 8.25135759e+01] [-5.74861213e-01 8.18130791e-01 1.40212358e-02 -2.82031308e+01] [ 2.38299701e-02 -3.89091254e-04 9.99715950e-01 1.31318412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.14762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.54, Y:-28.22, Z:1.31 [[ 8.17080611e-01 5.76197862e-01 -1.93726245e-02 8.25407232e+01] [-5.76025456e-01 8.17310157e-01 1.40989847e-02 -2.82183586e+01] [ 2.39572476e-02 -3.60882163e-04 9.99712919e-01 1.31276126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.57, Y:-28.24, Z:1.31 [[ 8.16283158e-01 5.77316669e-01 -1.96791774e-02 8.25685738e+01] [-5.77138931e-01 8.16520269e-01 1.43284652e-02 -2.82351040e+01] [ 2.43405090e-02 -3.38465410e-04 9.99703669e-01 1.31266023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.20762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.60, Y:-28.25, Z:1.32 [[ 8.14591089e-01 5.79681781e-01 -2.02581157e-02 8.25988826e+01] [-5.79493979e-01 8.14842901e-01 1.47572083e-02 -2.82472111e+01] [ 2.50616665e-02 -2.81634315e-04 9.99685867e-01 1.31531832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.23762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.63, Y:-28.26, Z:1.32 [[ 8.13298435e-01 5.81487425e-01 -2.04457941e-02 8.26258512e+01] [-5.81296506e-01 8.13555358e-01 1.49014118e-02 -2.82635325e+01] [ 2.52987689e-02 -2.34226176e-04 9.99679907e-01 1.31568134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.66, Y:-28.28, Z:1.32 [[ 8.09893497e-01 5.86216144e-01 -2.05707614e-02 8.26559945e+01] [-5.86024213e-01 8.10154691e-01 1.49999276e-02 -2.82766253e+01] [ 2.54586985e-02 -9.33795607e-05 9.99675870e-01 1.31594645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.68, Y:-28.29, Z:1.32 [[ 8.07786577e-01 5.89107930e-01 -2.08012516e-02 8.26839199e+01] [-5.88912418e-01 8.08054359e-01 1.51762199e-02 -2.82932662e+01] [ 2.57489735e-02 -9.03137916e-06 9.99668440e-01 1.31567696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.71, Y:-28.31, Z:1.32 [[ 8.05647624e-01 5.92039695e-01 -2.05159763e-02 8.27124215e+01] [-5.91850240e-01 8.05908800e-01 1.49766503e-02 -2.83106044e+01] [ 2.54007773e-02 7.64827530e-05 9.99677345e-01 1.31653006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.74, Y:-28.33, Z:1.32 [[ 8.02515233e-01 5.96286343e-01 -2.02952452e-02 8.27401875e+01] [-5.96102118e-01 8.02771795e-01 1.48226096e-02 -2.83257144e+01] [ 2.51309700e-02 2.02668655e-04 9.99684147e-01 1.31646922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.77, Y:-28.34, Z:1.32 [[ 8.01439745e-01 5.97727414e-01 -2.04027854e-02 8.27659358e+01] [-5.97541556e-01 8.01699369e-01 1.49067389e-02 -2.83442107e+01] [ 2.52670666e-02 2.44659130e-04 9.99680707e-01 1.31755217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.79, Y:-28.36, Z:1.32 [[ 8.00294161e-01 5.99239132e-01 -2.10171153e-02 8.27908488e+01] [-5.99042219e-01 8.00570032e-01 1.53637049e-02 -2.83638545e+01] [ 2.60322058e-02 2.94656079e-04 9.99661061e-01 1.31840689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.44762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.82, Y:-28.38, Z:1.32 [[ 8.00020087e-01 5.99578525e-01 -2.17589604e-02 8.28155561e+01] [-5.99367368e-01 8.00315873e-01 1.59142301e-02 -2.83824191e+01] [ 2.69558720e-02 3.09907035e-04 9.99636576e-01 1.31858153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.84, Y:-28.40, Z:1.32 [[ 8.00175686e-01 5.99312903e-01 -2.33005538e-02 8.28402901e+01] [-5.99070391e-01 8.00514800e-01 1.70505659e-02 -2.84023996e+01] [ 2.88710624e-02 3.15223590e-04 9.99583094e-01 1.31788328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.50762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.86, Y:-28.42, Z:1.32 [[ 8.00758757e-01 5.98475978e-01 -2.47369411e-02 8.28637818e+01] [-5.98202004e-01 8.01140697e-01 1.81092795e-02 -2.84228064e+01] [ 3.06557390e-02 2.96523580e-04 9.99529958e-01 1.31669662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.89, Y:-28.44, Z:1.32 [[ 8.01212635e-01 5.97837485e-01 -2.54687188e-02 8.28884091e+01] [-5.97546486e-01 8.01617282e-01 1.86528694e-02 -2.84434363e+01] [ 3.15675497e-02 2.73828801e-04 9.99501583e-01 1.31628956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.56762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.91, Y:-28.47, Z:1.32 [[ 8.01864403e-01 5.96956784e-01 -2.56139998e-02 8.29134002e+01] [-5.96661670e-01 8.02273360e-01 1.87698632e-02 -2.84652954e+01] [ 3.17542269e-02 2.32006789e-04 9.99495680e-01 1.31680241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.94, Y:-28.49, Z:1.32 [[ 8.03953864e-01 5.94147242e-01 -2.54409045e-02 8.29353677e+01] [-5.93854374e-01 8.04356291e-01 1.86531562e-02 -2.84898431e+01] [ 3.15462728e-02 1.11915419e-04 9.99502286e-01 1.31891755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.96, Y:-28.51, Z:1.32 [[ 8.03787094e-01 5.94373046e-01 -2.54359934e-02 8.29614593e+01] [-5.94080079e-01 8.04189449e-01 1.86598516e-02 -2.85090722e+01] [ 3.15462703e-02 1.12469080e-04 9.99502286e-01 1.31942364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.657628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.98, Y:-28.53, Z:1.32 [[ 8.06892485e-01 5.90205937e-01 -2.41136944e-02 8.29821864e+01] [-5.89940503e-01 8.07252717e-01 1.76989746e-02 -2.85334836e+01] [ 2.99118852e-02 -5.55246207e-05 9.99552538e-01 1.32173316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.00, Y:-28.56, Z:1.33 [[ 8.10839992e-01 5.84844870e-01 -2.22482799e-02 8.30041308e+01] [-5.84616664e-01 8.11145129e-01 1.63381572e-02 -2.85591320e+01] [ 2.76018713e-02 -2.40916067e-04 9.99618967e-01 1.32551775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.717628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.03, Y:-28.58, Z:1.33 [[ 8.12903493e-01 5.82000618e-01 -2.15218786e-02 8.30276286e+01] [-5.81785837e-01 8.13188274e-01 1.58136391e-02 -2.85816713e+01] [ 2.67048870e-02 -3.33838268e-04 9.99643305e-01 1.32697064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.05, Y:-28.60, Z:1.33 [[ 8.14983615e-01 5.79126878e-01 -2.03412752e-02 8.30486384e+01] [-5.78933944e-01 8.15237322e-01 1.49531668e-02 -2.86047500e+01] [ 2.52427475e-02 -4.10331280e-04 9.99681267e-01 1.32787672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.777628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.07, Y:-28.63, Z:1.33 [[ 8.16800631e-01 5.76588888e-01 -1.95443815e-02 8.30726756e+01] [-5.76409895e-01 8.17034289e-01 1.43737514e-02 -2.86258140e+01] [ 2.42561751e-02 -4.74914354e-04 9.99705663e-01 1.33049651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.80762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.10, Y:-28.65, Z:1.33 [[ 8.18370015e-01 5.74375682e-01 -1.90550397e-02 8.30954425e+01] [-5.74204773e-01 8.18591652e-01 1.40209393e-02 -2.86478708e+01] [ 2.36515830e-02 -5.32821515e-04 9.99720120e-01 1.33131425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.12, Y:-28.67, Z:1.33 [[ 8.19529461e-01 5.72721253e-01 -1.90218189e-02 8.31170180e+01] [-5.72550334e-01 8.19749977e-01 1.40032611e-02 -2.86709300e+01] [ 2.36131009e-02 -5.85136209e-04 9.99721001e-01 1.33132509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.86762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.14, Y:-28.69, Z:1.33 [[ 8.20313089e-01 5.71576675e-01 -1.96606282e-02 8.31421943e+01] [-5.71393574e-01 8.20548407e-01 1.44808471e-02 -2.86901939e+01] [ 2.44094117e-02 -6.44871810e-04 9.99701838e-01 1.33236074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.16, Y:-28.71, Z:1.33 [[ 8.20809183e-01 5.70845945e-01 -2.01789782e-02 8.31641774e+01] [-5.70652649e-01 8.21056898e-01 1.48702621e-02 -2.87126941e+01] [ 2.50567181e-02 -6.90460342e-04 9.99685793e-01 1.33066796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.92762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.19, Y:-28.73, Z:1.33 [[ 8.20680277e-01 5.70958253e-01 -2.21485110e-02 8.31904082e+01] [-5.70725181e-01 8.20978742e-01 1.63301318e-02 -2.87314039e+01] [ 2.75072802e-02 -7.61104159e-04 9.99621313e-01 1.32961035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.22, Y:-28.75, Z:1.33 [[ 8.20169680e-01 5.71653364e-01 -2.31112126e-02 8.32157866e+01] [-5.71399589e-01 8.20494867e-01 1.70494165e-02 -2.87522066e+01] [ 2.87089876e-02 -7.77677105e-04 9.99587510e-01 1.32979446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.98762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.24, Y:-28.77, Z:1.33 [[ 8.19202486e-01 5.73002544e-01 -2.39869026e-02 8.32410155e+01] [-5.72729446e-01 8.19553230e-01 1.77054681e-02 -2.87724194e+01] [ 2.98038218e-02 -7.66358073e-04 9.99555474e-01 1.33177719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.017628 meters Centerline goodness [0,1] 0.9998222893573538 Centerline is valid? [True, True] Translation: X:83.27, Y:-28.79, Z:1.33 [[ 8.19040470e-01 5.73229322e-01 -2.41008851e-02 8.32650194e+01] [-5.72953431e-01 8.19394625e-01 1.77992703e-02 -2.87934326e+01] [ 2.99511994e-02 -7.69637873e-04 9.99551066e-01 1.32972849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.29, Y:-28.81, Z:1.33 [[ 8.18219164e-01 5.74442775e-01 -2.30846085e-02 8.32910763e+01] [-5.74189965e-01 8.18544445e-01 1.70550778e-02 -2.88130724e+01] [ 2.86929443e-02 -6.99840942e-04 9.99588028e-01 1.33257037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.32, Y:-28.83, Z:1.33 [[ 8.16987085e-01 5.76229555e-01 -2.21721203e-02 8.33176812e+01] [-5.75996850e-01 8.17287661e-01 1.63862368e-02 -2.88303821e+01] [ 2.75632343e-02 -6.16272440e-04 9.99619872e-01 1.33430527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.34, Y:-28.85, Z:1.33 [[ 8.16100676e-01 5.77502212e-01 -2.16998188e-02 8.33426688e+01] [-5.77279585e-01 8.16388923e-01 1.60439194e-02 -2.88491244e+01] [ 2.69808906e-02 -5.66591087e-04 9.99635789e-01 1.33493309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.37, Y:-28.87, Z:1.34 [[ 8.14964559e-01 5.79115632e-01 -2.13974984e-02 8.33688065e+01] [-5.78899557e-01 8.15245254e-01 1.58265202e-02 -2.88673490e+01] [ 2.66095943e-02 -5.11050657e-04 9.99645771e-01 1.33549619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.16762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.39, Y:-28.89, Z:1.34 [[ 8.12629762e-01 5.82395132e-01 -2.11844171e-02 8.33937246e+01] [-5.82184245e-01 8.12905742e-01 1.56767411e-02 -2.88854026e+01] [ 2.63509920e-02 -4.06152470e-04 9.99652670e-01 1.33563955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.42, Y:-28.90, Z:1.34 [[ 8.11330623e-01 5.84209315e-01 -2.10261000e-02 8.34199698e+01] [-5.84001978e-01 8.11602953e-01 1.55671829e-02 -2.89043258e+01] [ 2.61593381e-02 -3.50848257e-04 9.99657724e-01 1.33633543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.22762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.45, Y:-28.92, Z:1.34 [[ 8.08187507e-01 5.88551702e-01 -2.09725343e-02 8.34469309e+01] [-5.88346668e-01 8.08459552e-01 1.55354597e-02 -2.89212367e+01] [ 2.60988670e-02 -2.16443746e-04 9.99659343e-01 1.33675349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.47, Y:-28.94, Z:1.34 [[ 8.06362231e-01 5.91044600e-01 -2.11242408e-02 8.34730318e+01] [-5.90837229e-01 8.06638866e-01 1.56559503e-02 -2.89396870e+01] [ 2.62929985e-02 -1.43379160e-04 9.99654269e-01 1.33706031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.28762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.50, Y:-28.96, Z:1.34 [[ 8.04600981e-01 5.93441492e-01 -2.10821299e-02 8.34985338e+01] [-5.93235563e-01 8.04877128e-01 1.56325292e-02 -2.89582225e+01] [ 2.62455156e-02 -7.12791513e-05 9.99655525e-01 1.33671328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.53, Y:-28.98, Z:1.34 [[ 8.01230790e-01 5.97989819e-01 -2.09140476e-02 8.35250085e+01] [-5.97788496e-01 8.01503694e-01 1.55158722e-02 -2.89775740e+01] [ 2.60410201e-02 7.03825210e-05 9.99660873e-01 1.33907337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.55, Y:-29.00, Z:1.34 [[ 8.00087028e-01 5.99499217e-01 -2.14810616e-02 8.35506162e+01] [-5.99287132e-01 8.00375334e-01 1.59454657e-02 -2.89972990e+01] [ 2.67522061e-02 1.15563485e-04 9.99642089e-01 1.33934539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.58, Y:-29.02, Z:1.34 [[ 7.99365357e-01 6.00442756e-01 -2.19891478e-02 8.35762950e+01] [-6.00220626e-01 7.99667729e-01 1.63316761e-02 -2.90175124e+01] [ 2.73902484e-02 1.43363967e-04 9.99624806e-01 1.33889326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.407628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.60, Y:-29.04, Z:1.34 [[ 7.99640710e-01 6.00058462e-01 -2.24627808e-02 8.36002830e+01] [-5.99826235e-01 7.99956140e-01 1.66931669e-02 -2.90395211e+01] [ 2.79861155e-02 1.25229416e-04 9.99608304e-01 1.33657747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.62, Y:-29.06, Z:1.34 [[ 8.00430249e-01 5.99013340e-01 -2.22358729e-02 8.36237415e+01] [-5.98785135e-01 8.00739041e-01 1.65333041e-02 -2.90615497e+01] [ 2.77088012e-02 8.07534529e-05 9.99616034e-01 1.33798172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.467628 meters Centerline goodness [0,1] 0.9998650047248346 Centerline is valid? [True, True] Translation: X:83.64, Y:-29.09, Z:1.34 [[ 8.03125871e-01 5.95419642e-01 -2.15472639e-02 8.36444680e+01] [-5.95203843e-01 8.03414866e-01 1.60292940e-02 -2.90879519e+01] [ 2.68555487e-02 -4.85264446e-05 9.99639324e-01 1.33805721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.67, Y:-29.11, Z:1.34 [[ 8.04011057e-01 5.94251901e-01 -2.07581133e-02 8.36682169e+01] [-5.94051022e-01 8.04278975e-01 1.54503257e-02 -2.91106710e+01] [ 2.58766995e-02 -9.08542805e-05 9.99665138e-01 1.34220040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.527628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.69, Y:-29.14, Z:1.34 [[ 8.06385917e-01 5.91079159e-01 -1.91619385e-02 8.36896214e+01] [-5.90906910e-01 8.06613534e-01 1.42699219e-02 -2.91358826e+01] [ 2.38909324e-02 -1.84142200e-04 9.99714554e-01 1.34416567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.71, Y:-29.16, Z:1.35 [[ 8.07169436e-01 5.90021614e-01 -1.87615739e-02 8.37142977e+01] [-5.89856025e-01 8.07387421e-01 1.39793387e-02 -2.91581996e+01] [ 2.33959707e-02 -2.17067487e-04 9.99726253e-01 1.34532960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.74, Y:-29.18, Z:1.35 [[ 8.07738335e-01 5.89256257e-01 -1.83260795e-02 8.37390077e+01] [-5.89097895e-01 8.07946165e-01 1.36625113e-02 -2.91804705e+01] [ 2.28572059e-02 -2.39879221e-04 9.99738711e-01 1.34637267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.77, Y:-29.20, Z:1.35 [[ 8.06936734e-01 5.90370567e-01 -1.77680047e-02 8.37651703e+01] [-5.90221816e-01 8.07132301e-01 1.32535718e-02 -2.91992891e+01] [ 2.21656492e-02 -2.07729927e-04 9.99754290e-01 1.34861985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.64762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.79, Y:-29.22, Z:1.35 [[ 8.05992438e-01 5.91649238e-01 -1.80933165e-02 8.37919753e+01] [-5.91495186e-01 8.06195477e-01 1.35018155e-02 -2.92179125e+01] [ 2.25750888e-02 -1.80251574e-04 9.99745134e-01 1.34899657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.82, Y:-29.24, Z:1.35 [[ 8.03934597e-01 5.94370510e-01 -2.03189497e-02 8.38188727e+01] [-5.94176958e-01 8.04191322e-01 1.51677544e-02 -2.92352111e+01] [ 2.53555889e-02 -1.20830775e-04 9.99678488e-01 1.34709167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.70762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.85, Y:-29.25, Z:1.35 [[ 8.03341672e-01 5.95119413e-01 -2.17954583e-02 8.38454960e+01] [-5.94896733e-01 8.03637276e-01 1.62789765e-02 -2.92529480e+01] [ 2.72035776e-02 -1.11533240e-04 9.99629908e-01 1.34644109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.73762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.87, Y:-29.27, Z:1.35 [[ 8.02896338e-01 5.95676677e-01 -2.29514077e-02 8.38714469e+01] [-5.95429713e-01 8.03224306e-01 1.71514497e-02 -2.92713336e+01] [ 2.86518471e-02 -1.04886107e-04 9.99589446e-01 1.34525425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.90, Y:-29.29, Z:1.34 [[ 8.03364421e-01 5.94994874e-01 -2.42220451e-02 8.38964394e+01] [-5.94719212e-01 8.03729481e-01 1.81102162e-02 -2.92904751e+01] [ 3.02434576e-02 -1.43787745e-04 9.99542552e-01 1.34377826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.92, Y:-29.31, Z:1.34 [[ 8.04474933e-01 5.93497081e-01 -2.41101171e-02 8.39221007e+01] [-5.93223002e-01 8.04836115e-01 1.80359940e-02 -2.93105044e+01] [ 3.01090028e-02 -2.06829001e-04 9.99546600e-01 1.34485579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.95, Y:-29.33, Z:1.35 [[ 8.08966467e-01 5.87433521e-01 -2.22511628e-02 8.39454302e+01] [-5.87197536e-01 8.09272323e-01 1.66541284e-02 -2.93322153e+01] [ 2.77904435e-02 -4.06803390e-04 9.99613688e-01 1.34782754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.97, Y:-29.35, Z:1.35 [[ 8.11699705e-01 5.83696890e-01 -2.10126338e-02 8.39699072e+01] [-5.83484989e-01 8.11971477e-01 1.57349466e-02 -2.93534100e+01] [ 2.62460986e-02 -5.11495105e-04 9.99655381e-01 1.34999920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.887628 meters Centerline goodness [0,1] 0.999840572118341 Centerline is valid? [True, True] Translation: X:83.99, Y:-29.37, Z:1.35 [[ 8.14983027e-01 5.79141159e-01 -1.99545183e-02 8.39927768e+01] [-5.78948515e-01 8.15227036e-01 1.49498247e-02 -2.93746675e+01] [ 2.49255216e-02 -6.31214615e-04 9.99689112e-01 1.34844149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.02, Y:-29.40, Z:1.35 [[ 8.17430443e-01 5.75717342e-01 -1.88947916e-02 8.40166203e+01] [-5.75543588e-01 8.17648489e-01 1.41607780e-02 -2.93958706e+01] [ 2.36019032e-02 -7.00674904e-04 9.99721191e-01 1.35370332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.04, Y:-29.42, Z:1.36 [[ 8.22133253e-01 5.69035197e-01 -1.72005568e-02 8.40394152e+01] [-5.68889679e-01 8.22312763e-01 1.28939374e-02 -2.94182113e+01] [ 2.14813416e-02 -8.15315460e-04 9.99768917e-01 1.35613110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.06, Y:-29.44, Z:1.36 [[ 8.23777741e-01 5.66670714e-01 -1.65691126e-02 8.40633399e+01] [-5.66535090e-01 8.23943918e-01 1.24262451e-02 -2.94384711e+01] [ 2.06936087e-02 -8.49480454e-04 9.99785503e-01 1.35673599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.00762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.09, Y:-29.46, Z:1.36 [[ 8.25991442e-01 5.63461439e-01 -1.57906576e-02 8.40860513e+01] [-5.63337581e-01 8.26141885e-01 1.18471785e-02 -2.94585847e+01] [ 1.97207518e-02 -8.90197173e-04 9.99805131e-01 1.35641280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.11, Y:-29.48, Z:1.36 [[ 8.26364569e-01 5.62917984e-01 -1.56506199e-02 8.41129930e+01] [-5.62796150e-01 8.26512273e-01 1.17454700e-02 -2.94765247e+01] [ 1.95471657e-02 -8.97931641e-04 9.99808533e-01 1.35658203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.06762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.14, Y:-29.49, Z:1.36 [[ 8.26131067e-01 5.63257118e-01 -1.57759035e-02 8.41419514e+01] [-5.63133267e-01 8.26281190e-01 1.18455710e-02 -2.94930009e+01] [ 1.97074345e-02 -9.02058116e-04 9.99805383e-01 1.35690643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.17, Y:-29.51, Z:1.36 [[ 8.23888421e-01 5.66505642e-01 -1.67100695e-02 8.41684806e+01] [-5.66367217e-01 8.24057392e-01 1.25534810e-02 -2.95082115e+01] [ 2.08816741e-02 -8.78632089e-04 9.99781568e-01 1.35590674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.20, Y:-29.52, Z:1.36 [[ 8.19654123e-01 5.72573432e-01 -1.80771577e-02 8.41982712e+01] [-5.72412795e-01 8.19853064e-01 1.35847913e-02 -2.95204389e+01] [ 2.25989037e-02 -7.87233881e-04 9.99744302e-01 1.35540919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.157628 meters Centerline goodness [0,1] 0.9998648739950003 Centerline is valid? [True, True] Translation: X:84.22, Y:-29.54, Z:1.35 [[ 8.17334166e-01 5.75849364e-01 -1.90360554e-02 8.42248413e+01] [-5.75671962e-01 8.17555481e-01 1.43118306e-02 -2.95362134e+01] [ 2.38044900e-02 -7.39024800e-04 9.99716360e-01 1.35240850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.25, Y:-29.55, Z:1.35 [[ 8.14106514e-01 5.80408729e-01 -1.88756589e-02 8.42505816e+01] [-5.80235397e-01 8.14325083e-01 1.41966073e-02 -2.95533743e+01] [ 2.36107573e-02 -6.05225075e-04 9.99721044e-01 1.35461365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.217628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.28, Y:-29.57, Z:1.36 [[ 8.11157880e-01 5.84514154e-01 -1.91336649e-02 8.42795753e+01] [-5.84337054e-01 8.11383360e-01 1.43961961e-02 -2.95670276e+01] [ 2.39395177e-02 -4.97078544e-04 9.99713285e-01 1.35546484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.31, Y:-29.58, Z:1.35 [[ 8.05464839e-01 5.92327284e-01 -1.93592977e-02 8.43090390e+01] [-5.92148110e-01 8.05697409e-01 1.45705653e-02 -2.95798246e+01] [ 2.42282794e-02 -2.72506466e-04 9.99706415e-01 1.35479508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.277628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.34, Y:-29.60, Z:1.35 [[ 8.02643451e-01 5.96143374e-01 -1.94053700e-02 8.43370947e+01] [-5.95964349e-01 8.02877980e-01 1.46097258e-02 -2.95960899e+01] [ 2.42896355e-02 -1.61492075e-04 9.99704950e-01 1.35497817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.30762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.37, Y:-29.61, Z:1.35 [[ 7.97500631e-01 6.03030303e-01 -1.86332204e-02 8.43662758e+01] [-6.02866953e-01 7.97718278e-01 1.40351715e-02 -2.96096357e+01] [ 2.33276942e-02 4.02946983e-05 9.99727872e-01 1.35494066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.39, Y:-29.63, Z:1.36 [[ 7.95222562e-01 6.06038955e-01 -1.83810177e-02 8.43937727e+01] [-6.05880637e-01 7.95434957e-01 1.38521975e-02 -2.96281100e+01] [ 2.30158753e-02 1.21122780e-04 9.99735092e-01 1.35610188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.36762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.42, Y:-29.65, Z:1.36 [[ 7.92058223e-01 6.10177976e-01 -1.80723316e-02 8.44201625e+01] [-6.10025835e-01 7.92264340e-01 1.36270397e-02 -2.96454284e+01] [ 2.26329834e-02 2.31180333e-04 9.99743814e-01 1.35657556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.45, Y:-29.66, Z:1.36 [[ 7.90855615e-01 6.11738297e-01 -1.79903405e-02 8.44453756e+01] [-6.11587793e-01 7.91060164e-01 1.35716148e-02 -2.96638932e+01] [ 2.25337182e-02 2.69484840e-04 9.99746047e-01 1.35702355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.42762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.47, Y:-29.68, Z:1.36 [[ 7.89684397e-01 6.13262839e-01 -1.75283408e-02 8.44701042e+01] [-6.13120205e-01 7.89878851e-01 1.32293149e-02 -2.96841217e+01] [ 2.19583130e-02 2.99996367e-04 9.99758842e-01 1.35724510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.49, Y:-29.71, Z:1.36 [[ 7.89433586e-01 6.13592483e-01 -1.72880712e-02 8.44947971e+01] [-6.13453663e-01 7.89622805e-01 1.30548065e-02 -2.97056136e+01] [ 2.16613864e-02 2.99527886e-04 9.99765320e-01 1.35716921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.48762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.52, Y:-29.73, Z:1.36 [[ 7.89262694e-01 6.13812389e-01 -1.72844299e-02 8.45206019e+01] [-6.13673516e-01 7.89451874e-01 1.30596263e-02 -2.97252071e+01] [ 2.16613859e-02 2.99521046e-04 9.99765320e-01 1.35767550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.55, Y:-29.74, Z:1.36 [[ 7.89091740e-01 6.14032246e-01 -1.72807913e-02 8.45464014e+01] [-6.13893321e-01 7.89280882e-01 1.30644395e-02 -2.97448079e+01] [ 2.16613853e-02 2.99521037e-04 9.99765320e-01 1.35818179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.57, Y:-29.77, Z:1.36 [[ 7.88994387e-01 6.14147450e-01 -1.76286073e-02 8.45711827e+01] [-6.14002729e-01 7.89191243e-01 1.33352800e-02 -2.97665299e+01] [ 2.21021707e-02 3.02551927e-04 9.99755671e-01 1.35845661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.59, Y:-29.79, Z:1.36 [[ 7.89480783e-01 6.13499170e-01 -1.84081690e-02 8.45944324e+01] [-6.13340993e-01 7.89695311e-01 1.39335037e-02 -2.97899456e+01] [ 2.30850377e-02 2.90251268e-04 9.99733463e-01 1.35853695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.62, Y:-29.81, Z:1.36 [[ 7.90005051e-01 6.12821411e-01 -1.84915417e-02 8.46179783e+01] [-6.12661431e-01 7.90221392e-01 1.40044126e-02 -2.98103632e+01] [ 2.31946158e-02 2.65497697e-04 9.99730933e-01 1.35838783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.64, Y:-29.83, Z:1.36 [[ 7.90647821e-01 6.11990428e-01 -1.85402215e-02 8.46409458e+01] [-6.11829215e-01 7.90865134e-01 1.40481721e-02 -2.98328799e+01] [ 2.32601616e-02 2.36292492e-04 9.99729418e-01 1.35939086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.66762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.66, Y:-29.86, Z:1.36 [[ 7.92549817e-01 6.09531327e-01 -1.83398373e-02 8.46621452e+01] [-6.09372758e-01 7.92761968e-01 1.39034180e-02 -2.98577306e+01] [ 2.30136944e-02 1.56645817e-04 9.99735138e-01 1.36007830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.69, Y:-29.88, Z:1.36 [[ 7.93716797e-01 6.08018839e-01 -1.80758623e-02 8.46851916e+01] [-6.07864256e-01 7.93922591e-01 1.37100743e-02 -2.98795520e+01] [ 2.26868189e-02 1.05754338e-04 9.99742615e-01 1.36008975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.71, Y:-29.90, Z:1.36 [[ 7.95526233e-01 6.05645106e-01 -1.82213570e-02 8.47076297e+01] [-6.05487239e-01 7.95734883e-01 1.38274906e-02 -2.99040938e+01] [ 2.28739214e-02 3.26676680e-05 9.99738357e-01 1.36092162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.73, Y:-29.92, Z:1.36 [[ 7.95254098e-01 6.06015329e-01 -1.77859677e-02 8.47337693e+01] [-6.05864835e-01 7.95452965e-01 1.35048856e-02 -2.99232583e+01] [ 2.23320684e-02 3.60767307e-05 9.99750608e-01 1.36188241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.78762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.76, Y:-29.94, Z:1.36 [[ 7.94965828e-01 6.06401391e-01 -1.75124635e-02 8.47588649e+01] [-6.06255418e-01 7.95158696e-01 1.33047700e-02 -2.99421429e+01] [ 2.19932186e-02 4.01883859e-05 9.99758119e-01 1.36238888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.78, Y:-29.96, Z:1.36 [[ 7.95984354e-01 6.05054383e-01 -1.78353961e-02 8.47844742e+01] [-6.04902467e-01 7.96184145e-01 1.35577481e-02 -2.99633893e+01] [ 2.24034345e-02 -3.08025532e-06 9.99749012e-01 1.36367796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.81, Y:-29.98, Z:1.36 [[ 7.97100397e-01 6.03586385e-01 -1.77322900e-02 8.48087676e+01] [-6.03435686e-01 7.97297607e-01 1.34869935e-02 -2.99837136e+01] [ 2.22784780e-02 -5.01912739e-05 9.99751803e-01 1.36383403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.83, Y:-30.00, Z:1.37 [[ 7.98391510e-01 6.01880318e-01 -1.76374632e-02 8.48342771e+01] [-6.01730647e-01 7.98586296e-01 1.34222310e-02 -3.00048298e+01] [ 2.21636130e-02 -1.03193109e-04 9.99754352e-01 1.36502713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.907628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.86, Y:-30.03, Z:1.37 [[ 8.01475204e-01 5.97772350e-01 -1.74847243e-02 8.48571900e+01] [-5.97624121e-01 8.01665871e-01 1.33131772e-02 -3.00265335e+01] [ 2.19751560e-02 -2.20888366e-04 9.99758493e-01 1.36547027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.88, Y:-30.05, Z:1.37 [[ 8.02828082e-01 5.95957454e-01 -1.73719298e-02 8.48818982e+01] [-5.95810572e-01 8.03015964e-01 1.32334759e-02 -3.00467728e+01] [ 2.18365255e-02 -2.73826615e-04 9.99761517e-01 1.36588812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.967628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.91, Y:-30.07, Z:1.37 [[ 8.06348153e-01 5.91192821e-01 -1.71378278e-02 8.49073933e+01] [-5.91048655e-01 8.06530152e-01 1.30614123e-02 -3.00656122e+01] [ 2.15439880e-02 -4.02755632e-04 9.99767820e-01 1.36588046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.93, Y:-30.09, Z:1.37 [[ 8.08251962e-01 5.88595065e-01 -1.68705443e-02 8.49311202e+01] [-5.88454667e-01 8.08427875e-01 1.28637602e-02 -3.00853405e+01] [ 2.12101640e-02 -4.69608880e-04 9.99774929e-01 1.36647490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.027628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.96, Y:-30.11, Z:1.37 [[ 8.10396443e-01 5.85650906e-01 -1.64505879e-02 8.49556346e+01] [-5.85516704e-01 8.10563216e-01 1.25483528e-02 -3.01059359e+01] [ 2.06831956e-02 -5.37046494e-04 9.99785936e-01 1.36761573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.98, Y:-30.13, Z:1.37 [[ 8.15023287e-01 5.79225520e-01 -1.53244613e-02 8.49789470e+01] [-5.79107880e-01 8.15167080e-01 1.16916518e-02 -3.01277746e+01] [ 1.92640995e-02 -6.54452205e-04 9.99814216e-01 1.36991484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.08762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.00, Y:-30.15, Z:1.37 [[ 8.17372442e-01 5.75910462e-01 -1.51469452e-02 8.50036140e+01] [-5.75794874e-01 8.17512452e-01 1.15608464e-02 -3.01477018e+01] [ 1.90408287e-02 -7.27983818e-04 9.99818442e-01 1.37082623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.02, Y:-30.17, Z:1.37 [[ 8.21163791e-01 5.70505666e-01 -1.46052267e-02 8.50226925e+01] [-5.70397304e-01 8.21293251e-01 1.11494833e-02 -3.01728472e+01] [ 1.83560175e-02 -8.24770029e-04 9.99831174e-01 1.37091422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.14762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.05, Y:-30.19, Z:1.37 [[ 8.22405976e-01 5.68726844e-01 -1.40779005e-02 8.50526350e+01] [-5.68625867e-01 8.22526036e-01 1.07491356e-02 -3.01870650e+01] [ 1.76927617e-02 -8.35094993e-04 9.99843122e-01 1.37236053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.08, Y:-30.21, Z:1.37 [[ 8.23398803e-01 5.67298309e-01 -1.36762726e-02 8.50788181e+01] [-5.67202790e-01 8.23511943e-01 1.04439464e-02 -3.02056967e+01] [ 1.71874069e-02 -8.42312978e-04 9.99851931e-01 1.37306484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.20762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.10, Y:-30.23, Z:1.37 [[ 8.23645044e-01 5.66942882e-01 -1.35871384e-02 8.50990486e+01] [-5.66848525e-01 8.23756672e-01 1.03776828e-02 -3.02298143e+01] [ 1.70760493e-02 -8.45677626e-04 9.99853836e-01 1.37257071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.23762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.13, Y:-30.24, Z:1.37 [[ 8.23008048e-01 5.67849431e-01 -1.43100509e-02 8.51334237e+01] [-5.67744804e-01 8.23131981e-01 1.09352227e-02 -3.02382037e+01] [ 1.79886206e-02 -8.75319204e-04 9.99837809e-01 1.37268767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.16, Y:-30.25, Z:1.37 [[ 8.20857297e-01 5.70937054e-01 -1.49726150e-02 8.51635551e+01] [-5.70822924e-01 8.20993398e-01 1.14468730e-02 -3.02506817e+01] [ 1.88278620e-02 -8.49537421e-04 9.99822379e-01 1.37262121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.19, Y:-30.27, Z:1.37 [[ 8.19530940e-01 5.72845268e-01 -1.47423767e-02 8.51916228e+01] [-5.72734897e-01 8.19663143e-01 1.12725460e-02 -3.02663333e+01] [ 1.85412074e-02 -7.94726578e-04 9.99827781e-01 1.37316828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.22, Y:-30.28, Z:1.37 [[ 8.18129353e-01 5.74860013e-01 -1.41536859e-02 8.52164882e+01] [-5.74758558e-01 8.18251457e-01 1.08237310e-02 -3.02834521e+01] [ 1.78034043e-02 -7.20259979e-04 9.99841247e-01 1.37417826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.25, Y:-30.30, Z:1.38 [[ 8.15506122e-01 5.78597392e-01 -1.32220879e-02 8.52466748e+01] [-5.78509309e-01 8.15613082e-01 1.01133362e-02 -3.02963530e+01] [ 1.66356578e-02 -5.98386668e-04 9.99861439e-01 1.37553591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.27, Y:-30.31, Z:1.38 [[ 8.14083892e-01 5.80608389e-01 -1.27009769e-02 8.52743048e+01] [-5.80527340e-01 8.14182787e-01 9.71582147e-03 -3.03125247e+01] [ 1.59820042e-02 -5.36229437e-04 9.99872136e-01 1.37631851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.30, Y:-30.33, Z:1.38 [[ 8.11246166e-01 5.84582514e-01 -1.19558267e-02 8.53040723e+01] [-5.84511059e-01 8.11334145e-01 9.15023046e-03 -3.03250317e+01] [ 1.50492352e-02 -4.34776459e-04 9.99886659e-01 1.37775035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.44762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.33, Y:-30.34, Z:1.38 [[ 8.09659070e-01 5.86782448e-01 -1.17706776e-02 8.53314286e+01] [-5.86713398e-01 8.09744532e-01 9.01008068e-03 -3.03410070e+01] [ 1.48181990e-02 -3.89079288e-04 9.99890129e-01 1.37809652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.36, Y:-30.36, Z:1.38 [[ 8.08285993e-01 5.88677560e-01 -1.15101416e-02 8.53606771e+01] [-5.88611665e-01 8.08367867e-01 8.81480526e-03 -3.03564074e+01] [ 1.44935067e-02 -3.49880008e-04 9.99894902e-01 1.37838201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.50762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.39, Y:-30.37, Z:1.38 [[ 8.05185425e-01 5.92901575e-01 -1.20064070e-02 8.53888921e+01] [-5.92830315e-01 8.05274885e-01 9.19662729e-03 -3.03697938e+01] [ 1.51211528e-02 -2.87228204e-04 9.99885628e-01 1.37794830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.42, Y:-30.38, Z:1.38 [[ 8.03144708e-01 5.95647454e-01 -1.27549377e-02 8.54183064e+01] [-5.95567363e-01 8.03245944e-01 9.77079071e-03 -3.03849119e+01] [ 1.60652986e-02 -2.50934233e-04 9.99870913e-01 1.37788417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.56762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.45, Y:-30.40, Z:1.38 [[ 8.00858248e-01 5.98701745e-01 -1.35013402e-02 8.54462970e+01] [-5.98612401e-01 8.00972021e-01 1.03447999e-02 -3.04010341e+01] [ 1.70076455e-02 -2.02648686e-04 9.99855339e-01 1.37762734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.48, Y:-30.41, Z:1.38 [[ 7.96066076e-01 6.05017297e-01 -1.52601405e-02 8.54771789e+01] [-6.04904186e-01 7.96212323e-01 1.16988440e-02 -3.04138662e+01] [ 1.92283149e-02 -8.21299830e-05 9.99815115e-01 1.37686348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.50, Y:-30.43, Z:1.38 [[ 7.93933151e-01 6.07803603e-01 -1.56502877e-02 8.55044396e+01] [-6.07685063e-01 7.94087388e-01 1.20035208e-02 -3.04297294e+01] [ 1.97234792e-02 -1.95470271e-05 9.99805473e-01 1.37657118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.657628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.53, Y:-30.45, Z:1.38 [[ 7.91876159e-01 6.10470734e-01 -1.60508725e-02 8.55328471e+01] [-6.10346506e-01 7.92038812e-01 1.23151148e-02 -3.04469645e+01] [ 2.02309312e-02 4.45481603e-05 9.99795333e-01 1.37668343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.56, Y:-30.46, Z:1.38 [[ 7.89238624e-01 6.13880149e-01 -1.59234763e-02 8.55609031e+01] [-6.13758440e-01 7.89399232e-01 1.22241595e-02 -3.04630836e+01] [ 2.00741488e-02 1.25389152e-04 9.99798486e-01 1.37766228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.717628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.59, Y:-30.48, Z:1.38 [[ 7.88641805e-01 6.14654903e-01 -1.56030139e-02 8.55866263e+01] [-6.14538074e-01 7.88796128e-01 1.19843472e-02 -3.04822005e+01] [ 1.96738347e-02 1.37288879e-04 9.99806442e-01 1.37873365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.61, Y:-30.50, Z:1.38 [[ 7.89173126e-01 6.13983514e-01 -1.51664761e-02 8.56106959e+01] [-6.13872890e-01 7.89318840e-01 1.16551729e-02 -3.05022353e+01] [ 1.91272693e-02 1.12339267e-04 9.99817051e-01 1.38056600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.777628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.64, Y:-30.52, Z:1.38 [[ 7.90009092e-01 6.12916419e-01 -1.48019527e-02 8.56354358e+01] [-6.12810763e-01 7.90147744e-01 1.13803441e-02 -3.05230437e+01] [ 1.86709293e-02 8.02206363e-05 9.99825680e-01 1.38144263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.80762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.66, Y:-30.54, Z:1.38 [[ 7.91051878e-01 6.11575363e-01 -1.45774018e-02 8.56606422e+01] [-6.11472558e-01 7.91186181e-01 1.12132702e-02 -3.05446929e+01] [ 1.83911987e-02 4.34027244e-05 9.99830867e-01 1.38245178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.68, Y:-30.57, Z:1.38 [[ 7.93652466e-01 6.08187962e-01 -1.49387423e-02 8.56841123e+01] [-6.08079268e-01 7.93793047e-01 1.14979593e-02 -3.05671440e+01] [ 1.88511902e-02 -4.14442836e-05 9.99822300e-01 1.38183692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.86762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.71, Y:-30.59, Z:1.38 [[ 7.94835271e-01 6.06624150e-01 -1.56215498e-02 8.57091660e+01] [-6.06504855e-01 7.94988763e-01 1.20303233e-02 -3.05887705e+01] [ 1.97168412e-02 -8.75794527e-05 9.99805600e-01 1.38179548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.73, Y:-30.61, Z:1.38 [[ 7.97919456e-01 6.02508097e-01 -1.75651676e-02 8.57300666e+01] [-6.02356087e-01 7.98112740e-01 1.35351284e-02 -3.06129832e+01] [ 2.21740085e-02 -2.19456651e-04 9.99754102e-01 1.38023267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.92762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.75, Y:-30.63, Z:1.38 [[ 7.99450531e-01 6.00457446e-01 -1.81577460e-02 8.57538199e+01] [-6.00294323e-01 7.99656658e-01 1.39983930e-02 -3.06338465e+01] [ 2.29254018e-02 -2.91030886e-04 9.99737136e-01 1.38112930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.78, Y:-30.66, Z:1.38 [[ 8.00982294e-01 5.98387775e-01 -1.89587842e-02 8.57775402e+01] [-5.98209186e-01 8.01206548e-01 1.46231614e-02 -3.06561474e+01] [ 2.39402231e-02 -3.71574452e-04 9.99713323e-01 1.38155575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.98762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.80, Y:-30.68, Z:1.38 [[ 8.04423500e-01 5.93713472e-01 -2.01778392e-02 8.57991607e+01] [-5.93509548e-01 8.04676340e-01 1.55693372e-02 -3.06806555e+01] [ 2.54803550e-02 -5.48600558e-04 9.99675173e-01 1.38179205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.82, Y:-30.70, Z:1.38 [[ 8.06330615e-01 5.91119886e-01 -2.02044440e-02 8.58209214e+01] [-5.90914537e-01 8.06583461e-01 1.55926593e-02 -3.07026845e+01] [ 2.55137013e-02 -6.33738890e-04 9.99674272e-01 1.38194196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.84, Y:-30.73, Z:1.38 [[ 8.08371336e-01 5.88333017e-01 -2.00011197e-02 8.58437874e+01] [-5.88130845e-01 8.08618419e-01 1.54389672e-02 -3.07256840e+01] [ 2.52565279e-02 -7.17143109e-04 9.99680746e-01 1.38271261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.077628 meters Centerline goodness [0,1] 0.9998681173755358 Centerline is valid? [True, True] Translation: X:85.86, Y:-30.75, Z:1.38 [[ 8.12742473e-01 5.82291907e-01 -1.96419834e-02 8.58644901e+01] [-5.82095064e-01 8.12979298e-01 1.51656597e-02 -3.07500351e+01] [ 2.47993668e-02 -8.92274217e-04 9.99692050e-01 1.38330566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.88, Y:-30.77, Z:1.39 [[ 8.14598698e-01 5.79741228e-01 -1.81403019e-02 8.58845501e+01] [-5.79572584e-01 8.14800159e-01 1.40114759e-02 -3.07742021e+01] [ 2.29037511e-02 -9.00108345e-04 9.99737269e-01 1.38649027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.91, Y:-30.80, Z:1.39 [[ 8.17758627e-01 5.75310420e-01 -1.69925980e-02 8.59058439e+01] [-5.75161421e-01 8.17934591e-01 1.31280158e-02 -3.07972245e+01] [ 2.14515180e-02 -9.62061410e-04 9.99769427e-01 1.38831869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.93, Y:-30.82, Z:1.39 [[ 8.18794595e-01 5.73848003e-01 -1.65493262e-02 8.59304992e+01] [-5.73706319e-01 8.18961242e-01 1.27884250e-02 -3.08167312e+01] [ 2.08918689e-02 -9.76640250e-04 9.99781264e-01 1.38938273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.95, Y:-30.84, Z:1.39 [[ 8.19169948e-01 5.73313260e-01 -1.65076400e-02 8.59549936e+01] [-5.73172053e-01 8.19335658e-01 1.27623532e-02 -3.08376827e+01] [ 2.08421244e-02 -9.92818334e-04 9.99782286e-01 1.38981283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.98, Y:-30.86, Z:1.39 [[ 8.18564738e-01 5.74170077e-01 -1.67479259e-02 8.59810890e+01] [-5.74024765e-01 8.18735453e-01 1.29548090e-02 -3.08559343e+01] [ 2.11503844e-02 -9.90625604e-04 9.99775815e-01 1.39036540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.01, Y:-30.87, Z:1.39 [[ 8.17286747e-01 5.75983454e-01 -1.68947611e-02 8.60055177e+01] [-5.75835829e-01 8.17460790e-01 1.30749231e-02 -3.08747631e+01] [ 2.13417441e-02 -9.57352552e-04 9.99771781e-01 1.39081488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.28762800000001 meters Centerline goodness [0,1] 0.9998894954361616 Centerline is valid? [True, True] Translation: X:86.03, Y:-30.89, Z:1.39 [[ 8.14060657e-01 5.80480434e-01 -1.86470601e-02 8.60301538e+01] [-5.80301629e-01 8.14273663e-01 1.44367956e-02 -3.08921573e+01] [ 2.35640873e-02 -9.31507945e-04 9.99721894e-01 1.38855902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.06, Y:-30.91, Z:1.39 [[ 8.11862765e-01 5.83557894e-01 -1.84129118e-02 8.60564323e+01] [-5.83384270e-01 8.12071111e-01 1.42584905e-02 -3.09091654e+01] [ 2.32732484e-02 -8.34134405e-04 9.99728793e-01 1.39091239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.08, Y:-30.93, Z:1.39 [[ 8.08100124e-01 5.88755032e-01 -1.84851802e-02 8.60834735e+01] [-5.88581346e-01 8.08311225e-01 1.43165075e-02 -3.09252893e+01] [ 2.33706945e-02 -6.89139261e-04 9.99726630e-01 1.39113281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.11, Y:-30.94, Z:1.39 [[ 8.05905749e-01 5.91756636e-01 -1.84392919e-02 8.61107573e+01] [-5.91584524e-01 8.06116443e-01 1.42839484e-02 -3.09408703e+01] [ 2.33168377e-02 -6.03116420e-04 9.99727944e-01 1.39186650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.407628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.14, Y:-30.96, Z:1.39 [[ 8.05735273e-01 5.91988842e-01 -1.84358690e-02 8.61363370e+01] [-5.91816689e-01 8.05945934e-01 1.42883652e-02 -3.09607661e+01] [ 2.33168664e-02 -6.01984888e-04 9.99727944e-01 1.39237244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.16, Y:-30.98, Z:1.39 [[ 8.01568233e-01 5.97640728e-01 -1.77180017e-02 8.61630990e+01] [-5.97482964e-01 8.01763917e-01 1.37378549e-02 -3.09758581e+01] [ 2.24159561e-02 -4.25623886e-04 9.99748640e-01 1.39200504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.467628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.19, Y:-30.99, Z:1.39 [[ 7.99310087e-01 6.00675719e-01 -1.70899273e-02 8.61884104e+01] [-6.00529577e-01 7.99492696e-01 1.32535167e-02 -3.09933541e+01] [ 2.16243377e-02 -3.30662738e-04 9.99766112e-01 1.39247827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.22, Y:-31.01, Z:1.39 [[ 7.95768988e-01 6.05386549e-01 -1.60886124e-02 8.62159611e+01] [-6.05257893e-01 7.95931585e-01 1.24817678e-02 -3.10110770e+01] [ 2.03617291e-02 -1.94844084e-04 9.99792660e-01 1.39340200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.527628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.24, Y:-31.03, Z:1.39 [[ 7.95598785e-01 6.05610257e-01 -1.60869501e-02 8.62415167e+01] [-6.05481604e-01 7.95761383e-01 1.24839098e-02 -3.10309962e+01] [ 2.03617575e-02 -1.91831067e-04 9.99792660e-01 1.39390703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.27, Y:-31.05, Z:1.39 [[ 7.93004629e-01 6.09026405e-01 -1.51821244e-02 8.62682089e+01] [-6.08912333e-01 7.93149940e-01 1.17873727e-02 -3.10498751e+01] [ 1.92205222e-02 -1.02858348e-04 9.99815263e-01 1.39464430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.29, Y:-31.07, Z:1.39 [[ 7.92125935e-01 6.10174633e-01 -1.49472813e-02 8.62932912e+01] [-6.10064215e-01 7.92266945e-01 1.16078359e-02 -3.10688558e+01] [ 1.89250438e-02 -7.60664218e-05 9.99820902e-01 1.39495344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.32, Y:-31.09, Z:1.40 [[ 7.91410241e-01 6.11120837e-01 -1.41828793e-02 8.63189731e+01] [-6.11021474e-01 7.91537314e-01 1.10199260e-02 -3.10902151e+01] [ 1.79607846e-02 -5.52384746e-05 9.99838691e-01 1.39536302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.64762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.34, Y:-31.11, Z:1.40 [[ 7.91301977e-01 6.11261918e-01 -1.41438370e-02 8.63438870e+01] [-6.11163009e-01 7.91428370e-01 1.09960153e-02 -3.11113987e+01] [ 1.79152793e-02 -5.69786546e-05 9.99839507e-01 1.39650217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.37, Y:-31.13, Z:1.40 [[ 7.91229420e-01 6.11361219e-01 -1.39091882e-02 8.63674215e+01] [-6.11265469e-01 7.91351664e-01 1.08198809e-02 -3.11326047e+01] [ 1.76219148e-02 -5.88016727e-05 9.99844720e-01 1.39702880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.70762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.39, Y:-31.16, Z:1.40 [[ 7.91507386e-01 6.11013982e-01 -1.33406299e-02 8.63910459e+01] [-6.10925757e-01 7.91619801e-01 1.03831483e-02 -3.11553303e+01] [ 1.69049556e-02 -6.82041657e-05 9.99857099e-01 1.39748221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.73762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.41, Y:-31.18, Z:1.40 [[ 7.91481797e-01 6.11038185e-01 -1.37441037e-02 8.64146670e+01] [-6.10944441e-01 7.91601118e-01 1.07032360e-02 -3.11764801e+01] [ 1.74199338e-02 -7.45327009e-05 9.99848259e-01 1.39759803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.76762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.44, Y:-31.20, Z:1.40 [[ 7.91162569e-01 6.11443967e-01 -1.40735835e-02 8.64393281e+01] [-6.11345661e-01 7.91287729e-01 1.09641048e-02 -3.11986579e+01] [ 1.78401896e-02 -7.05651501e-05 9.99840849e-01 1.39722082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.46, Y:-31.22, Z:1.40 [[ 7.90780596e-01 6.11932719e-01 -1.42967007e-02 8.64634544e+01] [-6.11831237e-01 7.90909820e-01 1.11442917e-02 -3.12193553e+01] [ 1.81269577e-02 -6.55215631e-05 9.99835691e-01 1.39676753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.49, Y:-31.24, Z:1.40 [[ 7.90409864e-01 6.12398385e-01 -1.48480761e-02 8.64882498e+01] [-6.12288884e-01 7.90549312e-01 1.15804858e-02 -3.12406915e+01] [ 1.88300072e-02 -6.20182741e-05 9.99822698e-01 1.39650583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.51, Y:-31.26, Z:1.40 [[ 7.89982981e-01 6.12938245e-01 -1.52838632e-02 8.65113796e+01] [-6.12822189e-01 7.90130815e-01 1.19272759e-02 -3.12640471e+01] [ 1.93869348e-02 -5.60544660e-05 9.99812054e-01 1.39709276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.54, Y:-31.29, Z:1.40 [[ 7.89611228e-01 6.13414688e-01 -1.53795389e-02 8.65352407e+01] [-6.13297132e-01 7.89760988e-01 1.20087097e-02 -3.12853922e+01] [ 1.95124788e-02 -4.99849440e-05 9.99809612e-01 1.39780982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.56, Y:-31.31, Z:1.40 [[ 7.88882246e-01 6.14348285e-01 -1.55237698e-02 8.65593085e+01] [-6.14228564e-01 7.89034970e-01 1.21279324e-02 -3.13077188e+01] [ 1.96995717e-02 -3.23677050e-05 9.99805944e-01 1.39851868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.94762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.58, Y:-31.33, Z:1.40 [[ 7.88178758e-01 6.15245325e-01 -1.57300958e-02 8.65843400e+01] [-6.15122435e-01 7.88335709e-01 1.22963623e-02 -3.13289502e+01] [ 1.99658756e-02 -1.57967795e-05 9.99800662e-01 1.39842277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.61, Y:-31.35, Z:1.40 [[ 7.87393443e-01 6.16241146e-01 -1.60753154e-02 8.66097330e+01] [-6.16112857e-01 7.87557522e-01 1.25736818e-02 -3.13506101e+01] [ 2.04086557e-02 3.77394492e-06 9.99791722e-01 1.39875001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.00762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.63, Y:-31.37, Z:1.40 [[ 7.86459782e-01 6.17415909e-01 -1.66915122e-02 8.66323042e+01] [-6.17277710e-01 7.86636889e-01 1.30626991e-02 -3.13729491e+01] [ 2.11952775e-02 3.00109458e-05 9.99775354e-01 1.39815568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.66, Y:-31.40, Z:1.40 [[ 7.85976533e-01 6.18017623e-01 -1.71786935e-02 8.66568264e+01] [-6.17871256e-01 7.86164242e-01 1.34497398e-02 -3.13950424e+01] [ 2.18174508e-02 4.30410608e-05 9.99761970e-01 1.39797124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.06762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.68, Y:-31.42, Z:1.40 [[ 7.85622091e-01 6.18456867e-01 -1.75793674e-02 8.66809236e+01] [-6.18303521e-01 7.85818746e-01 1.37714915e-02 -3.14173442e+01] [ 2.23312699e-02 5.01968058e-05 9.99750625e-01 1.39881438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.70, Y:-31.44, Z:1.40 [[ 7.85493608e-01 6.18582791e-01 -1.88447179e-02 8.67025029e+01] [-6.18406406e-01 7.85719625e-01 1.47711890e-02 -3.14395976e+01] [ 2.39438680e-02 5.10197377e-05 9.99713303e-01 1.39799135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.73, Y:-31.46, Z:1.40 [[ 7.84116659e-01 6.20345196e-01 -1.82456241e-02 8.67295837e+01] [-6.20180162e-01 7.84328904e-01 1.43086577e-02 -3.14582246e+01] [ 2.31868774e-02 9.59172680e-05 9.99731144e-01 1.39895482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.157628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.76, Y:-31.48, Z:1.40 [[ 7.82997563e-01 6.21756587e-01 -1.82636842e-02 8.67558848e+01] [-6.21591419e-01 7.83210527e-01 1.43310413e-02 -3.14784107e+01] [ 2.32147290e-02 1.31378948e-04 9.99730493e-01 1.40025870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.78, Y:-31.50, Z:1.40 [[ 7.83011482e-01 6.21735939e-01 -1.83695815e-02 8.67816015e+01] [-6.21568650e-01 7.83226919e-01 1.44224559e-02 -3.14993580e+01] [ 2.33545098e-02 1.25007404e-04 9.99727238e-01 1.40111826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.217628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.81, Y:-31.52, Z:1.40 [[ 7.83438736e-01 6.21203146e-01 -1.81768584e-02 8.68069535e+01] [-6.21039017e-01 7.83649566e-01 1.42793000e-02 -3.15196674e+01] [ 2.31146332e-02 1.01581513e-04 9.99732816e-01 1.40173923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.83, Y:-31.54, Z:1.40 [[ 7.85784932e-01 6.18261230e-01 -1.71782420e-02 8.68299653e+01] [-6.18113784e-01 7.85972678e-01 1.35018122e-02 -3.15406820e+01] [ 2.18492759e-02 8.58755396e-06 9.99761276e-01 1.40269368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.277628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.85, Y:-31.56, Z:1.40 [[ 7.87051015e-01 6.16668372e-01 -1.64565770e-02 8.68546358e+01] [-6.16532577e-01 7.87223042e-01 1.29407949e-02 -3.15618563e+01] [ 2.09351755e-02 -3.90499042e-05 9.99780834e-01 1.40410992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.88, Y:-31.58, Z:1.41 [[ 7.88524695e-01 6.14805354e-01 -1.55943192e-02 8.68794007e+01] [-6.14682918e-01 7.88678876e-01 1.22695087e-02 -3.15819971e+01] [ 1.98422697e-02 -8.92489940e-05 9.99803119e-01 1.40542105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.90, Y:-31.60, Z:1.41 [[ 7.88857295e-01 6.14387599e-01 -1.52330771e-02 8.69037698e+01] [-6.14270571e-01 7.89004352e-01 1.19915722e-02 -3.16018079e+01] [ 1.93864374e-02 -1.02408209e-04 9.99812060e-01 1.40619089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.36762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.93, Y:-31.62, Z:1.41 [[ 7.89392176e-01 6.13707225e-01 -1.49477055e-02 8.69296789e+01] [-6.13594306e-01 7.89533677e-01 1.17728677e-02 -3.16228188e+01] [ 1.90268109e-02 -1.21582648e-04 9.99818966e-01 1.40765672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.95, Y:-31.64, Z:1.41 [[ 7.90556316e-01 6.12222509e-01 -1.42937241e-02 8.69549581e+01] [-6.12118902e-01 7.90685510e-01 1.12638708e-02 -3.16432442e+01] [ 1.81978357e-02 -1.55265500e-04 9.99834394e-01 1.40924105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.42762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.98, Y:-31.66, Z:1.41 [[ 7.90593885e-01 6.12165647e-01 -1.46468495e-02 8.69807412e+01] [-6.12056733e-01 7.90729532e-01 1.15482307e-02 -3.16633477e+01] [ 1.86511266e-02 -1.65257757e-04 9.99826039e-01 1.40935348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.01, Y:-31.68, Z:1.41 [[ 7.89606553e-01 6.13399599e-01 -1.61994905e-02 8.70073884e+01] [-6.13266464e-01 7.89772693e-01 1.27803433e-02 -3.16820850e+01] [ 2.06333727e-02 -1.56838572e-04 9.99787097e-01 1.40778454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.48762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.03, Y:-31.70, Z:1.41 [[ 7.88623334e-01 6.14648536e-01 -1.67455748e-02 8.70334514e+01] [-6.14506391e-01 7.88801090e-01 1.32187758e-02 -3.17009808e+01] [ 2.13338289e-02 -1.34372281e-04 9.99772399e-01 1.40675598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.51762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.06, Y:-31.72, Z:1.41 [[ 7.86102297e-01 6.17849681e-01 -1.74628272e-02 8.70603578e+01] [-6.17695720e-01 7.86296235e-01 1.37923310e-02 -3.17178647e+01] [ 2.22525426e-02 -5.54694731e-05 9.99752380e-01 1.40609891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.09, Y:-31.74, Z:1.41 [[ 7.84590566e-01 6.19759816e-01 -1.77599200e-02 8.70870152e+01] [-6.19600897e-01 7.84791546e-01 1.40341579e-02 -3.17368735e+01] [ 2.26356422e-02 -7.00555504e-06 9.99743781e-01 1.40665555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.11, Y:-31.76, Z:1.41 [[ 7.82934136e-01 6.21846804e-01 -1.79078185e-02 8.71138302e+01] [-6.21685590e-01 7.83138908e-01 1.41589866e-02 -3.17555004e+01] [ 2.28290300e-02 4.74787846e-05 9.99739383e-01 1.40737179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.14, Y:-31.77, Z:1.41 [[ 7.79923905e-01 6.25617180e-01 -1.79401016e-02 8.71409217e+01] [-6.25456200e-01 7.80130195e-01 1.41922874e-02 -3.17725494e+01] [ 2.28745538e-02 1.51843625e-04 9.99738332e-01 1.40704050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.17, Y:-31.79, Z:1.41 [[ 7.78607009e-01 6.27251663e-01 -1.80686679e-02 8.71668042e+01] [-6.27088642e-01 7.78816610e-01 1.43011218e-02 -3.17921754e+01] [ 2.30425811e-02 1.95702781e-04 9.99734465e-01 1.40755030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.19, Y:-31.81, Z:1.41 [[ 7.77195585e-01 6.28996024e-01 -1.81940630e-02 8.71911068e+01] [-6.28831042e-01 7.77408478e-01 1.44075876e-02 -3.18124744e+01] [ 2.32065341e-02 2.43478081e-04 9.99730662e-01 1.40837964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.22, Y:-31.83, Z:1.41 [[ 7.77169011e-01 6.29031604e-01 -1.80988748e-02 8.72158760e+01] [-6.28868202e-01 7.77379691e-01 1.43387612e-02 -3.18329848e+01] [ 2.30892317e-02 2.38165998e-04 9.99733380e-01 1.40842628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.24, Y:-31.85, Z:1.41 [[ 7.77463083e-01 6.28674255e-01 -1.78839619e-02 8.72400631e+01] [-6.28514486e-01 7.77668717e-01 1.41741910e-02 -3.18538588e+01] [ 2.28187466e-02 2.20418903e-04 9.99739594e-01 1.40885263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.26, Y:-31.88, Z:1.41 [[ 7.78221031e-01 6.27737893e-01 -1.78091037e-02 8.72639390e+01] [-6.27579053e-01 7.78424757e-01 1.41219354e-02 -3.18752099e+01] [ 2.27279212e-02 1.86633300e-04 9.99741670e-01 1.40971466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.78762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.29, Y:-31.90, Z:1.41 [[ 7.79086701e-01 6.26667030e-01 -1.76733145e-02 8.72872263e+01] [-6.26510172e-01 7.79287117e-01 1.40211608e-02 -3.18958364e+01] [ 2.25591855e-02 1.48811448e-04 9.99745498e-01 1.41016534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.31, Y:-31.92, Z:1.41 [[ 7.81673858e-01 6.23448253e-01 -1.72700678e-02 8.73096537e+01] [-6.23297542e-01 7.81864613e-01 1.37077046e-02 -3.19185393e+01] [ 2.20488993e-02 4.94364925e-05 9.99756892e-01 1.41127795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.33, Y:-31.94, Z:1.41 [[ 7.83954844e-01 6.20597999e-01 -1.65204962e-02 8.73339885e+01] [-6.20459312e-01 7.84128894e-01 1.31194390e-02 -3.19407837e+01] [ 2.10960959e-02 -3.47520324e-05 9.99777452e-01 1.41321026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.36, Y:-31.96, Z:1.41 [[ 7.85069691e-01 6.19187135e-01 -1.65188325e-02 8.73588388e+01] [-6.19048003e-01 7.85243456e-01 1.31256942e-02 -3.19622490e+01] [ 2.10985661e-02 -7.86343655e-05 9.99777397e-01 1.41427578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.907628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.38, Y:-31.98, Z:1.42 [[ 7.86272977e-01 6.17655558e-01 -1.66258159e-02 8.73837444e+01] [-6.17514113e-01 7.86448724e-01 1.32183358e-02 -3.19837721e+01] [ 2.12397303e-02 -1.26544285e-04 9.99774403e-01 1.41524680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.41, Y:-32.00, Z:1.42 [[ 7.87507081e-01 6.16084594e-01 -1.65036352e-02 8.74069116e+01] [-6.15944724e-01 7.87679975e-01 1.31283431e-02 -3.20039626e+01] [ 2.10877529e-02 -1.73336092e-04 9.99777614e-01 1.41608464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.967628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.43, Y:-32.02, Z:1.42 [[ 7.90333654e-01 6.12458600e-01 -1.63456059e-02 8.74295793e+01] [-6.12320494e-01 7.90502618e-01 1.30085967e-02 -3.20247931e+01] [ 2.08884711e-02 -2.72382268e-04 9.99781775e-01 1.41641757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.46, Y:-32.04, Z:1.42 [[ 7.91518025e-01 6.10934377e-01 -1.60749492e-02 8.74553441e+01] [-6.10800371e-01 7.91681179e-01 1.27990804e-02 -3.20443559e+01] [ 2.05456330e-02 -3.12117835e-04 9.99788867e-01 1.41727967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.027628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.48, Y:-32.06, Z:1.42 [[ 7.93899543e-01 6.07819607e-01 -1.66985358e-02 8.74786496e+01] [-6.07674183e-01 7.94075031e-01 1.33015949e-02 -3.20649391e+01] [ 2.13448605e-02 -4.12861031e-04 9.99772087e-01 1.41626112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.50, Y:-32.08, Z:1.42 [[ 7.94918868e-01 6.06460231e-01 -1.76063055e-02 8.75041877e+01] [-6.06298126e-01 7.95113677e-01 1.40293288e-02 -3.20835898e+01] [ 2.25072443e-02 -4.77508124e-04 9.99746566e-01 1.41679441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.53, Y:-32.11, Z:1.41 [[ 7.96625963e-01 6.04159693e-01 -1.94458562e-02 8.75265300e+01] [-6.03961059e-01 7.96863037e-01 1.55028996e-02 -3.21050102e+01] [ 2.48619111e-02 -6.05472383e-04 9.99690712e-01 1.41468720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.55, Y:-32.12, Z:1.41 [[ 7.97095702e-01 6.03514327e-01 -2.02212448e-02 8.75521142e+01] [-6.03299126e-01 7.97351883e-01 1.61288407e-02 -3.21249620e+01] [ 2.58574340e-02 -6.56770266e-04 9.99665425e-01 1.41438996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.14762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.58, Y:-32.14, Z:1.42 [[ 7.97157602e-01 6.03416992e-01 -2.06807078e-02 8.75787886e+01] [-6.03191649e-01 7.97425526e-01 1.65034728e-02 -3.21423568e+01] [ 2.64498002e-02 -6.81438544e-04 9.99649911e-01 1.41566954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.60, Y:-32.16, Z:1.42 [[ 7.96913131e-01 6.03739571e-01 -2.06879532e-02 8.76026066e+01] [-6.03513985e-01 7.97181330e-01 1.65165724e-02 -3.21633944e+01] [ 2.64637584e-02 -6.76804380e-04 9.99649544e-01 1.41513455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.20762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.63, Y:-32.18, Z:1.42 [[ 7.96394577e-01 6.04430314e-01 -2.04859057e-02 8.76313688e+01] [-6.04209164e-01 7.96657749e-01 1.63620592e-02 -3.21790556e+01] [ 2.62099801e-02 -6.52883269e-04 9.99656246e-01 1.41730458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.23762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.65, Y:-32.20, Z:1.42 [[ 7.95645075e-01 6.05417259e-01 -2.04660043e-02 8.76545987e+01] [-6.05196655e-01 7.95908004e-01 1.63541479e-02 -3.22001836e+01] [ 2.61901400e-02 -6.26139881e-04 9.99656783e-01 1.41520160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.26762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.68, Y:-32.22, Z:1.42 [[ 7.95166540e-01 6.06041329e-01 -2.05932556e-02 8.76824230e+01] [-6.05817973e-01 7.95432919e-01 1.64637540e-02 -3.22160997e+01] [ 2.63582687e-02 -6.15661963e-04 9.99652371e-01 1.41766681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.71, Y:-32.24, Z:1.42 [[ 7.94997237e-01 6.06263545e-01 -2.05889970e-02 8.77076828e+01] [-6.06040126e-01 7.95263563e-01 1.64690784e-02 -3.22363922e+01] [ 2.63582810e-02 -6.15113524e-04 9.99652371e-01 1.41817296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.73, Y:-32.26, Z:1.42 [[ 7.94463424e-01 6.06975589e-01 -2.02114645e-02 8.77333859e+01] [-6.06760294e-01 7.94720259e-01 1.61758020e-02 -3.22559276e+01] [ 2.58807773e-02 -5.87568890e-04 9.99664864e-01 1.41907513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.76, Y:-32.27, Z:1.42 [[ 7.93242227e-01 6.08624094e-01 -1.85332729e-02 8.77583469e+01] [-6.08443358e-01 7.93458548e-01 1.48395527e-02 -3.22743486e+01] [ 2.37370931e-02 -4.94913022e-04 9.99718113e-01 1.42151055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.78, Y:-32.29, Z:1.42 [[ 7.92141310e-01 6.10088063e-01 -1.74556625e-02 8.77845014e+01] [-6.09927949e-01 7.92333497e-01 1.39830973e-02 -3.22935912e+01] [ 2.23616269e-02 -4.29892600e-04 9.99749855e-01 1.42352565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.81, Y:-32.31, Z:1.43 [[ 7.89822150e-01 6.13147252e-01 -1.52124784e-02 8.78104945e+01] [-6.13026109e-01 7.89968579e-01 1.21915642e-02 -3.23106735e+01] [ 1.94926041e-02 -3.03520994e-04 9.99809955e-01 1.42605036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.44762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.84, Y:-32.33, Z:1.43 [[ 7.88458172e-01 6.14923053e-01 -1.42600716e-02 8.78354474e+01] [-6.14816804e-01 7.88587077e-01 1.14332822e-02 -3.23291506e+01] [ 1.82758970e-02 -2.47333100e-04 9.99832951e-01 1.42724271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.86, Y:-32.35, Z:1.43 [[ 7.87316243e-01 6.16385868e-01 -1.41984052e-02 8.78618466e+01] [-6.16280679e-01 7.87444229e-01 1.13890375e-02 -3.23481736e+01] [ 1.82004940e-02 -2.16571393e-04 9.99834334e-01 1.42819653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.50762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.89, Y:-32.37, Z:1.43 [[ 7.84877798e-01 6.19479551e-01 -1.45577580e-02 8.78874764e+01] [-6.19369388e-01 7.85012779e-01 1.16832602e-02 -3.23666821e+01] [ 1.86655669e-02 -1.53301894e-04 9.99825771e-01 1.42774374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.91, Y:-32.39, Z:1.43 [[ 7.83611933e-01 6.21069662e-01 -1.49937962e-02 8.79139241e+01] [-6.20952974e-01 7.83755357e-01 1.20393042e-02 -3.23855430e+01] [ 1.92287146e-02 -1.23700090e-04 9.99815104e-01 1.42787993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.56762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.94, Y:-32.40, Z:1.43 [[ 7.82360896e-01 6.22637416e-01 -1.52995439e-02 8.79394739e+01] [-6.22516103e-01 7.82510472e-01 1.22907102e-02 -3.24037765e+01] [ 1.96247093e-02 -9.15585917e-05 9.99807413e-01 1.42731531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.97, Y:-32.42, Z:1.43 [[ 7.81099419e-01 6.24204334e-01 -1.58948909e-02 8.79663153e+01] [-6.24073594e-01 7.81261126e-01 1.27750963e-02 -3.24231748e+01] [ 2.03923309e-02 -5.90386092e-05 9.99792053e-01 1.42682280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.99, Y:-32.44, Z:1.43 [[ 7.79478122e-01 6.26195944e-01 -1.71025676e-02 8.79934945e+01] [-6.26044883e-01 7.79665723e-01 1.37537037e-02 -3.24418523e+01] [ 2.19467993e-02 -1.37361933e-05 9.99759140e-01 1.42578706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.657628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.02, Y:-32.46, Z:1.43 [[ 7.79065123e-01 6.26686903e-01 -1.79181458e-02 8.80193475e+01] [-6.26521025e-01 7.79271150e-01 1.44180432e-02 -3.24627215e+01] [ 2.29986929e-02 -6.49955406e-06 9.99735495e-01 1.42595647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.04, Y:-32.48, Z:1.43 [[ 7.79128043e-01 6.26580720e-01 -1.88704577e-02 8.80434896e+01] [-6.26396495e-01 7.79356530e-01 1.51930737e-02 -3.24842554e+01] [ 2.42265015e-02 -1.69612163e-05 9.99706495e-01 1.42546526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.717628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.07, Y:-32.50, Z:1.42 [[ 7.79387186e-01 6.26246240e-01 -1.92681251e-02 8.80680725e+01] [-6.26053860e-01 7.79625324e-01 1.55215476e-02 -3.25048784e+01] [ 2.47422291e-02 -3.44111883e-05 9.99693864e-01 1.42497864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.09, Y:-32.53, Z:1.42 [[ 7.79466390e-01 6.26149977e-01 -1.91925540e-02 8.80921969e+01] [-6.25958875e-01 7.79702639e-01 1.54687250e-02 -3.25250660e+01] [ 2.46502268e-02 -4.36016822e-05 9.99696136e-01 1.42463401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.777628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.12, Y:-32.55, Z:1.43 [[ 7.80030534e-01 6.25461051e-01 -1.87307030e-02 8.81163544e+01] [-6.25278649e-01 7.80255387e-01 1.51043747e-02 -3.25479656e+01] [ 2.40619300e-02 -6.99648142e-05 9.99710467e-01 1.42549878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.14, Y:-32.57, Z:1.43 [[ 7.80040435e-01 6.25470669e-01 -1.79822509e-02 8.81404442e+01] [-6.25302378e-01 7.80247677e-01 1.45086028e-02 -3.25701545e+01] [ 2.31053150e-02 -7.29526596e-05 9.99733034e-01 1.42711618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83762800000001 meters Centerline goodness [0,1] 0.9998427036987102 Centerline is valid? [True, True] Translation: X:88.16, Y:-32.59, Z:1.43 [[ 7.80195766e-01 6.25274807e-01 -1.80549873e-02 8.81633802e+01] [-6.25104911e-01 7.80404644e-01 1.45753980e-02 -3.25941462e+01] [ 2.32038251e-02 -8.54026326e-05 9.99730751e-01 1.42729566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.19, Y:-32.62, Z:1.43 [[ 7.79688705e-01 6.25942228e-01 -1.67884048e-02 8.81872472e+01] [-6.25795337e-01 7.79869427e-01 1.35599622e-02 -3.26154482e+01] [ 2.15805166e-02 -6.64438956e-05 9.99767111e-01 1.43128528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.21, Y:-32.64, Z:1.43 [[ 7.79383436e-01 6.26333776e-01 -1.63542193e-02 8.82109505e+01] [-6.26194346e-01 7.79555000e-01 1.32152986e-02 -3.26367565e+01] [ 2.10262013e-02 -5.88652200e-05 9.99778923e-01 1.43191572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.92762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.24, Y:-32.66, Z:1.43 [[ 7.78822171e-01 6.27033377e-01 -1.62840412e-02 8.82359097e+01] [-6.26895180e-01 7.78992389e-01 1.31640157e-02 -3.26582992e+01] [ 2.09394214e-02 -4.40403174e-05 9.99780745e-01 1.43270461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95762800000001 meters Centerline goodness [0,1] 0.99984156085195 Centerline is valid? [True, True] Translation: X:88.26, Y:-32.68, Z:1.43 [[ 7.77674475e-01 6.28440867e-01 -1.68667475e-02 8.82604912e+01] [-6.28292757e-01 7.77857363e-01 1.36431216e-02 -3.26809692e+01] [ 2.16938190e-02 -1.26521450e-05 9.99764661e-01 1.43017390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.98762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.29, Y:-32.70, Z:1.43 [[ 7.76452363e-01 6.29963859e-01 -1.63482026e-02 8.82851694e+01] [-6.29824899e-01 7.76624449e-01 1.32310416e-02 -3.27017921e+01] [ 2.10314919e-02 2.32314811e-05 9.99778813e-01 1.43252424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.01762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.31, Y:-32.72, Z:1.43 [[ 7.74807797e-01 6.31961562e-01 -1.72470758e-02 8.83097480e+01] [-6.31807215e-01 7.74999728e-01 1.39665292e-02 -3.27238676e+01] [ 2.21927887e-02 7.54511611e-05 9.99753707e-01 1.43219426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.33, Y:-32.74, Z:1.43 [[ 7.73984810e-01 6.32947186e-01 -1.80381108e-02 8.83345410e+01] [-6.32778419e-01 7.74194968e-01 1.46158542e-02 -3.27449351e+01] [ 2.32160784e-02 1.01678136e-04 9.99730465e-01 1.43228010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.36, Y:-32.77, Z:1.43 [[ 7.73291801e-01 6.33782690e-01 -1.84198668e-02 8.83586633e+01] [-6.33606736e-01 7.73511142e-01 1.49337606e-02 -3.27652229e+01] [ 2.37127311e-02 1.22797034e-04 9.99718806e-01 1.43271795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.38, Y:-32.79, Z:1.43 [[ 7.72473494e-01 6.34777895e-01 -1.84857958e-02 8.83839172e+01] [-6.34600765e-01 7.72694637e-01 1.49955640e-02 -3.27862171e+01] [ 2.38027278e-02 1.47424444e-04 9.99716664e-01 1.43386556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.41, Y:-32.80, Z:1.43 [[ 7.71598219e-01 6.35864094e-01 -1.76930157e-02 8.84093049e+01] [-6.35701936e-01 7.71801028e-01 1.43604216e-02 -3.28048645e+01] [ 2.27867641e-02 1.67008569e-04 9.99740334e-01 1.43479801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.44, Y:-32.83, Z:1.44 [[ 7.71360822e-01 6.36143980e-01 -1.79810754e-02 8.84353230e+01] [-6.35976386e-01 7.71570351e-01 1.46024131e-02 -3.28256353e+01] [ 2.31629018e-02 1.71809982e-04 9.99731689e-01 1.43522726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.46, Y:-32.85, Z:1.44 [[ 7.71751367e-01 6.35670929e-01 -1.79526665e-02 8.84602230e+01] [-6.35503544e-01 7.71960134e-01 1.45875991e-02 -3.28451891e+01] [ 2.31316555e-02 1.50983633e-04 9.99732416e-01 1.43512552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.48, Y:-32.87, Z:1.44 [[ 7.73467242e-01 6.33587357e-01 -1.77619588e-02 8.84843547e+01] [-6.33422786e-01 7.73671154e-01 1.44401927e-02 -3.28661025e+01] [ 2.28910387e-02 8.18134425e-05 9.99737962e-01 1.43515287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.51, Y:-32.89, Z:1.44 [[ 7.74695161e-01 6.32088751e-01 -1.76413863e-02 8.85089343e+01] [-6.31925847e-01 7.74895999e-01 1.43496918e-02 -3.28880661e+01] [ 2.27405184e-02 3.14112068e-05 9.99741400e-01 1.43591060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.28762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.53, Y:-32.91, Z:1.44 [[ 7.76451185e-01 6.29930326e-01 -1.76449036e-02 8.85322551e+01] [-6.29766613e-01 7.76651649e-01 1.43606892e-02 -3.29101869e+01] [ 2.27501771e-02 -3.82029105e-05 9.99741180e-01 1.43607581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.55, Y:-32.94, Z:1.44 [[ 7.80791159e-01 6.24556029e-01 -1.71736146e-02 8.85534514e+01] [-6.24399480e-01 7.80979980e-01 1.39843078e-02 -3.29353949e+01] [ 2.21462330e-02 -1.95627863e-04 9.99754723e-01 1.43700418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.34762800000001 meters Centerline goodness [0,1] 0.9998864230061558 Centerline is valid? [True, True] Translation: X:88.58, Y:-32.96, Z:1.44 [[ 7.82914030e-01 6.21882586e-01 -1.75405596e-02 8.85757310e+01] [-6.21718445e-01 7.83110445e-01 1.42900602e-02 -3.29570117e+01] [ 2.26229350e-02 -2.82599213e-04 9.99744029e-01 1.43698515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.37762800000002 meters Centerline goodness [0,1] 0.9997043774872086 Centerline is valid? [True, True] Translation: X:88.60, Y:-32.98, Z:1.44 [[ 7.87012219e-01 6.16707455e-01 -1.68428857e-02 8.85988374e+01] [-6.16554818e-01 7.87192315e-01 1.37264905e-02 -3.29798326e+01] [ 2.17238192e-02 -4.18353428e-04 9.99763922e-01 1.43760126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.407628 meters Centerline goodness [0,1] 0.9997723443973956 Centerline is valid? [True, True] Translation: X:88.62, Y:-33.00, Z:1.44 [[ 7.88992643e-01 6.14175443e-01 -1.67073374e-02 8.86230026e+01] [-6.14024617e-01 7.89169366e-01 1.36191570e-02 -3.30006964e+01] [ 2.15494706e-02 -4.86698211e-04 9.99767665e-01 1.43865429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.437628 meters Centerline goodness [0,1] 0.9999090433635764 Centerline is valid? [True, True] Translation: X:88.65, Y:-33.02, Z:1.44 [[ 7.91128454e-01 6.11429753e-01 -1.64142466e-02 8.86461582e+01] [-6.11283467e-01 7.91298520e-01 1.33856198e-02 -3.30216880e+01] [ 2.11729352e-02 -5.55987127e-04 9.99775674e-01 1.43908735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.467628 meters Centerline goodness [0,1] 0.9999317794201251 Centerline is valid? [True, True] Translation: X:88.67, Y:-33.04, Z:1.44 [[ 7.95198576e-01 6.06145358e-01 -1.57171940e-02 8.86700987e+01] [-6.06010128e-01 7.95353604e-01 1.28206545e-02 -3.30420933e+01] [ 2.02719071e-02 -6.70187482e-04 9.99794279e-01 1.44010735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.497628 meters Centerline goodness [0,1] 0.9998413058263432 Centerline is valid? [True, True] Translation: X:88.69, Y:-33.06, Z:1.44 [[ 7.96845083e-01 6.03985406e-01 -1.54771624e-02 8.86936796e+01] [-6.03853759e-01 7.96995052e-01 1.26302886e-02 -3.30628466e+01] [ 1.99637318e-02 -7.18440641e-04 9.99800447e-01 1.44061919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.527628 meters Centerline goodness [0,1] 0.9998864462209303 Centerline is valid? [True, True] Translation: X:88.72, Y:-33.08, Z:1.44 [[ 7.98145443e-01 6.02266544e-01 -1.54551742e-02 8.87210140e+01] [-6.02134854e-01 7.98294699e-01 1.26170923e-02 -3.30799030e+01] [ 1.99366362e-02 -7.64175610e-04 9.99800953e-01 1.44160337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55762800000001 meters Centerline goodness [0,1] 0.9999320636789782 Centerline is valid? [True, True] Translation: X:88.74, Y:-33.10, Z:1.44 [[ 7.98872770e-01 6.01317087e-01 -1.48343834e-02 8.87420779e+01] [-6.01195555e-01 7.99010129e-01 1.21127124e-02 -3.31026883e+01] [ 1.91364035e-02 -7.58150733e-04 9.99816595e-01 1.44141470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58762800000001 meters Centerline goodness [0,1] 0.9997067184045482 Centerline is valid? [True, True] Translation: X:88.77, Y:-33.12, Z:1.44 [[ 7.98845669e-01 6.01358209e-01 -1.46253693e-02 8.87734149e+01] [-6.01239979e-01 7.98979186e-01 1.19477163e-02 -3.31158987e+01] [ 1.88702230e-02 -7.51024697e-04 9.99821659e-01 1.44202811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61762800000001 meters Centerline goodness [0,1] 0.999977528594863 Centerline is valid? [True, True] Translation: X:88.80, Y:-33.13, Z:1.44 [[ 7.97994686e-01 6.02487667e-01 -1.45976665e-02 8.87990103e+01] [-6.02369950e-01 7.98127860e-01 1.19315973e-02 -3.31339699e+01] [ 1.88394446e-02 -7.28155587e-04 9.99822257e-01 1.44230121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.64762800000001 meters Centerline goodness [0,1] 0.9999106923574985 Centerline is valid? [True, True] Translation: X:88.83, Y:-33.15, Z:1.44 [[ 7.95562025e-01 6.05703127e-01 -1.43103344e-02 8.88288673e+01] [-6.05590431e-01 7.95690460e-01 1.17013402e-02 -3.31476530e+01] [ 1.84741349e-02 -6.42940333e-04 9.99829132e-01 1.44315846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67762800000001 meters Centerline goodness [0,1] 0.9999330835117773 Centerline is valid? [True, True] Translation: X:88.86, Y:-33.16, Z:1.44 [[ 7.93619599e-01 6.08255814e-01 -1.38851316e-02 8.88554948e+01] [-6.08150076e-01 7.93740854e-01 1.13552390e-02 -3.31642358e+01] [ 1.79280864e-02 -5.67496344e-04 9.99839118e-01 1.44367097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.70762800000001 meters Centerline goodness [0,1] 0.9999109944148995 Centerline is valid? [True, True] Translation: X:88.88, Y:-33.18, Z:1.44 [[ 7.91413606e-01 6.11127976e-01 -1.36784811e-02 8.88830699e+01] [-6.11025721e-01 7.91531647e-01 1.11901310e-02 -3.31809933e+01] [ 1.76655528e-02 -4.98118098e-04 9.99843828e-01 1.44465556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.73762800000002 meters Centerline goodness [0,1] 0.999889522294401 Centerline is valid? [True, True] Translation: X:88.91, Y:-33.19, Z:1.45 [[ 7.85983880e-01 6.18108998e-01 -1.30616569e-02 8.89122292e+01] [-6.18016695e-01 7.86092335e-01 1.06867036e-02 -3.31939936e+01] [ 1.68732161e-02 -3.27254737e-04 9.99857584e-01 1.44531902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.76762800000002 meters Centerline goodness [0,1] 0.9999120376478867 Centerline is valid? [True, True] Translation: X:88.94, Y:-33.21, Z:1.45 [[ 7.82887970e-01 6.22033224e-01 -1.26923034e-02 8.89398951e+01] [-6.21946541e-01 7.82990812e-01 1.03869263e-02 -3.32093971e+01] [ 1.63989702e-02 -2.37865500e-04 9.99865500e-01 1.44578122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.797628 meters Centerline goodness [0,1] 0.9997364490907493 Centerline is valid? [True, True] Translation: X:88.97, Y:-33.23, Z:1.45 [[ 7.79914384e-01 6.25757637e-01 -1.26859901e-02 8.89682117e+01] [-6.25671475e-01 7.80017534e-01 1.03851820e-02 -3.32252230e+01] [ 1.63939016e-02 -1.62290707e-04 9.99865598e-01 1.44629900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.827628 meters Centerline goodness [0,1] 0.9995622099641012 Centerline is valid? [True, True] Translation: X:89.00, Y:-33.24, Z:1.45 [[ 7.74901061e-01 6.31964034e-01 -1.22395146e-02 8.89993735e+01] [-6.31884527e-01 7.74997715e-01 1.00242663e-02 -3.32380021e+01] [ 1.58205716e-02 -3.38547095e-05 9.99874846e-01 1.44675808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.857628 meters Centerline goodness [0,1] 0.9992329271499956 Centerline is valid? [True, True] Translation: X:89.03, Y:-33.26, Z:1.45 [[ 7.72818712e-01 6.34512643e-01 -1.20392308e-02 8.90261899e+01] [-6.34435949e-01 7.72912482e-01 9.86513792e-03 -3.32557571e+01] [ 1.55648265e-02 1.41576524e-05 9.99878861e-01 1.44718322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.887628 meters Centerline goodness [0,1] 0.9993872012606145 Centerline is valid? [True, True] Translation: X:89.05, Y:-33.27, Z:1.45 [[ 7.71083185e-01 6.36621323e-01 -1.20005103e-02 8.90534780e+01] [-6.36545294e-01 7.71176561e-01 9.83870019e-03 -3.32744967e+01] [ 1.55180386e-02 5.24120643e-05 9.99879587e-01 1.44732914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91762800000001 meters Centerline goodness [0,1] 0.9992778203304519 Centerline is valid? [True, True] Translation: X:89.08, Y:-33.29, Z:1.45 [[ 7.68812179e-01 6.39359046e-01 -1.21590823e-02 8.90806342e+01] [-6.39281248e-01 7.68908316e-01 9.97428647e-03 -3.32922095e+01] [ 1.57263698e-02 1.04720371e-04 9.99876328e-01 1.44686006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.94762800000001 meters Centerline goodness [0,1] 0.999323454311342 Centerline is valid? [True, True] Translation: X:89.11, Y:-33.31, Z:1.45 [[ 7.68184061e-01 6.40116048e-01 -1.20289112e-02 8.91062630e+01] [-6.40039925e-01 7.68278226e-01 9.87228877e-03 -3.33124953e+01] [ 1.55609610e-02 1.15248526e-04 9.99878914e-01 1.44686348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97762800000001 meters Centerline goodness [0,1] 0.9992996279273364 Centerline is valid? [True, True] Translation: X:89.13, Y:-33.33, Z:1.45 [[ 7.67862230e-01 6.40502886e-01 -1.19853910e-02 8.91313455e+01] [-6.40427273e-01 7.67955754e-01 9.84219403e-03 -3.33326619e+01] [ 1.55082037e-02 1.18322226e-04 9.99879734e-01 1.44689441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.00762800000001 meters Centerline goodness [0,1] 0.999303060002178 Centerline is valid? [True, True] Translation: X:89.16, Y:-33.35, Z:1.45 [[ 7.67901609e-01 6.40446741e-01 -1.24535405e-02 8.91559884e+01] [-6.40365007e-01 7.68002577e-01 1.02323072e-02 -3.33538877e+01] [ 1.61175990e-02 1.17406356e-04 9.99870096e-01 1.44681880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03762800000001 meters Centerline goodness [0,1] 0.9993674475417703 Centerline is valid? [True, True] Translation: X:89.18, Y:-33.38, Z:1.45 [[ 7.67933111e-01 6.40404648e-01 -1.26737677e-02 8.91807294e+01] [-6.40319893e-01 7.68037678e-01 1.04192657e-02 -3.33754672e+01] [ 1.64064773e-02 1.13966456e-04 9.99865398e-01 1.44726868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.06762800000001 meters Centerline goodness [0,1] 0.9991918750682538 Centerline is valid? [True, True] Translation: X:89.21, Y:-33.40, Z:1.45 [[ 7.67975324e-01 6.40352442e-01 -1.27534979e-02 8.92050768e+01] [-6.40266511e-01 7.68081205e-01 1.04907769e-02 -3.33968724e+01] [ 1.65135166e-02 1.08979843e-04 9.99863637e-01 1.44788972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.09762800000001 meters Centerline goodness [0,1] 0.9991901593416215 Centerline is valid? [True, True] Translation: X:89.23, Y:-33.42, Z:1.45 [[ 7.68059466e-01 6.40253487e-01 -1.26542181e-02 8.92283592e+01] [-6.40168786e-01 7.68163695e-01 1.04145905e-02 -3.34196494e+01] [ 1.63884888e-02 1.01810617e-04 9.99865695e-01 1.44881352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.12762800000002 meters Centerline goodness [0,1] 0.9992995359425619 Centerline is valid? [True, True] Translation: X:89.25, Y:-33.44, Z:1.45 [[ 7.67782732e-01 6.40582172e-01 -1.28124054e-02 8.92519574e+01] [-6.40495286e-01 7.67889621e-01 1.05507359e-02 -3.34404038e+01] [ 1.65971264e-02 1.05612429e-04 9.99862253e-01 1.44976578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.157628 meters Centerline goodness [0,1] 0.9993205479452055 Centerline is valid? [True, True] Translation: X:89.28, Y:-33.46, Z:1.45 [[ 7.67330566e-01 6.41123609e-01 -1.28187552e-02 8.92763290e+01] [-6.41036621e-01 7.67437623e-01 1.05615067e-02 -3.34618958e+01] [ 1.66088263e-02 1.13124592e-04 9.99862058e-01 1.45031431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.187628 meters Centerline goodness [0,1] 0.999429874572406 Centerline is valid? [True, True] Translation: X:89.30, Y:-33.48, Z:1.45 [[ 7.66534173e-01 6.42067970e-01 -1.31940890e-02 8.93014440e+01] [-6.41975843e-01 7.66647706e-01 1.08771173e-02 -3.34834012e+01] [ 1.70990667e-02 1.32604316e-04 9.99853791e-01 1.44976931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.217628 meters Centerline goodness [0,1] 0.999407439920992 Centerline is valid? [True, True] Translation: X:89.33, Y:-33.50, Z:1.45 [[ 7.65991334e-01 6.42700731e-01 -1.38941042e-02 8.93259560e+01] [-6.42598551e-01 7.66117320e-01 1.14610051e-02 -3.35032169e+01] [ 1.80105102e-02 1.49300590e-04 9.99837786e-01 1.44922237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.247628 meters Centerline goodness [0,1] 0.999407439920992 Centerline is valid? [True, True] Translation: X:89.35, Y:-33.52, Z:1.45 [[ 7.65818892e-01 6.42906262e-01 -1.38910924e-02 8.93508928e+01] [-6.42804050e-01 7.65944851e-01 1.14646544e-02 -3.35239149e+01] [ 1.80105088e-02 1.49401574e-04 9.99837786e-01 1.44972857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.277628 meters Centerline goodness [0,1] 0.9994280183034143 Centerline is valid? [True, True] Translation: X:89.37, Y:-33.55, Z:1.45 [[ 7.65491804e-01 6.43279281e-01 -1.46309575e-02 8.93749434e+01] [-6.43165825e-01 7.65631596e-01 1.20822497e-02 -3.35459665e+01] [ 1.89741842e-02 1.61268713e-04 9.99819961e-01 1.44995871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.30762800000001 meters Centerline goodness [0,1] 0.9993610364429559 Centerline is valid? [True, True] Translation: X:89.40, Y:-33.57, Z:1.45 [[ 7.65247205e-01 6.43559488e-01 -1.50963724e-02 8.93987135e+01] [-6.43438609e-01 7.65396079e-01 1.24739230e-02 -3.35674472e+01] [ 1.95824158e-02 1.67954108e-04 9.99808232e-01 1.44974143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33762800000001 meters Centerline goodness [0,1] 0.999557981744646 Centerline is valid? [True, True] Translation: X:89.42, Y:-33.59, Z:1.45 [[ 7.66122371e-01 6.42490490e-01 -1.62013056e-02 8.94206877e+01] [-6.42350881e-01 7.66293644e-01 1.33939228e-02 -3.35915512e+01] [ 2.10204255e-02 1.45538983e-04 9.99779036e-01 1.44971546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.36762800000001 meters Centerline goodness [0,1] 0.9997121728734003 Centerline is valid? [True, True] Translation: X:89.44, Y:-33.62, Z:1.45 [[ 7.67155538e-01 6.41243677e-01 -1.67011092e-02 8.94443008e+01] [-6.41094897e-01 7.67337301e-01 1.38129979e-02 -3.36152000e+01] [ 2.16728817e-02 1.10278016e-04 9.99765109e-01 1.45041466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39762800000001 meters Centerline goodness [0,1] 0.99966642946095 Centerline is valid? [True, True] Translation: X:89.47, Y:-33.64, Z:1.45 [[ 7.68401822e-01 6.39740924e-01 -1.70349649e-02 8.94674593e+01] [-6.39585585e-01 7.68590623e-01 1.40972864e-02 -3.36389479e+01] [ 2.21115253e-02 6.29374886e-05 9.99755508e-01 1.45176201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.42762800000001 meters Centerline goodness [0,1] 0.9997112843405068 Centerline is valid? [True, True] Translation: X:89.49, Y:-33.66, Z:1.45 [[ 7.69895397e-01 6.37947004e-01 -1.68729530e-02 8.94897060e+01] [-6.37794018e-01 7.70080268e-01 1.39703449e-02 -3.36614969e+01] [ 2.19058678e-02 5.76424148e-06 9.99760038e-01 1.45245790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45762800000001 meters Centerline goodness [0,1] 0.9997995143792743 Centerline is valid? [True, True] Translation: X:89.51, Y:-33.69, Z:1.45 [[ 7.73174909e-01 6.33969362e-01 -1.68347681e-02 8.95097994e+01] [-6.33815999e-01 7.73358155e-01 1.39442823e-02 -3.36875528e+01] [ 2.18595529e-02 -1.11223871e-04 9.99761045e-01 1.45396396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.48762800000002 meters Centerline goodness [0,1] 0.9997995679575975 Centerline is valid? [True, True] Translation: X:89.53, Y:-33.71, Z:1.45 [[ 7.75084710e-01 6.31634816e-01 -1.67675712e-02 8.95312497e+01] [-6.31481981e-01 7.75266036e-01 1.38953661e-02 -3.37110864e+01] [ 2.17761255e-02 -1.81666713e-04 9.99762856e-01 1.45423124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.51762800000002 meters Centerline goodness [0,1] 0.9999102696397326 Centerline is valid? [True, True] Translation: X:89.55, Y:-33.74, Z:1.46 [[ 7.79324717e-01 6.26396465e-01 -1.67467627e-02 8.95505987e+01] [-6.26242674e-01 7.79504559e-01 1.38836258e-02 -3.37371991e+01] [ 2.17508320e-02 -3.32315314e-04 9.99763367e-01 1.45572976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.547628 meters Centerline goodness [0,1] 0.9999327595481442 Centerline is valid? [True, True] Translation: X:89.57, Y:-33.76, Z:1.46 [[ 7.81604670e-01 6.23542599e-01 -1.69931471e-02 8.95711809e+01] [-6.23383477e-01 7.81789262e-01 1.40922237e-02 -3.37605329e+01] [ 2.20721618e-02 -4.21300727e-04 9.99756291e-01 1.45589559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.59, Y:-33.78, Z:1.46 [[ 7.84302242e-01 6.20141373e-01 -1.71659826e-02 8.95929596e+01] [-6.19978065e-01 7.84489898e-01 1.42407405e-02 -3.37844223e+01] [ 2.22978123e-02 -5.26511997e-04 9.99751234e-01 1.45632530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.61, Y:-33.81, Z:1.46 [[ 7.89894053e-01 6.12978069e-01 -1.80352984e-02 8.96127674e+01] [-6.12795868e-01 7.90099548e-01 1.49642073e-02 -3.38102855e+01] [ 2.34224120e-02 -7.68181993e-04 9.99725363e-01 1.45716807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.63, Y:-33.84, Z:1.46 [[ 7.92439939e-01 6.09679254e-01 -1.81700398e-02 8.96323131e+01] [-6.09493358e-01 7.92647740e-01 1.50799963e-02 -3.38355073e+01] [ 2.35964018e-02 -8.75472771e-04 9.99721183e-01 1.45693233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.66762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.65, Y:-33.86, Z:1.46 [[ 7.96286602e-01 6.04662099e-01 -1.76463154e-02 8.96535268e+01] [-6.04485385e-01 7.96481478e-01 1.46517612e-02 -3.38586173e+01] [ 2.29143280e-02 -1.00006140e-03 9.99736932e-01 1.45903615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69762800000001 meters Centerline goodness [0,1] 0.9999773098565983 Centerline is valid? [True, True] Translation: X:89.68, Y:-33.88, Z:1.46 [[ 7.96709709e-01 6.04128511e-01 -1.68042178e-02 8.96795547e+01] [-6.03968008e-01 7.96886314e-01 1.39587788e-02 -3.38780705e+01] [ 2.18239475e-02 -9.71884603e-04 9.99761357e-01 1.46120755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.70, Y:-33.90, Z:1.46 [[ 7.96337649e-01 6.04628998e-01 -1.64354369e-02 8.97030300e+01] [-6.04475443e-01 7.96506678e-01 1.36583347e-02 -3.38980798e+01] [ 2.13491605e-02 -9.41828090e-04 9.99771637e-01 1.46261695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.73, Y:-33.92, Z:1.46 [[ 7.95523835e-01 6.05710283e-01 -1.60274990e-02 8.97298743e+01] [-6.05564384e-01 7.95684770e-01 1.33237689e-02 -3.39165428e+01] [ 2.08231807e-02 -8.93693168e-04 9.99782775e-01 1.46354039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.78762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.76, Y:-33.93, Z:1.46 [[ 7.93379047e-01 6.08488284e-01 -1.70790955e-02 8.97550277e+01] [-6.08323089e-01 7.93562369e-01 1.42051471e-02 -3.39341948e+01] [ 2.21969930e-02 -8.80457939e-04 9.99753229e-01 1.46306802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.78, Y:-33.95, Z:1.46 [[ 7.92323376e-01 6.09838832e-01 -1.78960250e-02 8.97815647e+01] [-6.09657672e-01 7.92524960e-01 1.48899664e-02 -3.39534439e+01] [ 2.32635262e-02 -8.87219539e-04 9.99728974e-01 1.46331472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.84762800000001 meters Centerline goodness [0,1] 0.9999773980652744 Centerline is valid? [True, True] Translation: X:89.81, Y:-33.97, Z:1.46 [[ 7.91004906e-01 6.11539240e-01 -1.81933122e-02 8.98081261e+01] [-6.11352354e-01 7.91213642e-01 1.51417226e-02 -3.39720537e+01] [ 2.36545543e-02 -8.54652616e-04 9.99719827e-01 1.46348608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.83, Y:-33.99, Z:1.46 [[ 7.89626706e-01 6.13318698e-01 -1.81614876e-02 8.98346771e+01] [-6.13132755e-01 7.89835125e-01 1.51228039e-02 -3.39906547e+01] [ 2.36196792e-02 -8.05966874e-04 9.99720692e-01 1.46382161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.907628 meters Centerline goodness [0,1] 0.9999775578446554 Centerline is valid? [True, True] Translation: X:89.86, Y:-34.01, Z:1.46 [[ 7.86889566e-01 6.16846626e-01 -1.74656804e-02 8.98628649e+01] [-6.16675377e-01 7.87083083e-01 1.45499339e-02 -3.40052582e+01] [ 2.27220192e-02 -6.78536090e-04 9.99741591e-01 1.46425497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.937628 meters Centerline goodness [0,1] 0.9999553730810424 Centerline is valid? [True, True] Translation: X:89.89, Y:-34.02, Z:1.46 [[ 7.85070610e-01 6.19175597e-01 -1.69032101e-02 8.98885952e+01] [-6.19015617e-01 7.85252332e-01 1.40868969e-02 -3.40234126e+01] [ 2.19955479e-02 -5.95857706e-04 9.99757891e-01 1.46470549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.967628 meters Centerline goodness [0,1] 0.9999553700934997 Centerline is valid? [True, True] Translation: X:89.92, Y:-34.04, Z:1.47 [[ 7.81739399e-01 6.23382706e-01 -1.66587462e-02 8.99170196e+01] [-6.23228164e-01 7.81916732e-01 1.38881026e-02 -3.40387201e+01] [ 2.16833554e-02 -4.74677140e-04 9.99764776e-01 1.46660433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.997628 meters Centerline goodness [0,1] 0.9999555723393385 Centerline is valid? [True, True] Translation: X:89.94, Y:-34.06, Z:1.47 [[ 7.80134024e-01 6.25392523e-01 -1.65860656e-02 8.99424692e+01] [-6.25239718e-01 7.80310205e-01 1.38303220e-02 -3.40566087e+01] [ 2.15916563e-02 -4.19237762e-04 9.99766785e-01 1.46747712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.027628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.97, Y:-34.07, Z:1.47 [[ 7.78484356e-01 6.27447915e-01 -1.64687961e-02 8.99687003e+01] [-6.27297587e-01 7.78658449e-01 1.37388824e-02 -3.40748976e+01] [ 2.14440004e-02 -3.64668951e-04 9.99769984e-01 1.46785779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05762800000001 meters Centerline goodness [0,1] 0.9999557815609109 Centerline is valid? [True, True] Translation: X:90.00, Y:-34.09, Z:1.47 [[ 7.76471839e-01 6.29936630e-01 -1.64719420e-02 8.99964552e+01] [-6.29786659e-01 7.76646478e-01 1.37482018e-02 -3.40912375e+01] [ 2.14533716e-02 -3.01282245e-04 9.99769805e-01 1.46804329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08762800000001 meters Centerline goodness [0,1] 0.9999557854711058 Centerline is valid? [True, True] Translation: X:90.02, Y:-34.11, Z:1.47 [[ 7.75551707e-01 6.31074695e-01 -1.62567040e-02 9.00212863e+01] [-6.30928732e-01 7.75722023e-01 1.35749408e-02 -3.41096802e+01] [ 2.11774850e-02 -2.71246863e-04 9.99775695e-01 1.46831567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11762800000001 meters Centerline goodness [0,1] 0.9999339556181754 Centerline is valid? [True, True] Translation: X:90.05, Y:-34.13, Z:1.47 [[ 7.74956524e-01 6.31805054e-01 -1.62714242e-02 9.00486865e+01] [-6.31658849e-01 7.75127285e-01 1.35937669e-02 -3.41283963e+01] [ 2.12010355e-02 -2.56589307e-04 9.99775200e-01 1.46916254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.14762800000001 meters Centerline goodness [0,1] 0.9999780045750484 Centerline is valid? [True, True] Translation: X:90.07, Y:-34.15, Z:1.47 [[ 7.74001689e-01 6.32968629e-01 -1.64954575e-02 9.00741039e+01] [-6.32818472e-01 7.74177409e-01 1.37884534e-02 -3.41470669e+01] [ 2.14980690e-02 -2.33656034e-04 9.99768863e-01 1.46849548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17762800000001 meters Centerline goodness [0,1] 0.9999341151666886 Centerline is valid? [True, True] Translation: X:90.10, Y:-34.17, Z:1.47 [[ 7.73386742e-01 6.33708733e-01 -1.69171082e-02 9.01009133e+01] [-6.33550821e-01 7.73571711e-01 1.41479851e-02 -3.41658248e+01] [ 2.20522980e-02 -2.24016318e-04 9.99756793e-01 1.46946120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.20762800000001 meters Centerline goodness [0,1] 0.9999341672152732 Centerline is valid? [True, True] Translation: X:90.13, Y:-34.19, Z:1.47 [[ 7.72604627e-01 6.34653449e-01 -1.72362840e-02 9.01267221e+01] [-6.34489569e-01 7.72796840e-01 1.44232561e-02 -3.41857546e+01] [ 2.24739151e-02 -2.07231964e-04 9.99747408e-01 1.46947866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.23762800000002 meters Centerline goodness [0,1] 0.999912468817016 Centerline is valid? [True, True] Translation: X:90.15, Y:-34.20, Z:1.47 [[ 7.71183668e-01 6.36371429e-01 -1.75258231e-02 9.01517203e+01] [-6.36202277e-01 7.71382769e-01 1.46726218e-02 -3.42040479e+01] [ 2.28563553e-02 -1.65317715e-04 9.99738746e-01 1.46803971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.26762800000002 meters Centerline goodness [0,1] 0.999934250898571 Centerline is valid? [True, True] Translation: X:90.18, Y:-34.22, Z:1.47 [[ 7.70199406e-01 6.37564508e-01 -1.74462985e-02 9.01777784e+01] [-6.37397080e-01 7.70396963e-01 1.46110312e-02 -3.42234363e+01] [ 2.27560503e-02 -1.33187788e-04 9.99741039e-01 1.46839181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.297628 meters Centerline goodness [0,1] 0.9999344075912281 Centerline is valid? [True, True] Translation: X:90.20, Y:-34.24, Z:1.47 [[ 7.68944862e-01 6.39069949e-01 -1.77030850e-02 9.02025902e+01] [-6.38897785e-01 7.69148615e-01 1.48333698e-02 -3.42432275e+01] [ 2.30958641e-02 -9.55817086e-05 9.99733250e-01 1.46791627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.327628 meters Centerline goodness [0,1] 0.9999343903772553 Centerline is valid? [True, True] Translation: X:90.23, Y:-34.26, Z:1.47 [[ 7.66128667e-01 6.42417027e-01 -1.86340944e-02 9.02294820e+01] [-6.42227058e-01 7.66355246e-01 1.56218625e-02 -3.42625374e+01] [ 2.43160864e-02 -1.03709075e-06 9.99704320e-01 1.46778520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.357628 meters Centerline goodness [0,1] 0.999934544978509 Centerline is valid? [True, True] Translation: X:90.25, Y:-34.28, Z:1.47 [[ 7.64623963e-01 6.44191620e-01 -1.91663950e-02 9.02543910e+01] [-6.43990980e-01 7.64864141e-01 1.60768194e-02 -3.42822374e+01] [ 2.50162405e-02 5.02641286e-05 9.99687044e-01 1.46765567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.387628 meters Centerline goodness [0,1] 0.9999342566619915 Centerline is valid? [True, True] Translation: X:90.28, Y:-34.30, Z:1.47 [[ 7.63287015e-01 6.45769674e-01 -1.93509960e-02 9.02801912e+01] [-6.45565435e-01 7.63532265e-01 1.62403761e-02 -3.43033242e+01] [ 2.52626522e-02 9.62659041e-05 9.99680844e-01 1.46867883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41762800000001 meters Centerline goodness [0,1] 0.9999342162968161 Centerline is valid? [True, True] Translation: X:90.31, Y:-34.32, Z:1.47 [[ 7.60871316e-01 6.48606124e-01 -1.96198128e-02 9.03055698e+01] [-6.48396916e-01 7.61124209e-01 1.64735591e-02 -3.43221606e+01] [ 2.56179658e-02 1.87167517e-04 9.99671789e-01 1.46716831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44762800000001 meters Centerline goodness [0,1] 0.9999123825378398 Centerline is valid? [True, True] Translation: X:90.33, Y:-34.34, Z:1.47 [[ 7.59768390e-01 6.49890935e-01 -1.98435346e-02 9.03293319e+01] [-6.49677209e-01 7.60027447e-01 1.66674618e-02 -3.43433532e+01] [ 2.59136633e-02 2.28481557e-04 9.99664159e-01 1.46874706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47762800000001 meters Centerline goodness [0,1] 0.9998904253687186 Centerline is valid? [True, True] Translation: X:90.35, Y:-34.37, Z:1.47 [[ 7.58846367e-01 6.50969440e-01 -1.97731950e-02 9.03534862e+01] [-6.50757365e-01 7.59103894e-01 1.66171550e-02 -3.43650100e+01] [ 2.58271694e-02 2.57684531e-04 9.99666390e-01 1.46964367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.50762800000001 meters Centerline goodness [0,1] 0.9999120066874918 Centerline is valid? [True, True] Translation: X:90.38, Y:-34.39, Z:1.47 [[ 7.58161834e-01 6.51768350e-01 -1.97142620e-02 9.03760606e+01] [-6.51557567e-01 7.58418052e-01 1.65769347e-02 -3.43872034e+01] [ 2.57559736e-02 2.76977391e-04 9.99668222e-01 1.47051774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53762800000001 meters Centerline goodness [0,1] 0.9999120492524186 Centerline is valid? [True, True] Translation: X:90.40, Y:-34.41, Z:1.47 [[ 7.58129285e-01 6.51818596e-01 -1.93004250e-02 9.03996164e+01] [-6.51616364e-01 7.58374873e-01 1.62378094e-02 -3.44098919e+01] [ 2.52210635e-02 2.66113989e-04 9.99681863e-01 1.47151617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.56762800000001 meters Centerline goodness [0,1] 0.9999339381661235 Centerline is valid? [True, True] Translation: X:90.42, Y:-34.43, Z:1.47 [[ 7.58599569e-01 6.51285304e-01 -1.88187843e-02 9.04230462e+01] [-6.51092668e-01 7.58832918e-01 1.58411200e-02 -3.44319697e+01] [ 2.45974016e-02 2.35705705e-04 9.99697410e-01 1.47249199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.59762800000001 meters Centerline goodness [0,1] 0.9998901267936801 Centerline is valid? [True, True] Translation: X:90.45, Y:-34.45, Z:1.47 [[ 7.59086607e-01 6.50727576e-01 -1.84701396e-02 9.04459842e+01] [-6.50541661e-01 7.59311253e-01 1.55553139e-02 -3.44537722e+01] [ 2.41468566e-02 2.07764850e-04 9.99708401e-01 1.47367913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.62762800000002 meters Centerline goodness [0,1] 0.9999559335477901 Centerline is valid? [True, True] Translation: X:90.47, Y:-34.48, Z:1.48 [[ 7.61306659e-01 6.48167364e-01 -1.70657266e-02 9.04675935e+01] [-6.48007854e-01 7.61497903e-01 1.43793521e-02 -3.44783107e+01] [ 2.23157418e-02 1.11628347e-04 9.99750967e-01 1.47543338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.657628 meters Centerline goodness [0,1] 0.9999557267454731 Centerline is valid? [True, True] Translation: X:90.49, Y:-34.50, Z:1.48 [[ 7.62559501e-01 6.46694211e-01 -1.70178157e-02 9.04890829e+01] [-6.46535070e-01 7.62749365e-01 1.43460416e-02 -3.45002991e+01] [ 2.22578302e-02 6.29043099e-05 9.99752262e-01 1.47596211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.51, Y:-34.52, Z:1.48 [[ 7.63754282e-01 6.45288728e-01 -1.67884822e-02 9.05120683e+01] [-6.45133355e-01 7.63938778e-01 1.41597107e-02 -3.45242166e+01] [ 2.19624743e-02 1.62701141e-05 9.99758796e-01 1.47736039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.717628 meters Centerline goodness [0,1] 0.9999331759255135 Centerline is valid? [True, True] Translation: X:90.53, Y:-34.55, Z:1.48 [[ 7.66159401e-01 6.42412881e-01 -1.74774695e-02 9.05335337e+01] [-6.42243539e-01 7.66358718e-01 1.47496378e-02 -3.45504144e+01] [ 2.28693684e-02 -7.57818384e-05 9.99738459e-01 1.47804194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.56, Y:-34.57, Z:1.48 [[ 7.67245472e-01 6.41110716e-01 -1.76475288e-02 9.05554745e+01] [-6.40937519e-01 7.67448392e-01 1.49017491e-02 -3.45737623e+01] [ 2.30972386e-02 -1.22336212e-04 9.99733216e-01 1.47722329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.777628 meters Centerline goodness [0,1] 0.9999776005734253 Centerline is valid? [True, True] Translation: X:90.58, Y:-34.60, Z:1.48 [[ 7.67975520e-01 6.40229449e-01 -1.78844638e-02 9.05787905e+01] [-6.40051132e-01 7.68183720e-01 1.51102684e-02 -3.45968517e+01] [ 2.34125927e-02 -1.57344944e-04 9.99725875e-01 1.47799293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.60, Y:-34.62, Z:1.48 [[ 7.68746830e-01 6.39298780e-01 -1.80383404e-02 9.06005836e+01] [-6.39116931e-01 7.68958407e-01 1.52484678e-02 -3.46191888e+01] [ 2.36190604e-02 -1.93602563e-04 9.99721012e-01 1.47818766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83762800000001 meters Centerline goodness [0,1] 0.9999774424217815 Centerline is valid? [True, True] Translation: X:90.62, Y:-34.64, Z:1.48 [[ 7.69811555e-01 6.38023044e-01 -1.77978708e-02 9.06221564e+01] [-6.37845506e-01 7.70017233e-01 1.50522729e-02 -3.46435193e+01] [ 2.33083642e-02 -2.35121728e-04 9.99728296e-01 1.47904203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.86762800000001 meters Centerline goodness [0,1] 0.9999097391461323 Centerline is valid? [True, True] Translation: X:90.64, Y:-34.67, Z:1.48 [[ 7.69997500e-01 6.37786845e-01 -1.82151123e-02 9.06449313e+01] [-6.37600625e-01 7.70212877e-01 1.54131790e-02 -3.46663326e+01] [ 2.38598369e-02 -2.54142308e-04 9.99715281e-01 1.47784595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.67, Y:-34.69, Z:1.48 [[ 7.69701623e-01 6.38166035e-01 -1.74219008e-02 9.06666028e+01] [-6.37995614e-01 7.69898731e-01 1.47492742e-02 -3.46893007e+01] [ 2.28255852e-02 -2.37444028e-04 9.99739434e-01 1.48093654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.92762800000001 meters Centerline goodness [0,1] 0.9999774607253139 Centerline is valid? [True, True] Translation: X:90.69, Y:-34.71, Z:1.48 [[ 7.68689649e-01 6.39401813e-01 -1.67792929e-02 9.06916766e+01] [-6.39243885e-01 7.68872735e-01 1.42117371e-02 -3.47098989e+01] [ 2.19881513e-02 -1.98354786e-04 9.99758212e-01 1.48194154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95762800000001 meters Centerline goodness [0,1] 0.9999774169508368 Centerline is valid? [True, True] Translation: X:90.72, Y:-34.73, Z:1.48 [[ 7.67187536e-01 6.41210404e-01 -1.65076599e-02 9.07168627e+01] [-6.41057818e-01 7.67365100e-01 1.39884992e-02 -3.47296941e+01] [ 2.16369733e-02 -1.49437774e-04 9.99765882e-01 1.48284522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.98762800000002 meters Centerline goodness [0,1] 0.9999774546274377 Centerline is valid? [True, True] Translation: X:90.74, Y:-34.75, Z:1.48 [[ 7.64263124e-01 6.44688591e-01 -1.66882705e-02 9.07419946e+01] [-6.44533338e-01 7.64445301e-01 1.41477401e-02 -3.47479976e+01] [ 2.18781566e-02 -5.64493529e-05 9.99760643e-01 1.48263629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.01762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.77, Y:-34.77, Z:1.48 [[ 7.62916334e-01 6.46277390e-01 -1.68582677e-02 9.07679672e+01] [-6.46119230e-01 7.63102571e-01 1.42970791e-02 -3.47685016e+01] [ 2.21044664e-02 -1.50242277e-05 9.99755666e-01 1.48263034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.047628 meters Centerline goodness [0,1] 0.9999549356706698 Centerline is valid? [True, True] Translation: X:90.79, Y:-34.79, Z:1.48 [[ 7.61684088e-01 6.47733567e-01 -1.66905986e-02 9.07925346e+01] [-6.47578718e-01 7.61866935e-01 1.41625728e-02 -3.47883279e+01] [ 2.18895891e-02 2.10700818e-05 9.99760394e-01 1.48263823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.077628 meters Centerline goodness [0,1] 0.9999774936982355 Centerline is valid? [True, True] Translation: X:90.82, Y:-34.81, Z:1.48 [[ 7.60861658e-01 6.48696680e-01 -1.67974526e-02 9.08175594e+01] [-6.48539909e-01 7.61047052e-01 1.42608211e-02 -3.48092462e+01] [ 2.20345991e-02 4.33063488e-05 9.99757208e-01 1.48350752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.84, Y:-34.83, Z:1.48 [[ 7.60057859e-01 6.49650247e-01 -1.63281019e-02 9.08426133e+01] [-6.49502192e-01 7.60233222e-01 1.38690472e-02 -3.48298390e+01] [ 2.14231955e-02 6.38597076e-05 9.99770495e-01 1.48396279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.87, Y:-34.85, Z:1.48 [[ 7.59883377e-01 6.49854396e-01 -1.63253802e-02 9.08672431e+01] [-6.49706319e-01 7.60058722e-01 1.38722504e-02 -3.48508840e+01] [ 2.14231905e-02 6.54102160e-05 9.99770495e-01 1.48446834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.89, Y:-34.87, Z:1.49 [[ 7.59661347e-01 6.50122301e-01 -1.59884949e-02 9.08928811e+01] [-6.49980180e-01 7.59829579e-01 1.35932649e-02 -3.48721045e+01] [ 2.09858160e-02 6.59268791e-05 9.99779771e-01 1.48503085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.92, Y:-34.89, Z:1.49 [[ 7.59783940e-01 6.49998467e-01 -1.51775468e-02 9.09177127e+01] [-6.49870242e-01 7.59935517e-01 1.29104223e-02 -3.48924385e+01] [ 1.99257116e-02 5.43045157e-05 9.99801462e-01 1.48585907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.94, Y:-34.91, Z:1.49 [[ 7.59673242e-01 6.50132845e-01 -1.49616231e-02 9.09426212e+01] [-6.50008142e-01 7.59820559e-01 1.27331814e-02 -3.49137214e+01] [ 1.96464082e-02 5.21196514e-05 9.99806989e-01 1.48656843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.97, Y:-34.93, Z:1.49 [[ 7.59501112e-01 6.50335534e-01 -1.48913972e-02 9.09676198e+01] [-6.50211907e-01 7.59647083e-01 1.26801340e-02 -3.49348703e+01] [ 1.95585482e-02 5.19878838e-05 9.99808712e-01 1.48698110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.28762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.99, Y:-34.96, Z:1.49 [[ 7.59418244e-01 6.50438482e-01 -1.46189020e-02 9.09930776e+01] [-6.50319233e-01 7.59558937e-01 1.24545844e-02 -3.49562308e+01] [ 1.92048586e-02 4.87145228e-05 9.99815569e-01 1.48738902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.02, Y:-34.98, Z:1.49 [[ 7.58808769e-01 6.51152383e-01 -1.44854027e-02 9.10180008e+01] [-6.51035310e-01 7.58947015e-01 1.23472130e-02 -3.49759450e+01] [ 1.90335703e-02 6.13351486e-05 9.99818843e-01 1.48754684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.04, Y:-35.00, Z:1.49 [[ 7.58430191e-01 6.51598204e-01 -1.42627526e-02 9.10435770e+01] [-6.51484671e-01 7.58564286e-01 1.21633724e-02 -3.49966837e+01] [ 1.87448463e-02 6.68957878e-05 9.99824298e-01 1.48834961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.07, Y:-35.02, Z:1.49 [[ 7.58142374e-01 6.51934868e-01 -1.41799092e-02 9.10695182e+01] [-6.51822591e-01 7.58274966e-01 1.20990029e-02 -3.50174375e+01] [ 1.86400320e-02 7.00184416e-05 9.99826257e-01 1.48845005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.407628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.09, Y:-35.04, Z:1.49 [[ 7.58320353e-01 6.51718164e-01 -1.46176770e-02 9.10948361e+01] [-6.51598681e-01 7.58461226e-01 1.24791016e-02 -3.50376989e+01] [ 1.92197985e-02 6.17023212e-05 9.99815281e-01 1.48726889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.12, Y:-35.06, Z:1.49 [[ 7.59078316e-01 6.50832061e-01 -1.47559443e-02 9.11182510e+01] [-6.50710020e-01 7.59221725e-01 1.26032696e-02 -3.50592028e+01] [ 1.94056454e-02 3.49721539e-05 9.99811692e-01 1.48690150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.467628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.14, Y:-35.08, Z:1.49 [[ 7.62175451e-01 6.47205233e-01 -1.46276339e-02 9.11386872e+01] [-6.47084521e-01 7.62315802e-01 1.24995771e-02 -3.50837307e+01] [ 1.92406682e-02 -6.15553622e-05 9.99814879e-01 1.48781517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.16, Y:-35.11, Z:1.49 [[ 7.64428616e-01 6.44542722e-01 -1.46140211e-02 9.11594222e+01] [-6.44421637e-01 7.64568284e-01 1.24936812e-02 -3.51069546e+01] [ 1.92261283e-02 -1.32936013e-04 9.99815152e-01 1.48865804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.527628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.18, Y:-35.13, Z:1.49 [[ 7.66642318e-01 6.41914754e-01 -1.43179678e-02 9.11813216e+01] [-6.41797973e-01 7.66775983e-01 1.22455081e-02 -3.51310443e+01] [ 1.88392462e-02 -1.98682014e-04 9.99822506e-01 1.48947654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.20, Y:-35.15, Z:1.49 [[ 7.68463119e-01 6.39740223e-01 -1.40314926e-02 9.12031305e+01] [-6.39627618e-01 7.68591169e-01 1.20052404e-02 -3.51533505e+01] [ 1.84647164e-02 -2.50654311e-04 9.99829481e-01 1.49025030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.23, Y:-35.17, Z:1.49 [[ 7.70961202e-01 6.36743292e-01 -1.32968315e-02 9.12257038e+01] [-6.36641677e-01 7.71075797e-01 1.13793753e-02 -3.51746711e+01] [ 1.74986059e-02 -3.07739738e-04 9.99846840e-01 1.49046752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.25, Y:-35.20, Z:1.49 [[ 7.72396729e-01 6.34997659e-01 -1.34635357e-02 9.12488966e+01] [-6.34893136e-01 7.72513979e-01 1.15264222e-02 -3.51962998e+01] [ 1.77200206e-02 -3.55064383e-04 9.99842925e-01 1.49011496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.64762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.27, Y:-35.22, Z:1.49 [[ 7.75124129e-01 6.31651914e-01 -1.40870002e-02 9.12698317e+01] [-6.31536887e-01 7.75251994e-01 1.20626231e-02 -3.52188937e+01] [ 1.85403540e-02 -4.53570012e-04 9.99828010e-01 1.48955795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.29, Y:-35.24, Z:1.49 [[ 7.76138539e-01 6.30403091e-01 -1.41743374e-02 9.12928006e+01] [-6.30286400e-01 7.76267805e-01 1.21387450e-02 -3.52410301e+01] [ 1.86553841e-02 -4.87455692e-04 9.99825854e-01 1.49023181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.70762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.32, Y:-35.26, Z:1.49 [[ 7.76764099e-01 6.29625200e-01 -1.44790050e-02 9.13165816e+01] [-6.29503203e-01 7.76898858e-01 1.24049147e-02 -3.52627364e+01] [ 1.90591693e-02 -5.21112406e-04 9.99818222e-01 1.49056590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.73762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.34, Y:-35.28, Z:1.49 [[ 7.77131763e-01 6.29173806e-01 -1.43716587e-02 9.13399291e+01] [-6.29053439e-01 7.77264459e-01 1.23179713e-02 -3.52832424e+01] [ 1.89207244e-02 -5.32145398e-04 9.99820845e-01 1.49097176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.76762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.37, Y:-35.30, Z:1.49 [[ 7.76284900e-01 6.30212220e-01 -1.46393894e-02 9.13660058e+01] [-6.30087416e-01 7.76422750e-01 1.25523254e-02 -3.52999961e+01] [ 1.92769838e-02 -5.20085674e-04 9.99814046e-01 1.49033425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.39, Y:-35.32, Z:1.49 [[ 7.75235653e-01 6.31500302e-01 -1.47326319e-02 9.13923618e+01] [-6.31374040e-01 7.75375472e-01 1.26371712e-02 -3.53190505e+01] [ 1.94036989e-02 -4.94984335e-04 9.99811608e-01 1.49086603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.42, Y:-35.34, Z:1.49 [[ 7.74223087e-01 6.32742061e-01 -1.47002244e-02 9.14188390e+01] [-6.32616478e-01 7.74362491e-01 1.26144924e-02 -3.53379785e+01] [ 1.93650223e-02 -4.66827064e-04 9.99812371e-01 1.49076461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.45, Y:-35.36, Z:1.49 [[ 7.73073751e-01 6.34144904e-01 -1.47382174e-02 9.14451898e+01] [-6.34018826e-01 7.73214103e-01 1.26522377e-02 -3.53570093e+01] [ 1.94191496e-02 -4.36805605e-04 9.99811335e-01 1.49096597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.48, Y:-35.37, Z:1.49 [[ 7.70813559e-01 6.36882040e-01 -1.50905592e-02 9.14776823e+01] [-6.36750272e-01 7.70961168e-01 1.29602710e-02 -3.53684672e+01] [ 1.98883990e-02 -3.81034959e-04 9.99802134e-01 1.49271169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.50, Y:-35.39, Z:1.49 [[ 7.69690162e-01 6.38239048e-01 -1.50987590e-02 9.15039763e+01] [-6.38107273e-01 7.69838161e-01 1.29736032e-02 -3.53877360e+01] [ 1.99038610e-02 -3.51026845e-04 9.99801837e-01 1.49278977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.53, Y:-35.41, Z:1.49 [[ 7.68503013e-01 6.39650942e-01 -1.58048031e-02 9.15280681e+01] [-6.39506705e-01 7.68665442e-01 1.35872236e-02 -3.54081031e+01] [ 2.08396863e-02 -3.34544733e-04 9.99782774e-01 1.49182688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.55, Y:-35.43, Z:1.49 [[ 7.68293175e-01 6.39898354e-01 -1.59904437e-02 9.15542751e+01] [-6.39750613e-01 7.68459487e-01 1.37538794e-02 -3.54284949e+01] [ 2.10890929e-02 -3.37115474e-04 9.99777544e-01 1.49199966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.00762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.58, Y:-35.45, Z:1.49 [[ 7.68486173e-01 6.39659822e-01 -1.62577411e-02 9.15786843e+01] [-6.39506878e-01 7.68658042e-01 1.39916913e-02 -3.54501725e+01] [ 2.14465662e-02 -3.55484043e-04 9.99769933e-01 1.49216344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.60, Y:-35.47, Z:1.49 [[ 7.69944922e-01 6.37915536e-01 -1.57666228e-02 9.15999272e+01] [-6.37771197e-01 7.70106234e-01 1.35753067e-02 -3.54723840e+01] [ 2.08018735e-02 -3.96740557e-04 9.99783539e-01 1.49271486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.06762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.62, Y:-35.49, Z:1.49 [[ 7.71108401e-01 6.36515492e-01 -1.54875048e-02 9.16217119e+01] [-6.36375871e-01 7.71263797e-01 1.33381609e-02 -3.54941972e+01] [ 2.04348978e-02 -4.29293546e-04 9.99791094e-01 1.49372110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.65, Y:-35.52, Z:1.50 [[ 7.72346491e-01 6.35026316e-01 -1.49156535e-02 9.16451186e+01] [-6.34896463e-01 7.72490370e-01 1.28494705e-02 -3.55155456e+01] [ 1.96819506e-02 -4.54347791e-04 9.99806188e-01 1.49503307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.67, Y:-35.54, Z:1.50 [[ 7.73672979e-01 6.33419856e-01 -1.44709235e-02 9.16677789e+01] [-6.33297238e-01 7.73808148e-01 1.24722850e-02 -3.55385654e+01] [ 1.90979115e-02 -4.85074043e-04 9.99817501e-01 1.49614564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.157628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.69, Y:-35.56, Z:1.50 [[ 7.75933646e-01 6.30688337e-01 -1.26173543e-02 9.16867416e+01] [-6.30594683e-01 7.76036073e-01 1.08793418e-02 -3.55639852e+01] [ 1.66529961e-02 -4.85210804e-04 9.99861212e-01 1.49926034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.71, Y:-35.58, Z:1.50 [[ 7.76744350e-01 6.29704586e-01 -1.18468808e-02 9.17114470e+01] [-6.29621840e-01 7.76834541e-01 1.02192996e-02 -3.55841283e+01] [ 1.56382060e-02 -4.78728356e-04 9.99877601e-01 1.50085617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.217628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.74, Y:-35.61, Z:1.50 [[ 7.76771876e-01 6.29684837e-01 -1.10660952e-02 9.17360109e+01] [-6.29612576e-01 7.76850566e-01 9.54996045e-03 -3.56063745e+01] [ 1.46101676e-02 -4.50788016e-04 9.99893164e-01 1.50264787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.76, Y:-35.63, Z:1.51 [[ 7.76054199e-01 6.30603669e-01 -8.88221720e-03 9.17587049e+01] [-6.30557131e-01 7.76104948e-01 7.66905571e-03 -3.56279198e+01] [ 1.17296674e-02 -3.50857484e-04 9.99931144e-01 1.50606827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.277628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.78, Y:-35.65, Z:1.51 [[ 7.75087188e-01 6.31802668e-01 -8.07712142e-03 9.17835213e+01] [-6.31764229e-01 7.75129212e-01 6.97589419e-03 -3.56490196e+01] [ 1.06682013e-02 -3.04089825e-04 9.99943047e-01 1.50778286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.81, Y:-35.67, Z:1.51 [[ 7.73609597e-01 6.33612692e-01 -7.94664161e-03 9.18105551e+01] [-6.33575579e-01 7.73650361e-01 6.86325910e-03 -3.56672499e+01] [ 1.04965702e-02 -2.74685043e-04 9.99944872e-01 1.50766874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.84, Y:-35.68, Z:1.51 [[ 7.69465943e-01 6.38631846e-01 -8.45746367e-03 9.18363026e+01] [-6.38590057e-01 7.69512388e-01 7.30911949e-03 -3.56837367e+01] [ 1.11759595e-02 -2.23266315e-04 9.99937522e-01 1.50644535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.36762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.86, Y:-35.70, Z:1.51 [[ 7.66953143e-01 6.41640062e-01 -8.99484388e-03 9.18630937e+01] [-6.41592978e-01 7.67005863e-01 7.77538930e-03 -3.57025299e+01] [ 1.18880993e-02 -1.92330591e-04 9.99929316e-01 1.50560161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.89, Y:-35.72, Z:1.50 [[ 7.63993110e-01 6.45149248e-01 -9.84768957e-03 9.18886282e+01] [-6.45093087e-01 7.64056559e-01 8.51375723e-03 -3.57214562e+01] [ 1.30168359e-02 -1.51775401e-04 9.99915266e-01 1.50487203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.42762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.91, Y:-35.74, Z:1.50 [[ 7.60953336e-01 6.48714431e-01 -1.09365191e-02 9.19148662e+01] [-6.48645456e-01 7.61031915e-01 9.46026598e-03 -3.57399641e+01] [ 1.44600511e-02 -1.04897574e-04 9.99895442e-01 1.50396355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.94, Y:-35.76, Z:1.50 [[ 7.58143218e-01 6.51979089e-01 -1.19217865e-02 9.19404346e+01] [-6.51897442e-01 7.58236945e-01 1.03179712e-02 -3.57584759e+01] [ 1.57666405e-02 -5.07177782e-05 9.99875698e-01 1.50316540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.48762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.97, Y:-35.78, Z:1.50 [[ 7.52893398e-01 6.57989771e-01 -1.41771902e-02 9.19686794e+01] [-6.57875279e-01 7.53026861e-01 1.22744973e-02 -3.57766695e+01] [ 1.87522987e-02 8.54350417e-05 9.99824157e-01 1.50130546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.51762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.99, Y:-35.80, Z:1.50 [[ 7.50542279e-01 6.60649750e-01 -1.51061031e-02 9.19939469e+01] [-6.60520159e-01 7.50694267e-01 1.30857571e-02 -3.57955027e+01] [ 1.99851672e-02 1.56471663e-04 9.99800264e-01 1.50030686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.02, Y:-35.82, Z:1.50 [[ 7.47009653e-01 6.64602920e-01 -1.67193583e-02 9.20189046e+01] [-6.64445037e-01 7.47196679e-01 1.44884631e-02 -3.58151974e+01] [ 2.21217239e-02 2.86072863e-04 9.99755244e-01 1.49875843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.04, Y:-35.84, Z:1.50 [[ 7.45931790e-01 6.65801567e-01 -1.71475330e-02 9.20424696e+01] [-6.65635641e-01 7.46128788e-01 1.48669113e-02 -3.58360546e+01] [ 2.26926808e-02 3.24307348e-04 9.99742435e-01 1.49920687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.07, Y:-35.86, Z:1.50 [[ 7.45486326e-01 6.66302086e-01 -1.70782917e-02 9.20660836e+01] [-6.66137463e-01 7.45681849e-01 1.48142225e-02 -3.58594501e+01] [ 2.26057195e-02 3.32689581e-04 9.99744403e-01 1.50032730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.09, Y:-35.88, Z:1.50 [[ 7.45622737e-01 6.66158549e-01 -1.67189203e-02 9.20885977e+01] [-6.66000575e-01 7.45810089e-01 1.45101844e-02 -3.58813889e+01] [ 2.21352228e-02 3.15687138e-04 9.99754936e-01 1.50156960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.11, Y:-35.91, Z:1.50 [[ 7.48294067e-01 6.63178287e-01 -1.58287512e-02 9.21095963e+01] [-6.63035891e-01 7.48461432e-01 1.37437917e-02 -3.59054204e+01] [ 2.09617940e-02 2.10632362e-04 9.99780255e-01 1.50267623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.13, Y:-35.93, Z:1.50 [[ 7.49879386e-01 6.61406086e-01 -1.49296933e-02 9.21326621e+01] [-6.61278937e-01 7.50027978e-01 1.29692170e-02 -3.59282007e+01] [ 1.97756067e-02 1.47343204e-04 9.99804433e-01 1.50422419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.16, Y:-35.95, Z:1.51 [[ 7.51147504e-01 6.59983266e-01 -1.41250121e-02 9.21559109e+01] [-6.59869096e-01 7.51280293e-01 1.22759099e-02 -3.59501556e+01] [ 1.87137383e-02 9.96398605e-05 9.99824878e-01 1.50597297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.18, Y:-35.97, Z:1.51 [[ 7.52755390e-01 6.58174908e-01 -1.28496226e-02 9.21801034e+01] [-6.58080076e-01 7.52865053e-01 1.11725007e-02 -3.59704638e+01] [ 1.70274914e-02 4.59204659e-05 9.99855021e-01 1.50796835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.78762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.21, Y:-35.99, Z:1.51 [[ 7.52827339e-01 6.58103792e-01 -1.22636128e-02 9.22056829e+01] [-6.58017321e-01 7.52927219e-01 1.06680558e-02 -3.59913186e+01] [ 1.62542959e-02 3.84656384e-05 9.99867889e-01 1.50937097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.23, Y:-36.01, Z:1.51 [[ 7.52340605e-01 6.58676909e-01 -1.13288824e-02 9.22325075e+01] [-6.58603105e-01 7.52425895e-01 9.86012184e-03 -3.60111698e+01] [ 1.50187790e-02 4.30670621e-05 9.99887211e-01 1.51108267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.26, Y:-36.03, Z:1.51 [[ 7.51908013e-01 6.59174755e-01 -1.10897452e-02 9.22574386e+01] [-6.59104009e-01 7.51989787e-01 9.65739611e-03 -3.60313716e+01] [ 1.47052868e-02 4.78219922e-05 9.99891870e-01 1.51181992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.28, Y:-36.05, Z:1.51 [[ 7.51507363e-01 6.59626914e-01 -1.13586414e-02 9.22824201e+01] [-6.59552666e-01 7.51593196e-01 9.89693359e-03 -3.60524022e+01] [ 1.50653614e-02 5.40037635e-05 9.99886510e-01 1.51223487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.31, Y:-36.07, Z:1.51 [[ 7.51339475e-01 6.59816606e-01 -1.14472215e-02 9.23074874e+01] [-6.59741131e-01 7.51426672e-01 9.97979517e-03 -3.60736086e+01] [ 1.51865821e-02 5.39887850e-05 9.99884676e-01 1.51198459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.33, Y:-36.10, Z:1.51 [[ 7.52022768e-01 6.59018521e-01 -1.25037918e-02 9.23322946e+01] [-6.58928249e-01 7.52126710e-01 1.09076103e-02 -3.60951070e+01] [ 1.65927530e-02 3.63303865e-05 9.99862330e-01 1.51028005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.967628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.36, Y:-36.12, Z:1.51 [[ 7.52724975e-01 6.58201270e-01 -1.32740896e-02 9.23564048e+01] [-6.58099283e-01 7.52842008e-01 1.15864146e-02 -3.61172526e+01] [ 1.76194851e-02 1.42852449e-05 9.99844765e-01 1.50948173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.38, Y:-36.14, Z:1.51 [[ 7.54082358e-01 6.56622272e-01 -1.43870808e-02 9.23799523e+01] [-6.56502033e-01 7.54219590e-01 1.25654519e-02 -3.61397397e+01] [ 1.91017738e-02 -3.02378376e-05 9.99817544e-01 1.50845475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.027628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.40, Y:-36.16, Z:1.51 [[ 7.58614889e-01 6.51335241e-01 -1.63050294e-02 9.24014584e+01] [-6.51179389e-01 7.58790068e-01 1.42490972e-02 -3.61637831e+01] [ 2.16530335e-02 -1.92078224e-04 9.99765527e-01 1.50705632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.43, Y:-36.19, Z:1.51 [[ 7.58430251e-01 6.51550321e-01 -1.63013524e-02 9.24258018e+01] [-6.51394428e-01 7.58605393e-01 1.42533029e-02 -3.61851555e+01] [ 2.16530379e-02 -1.91526006e-04 9.99765527e-01 1.50756234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.45, Y:-36.21, Z:1.51 [[ 7.61437887e-01 6.48021493e-01 -1.67477908e-02 9.24478350e+01] [-6.47855904e-01 7.61621987e-01 1.46518627e-02 -3.62087616e+01] [ 2.22502077e-02 -3.06328256e-04 9.99752387e-01 1.50751083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.47, Y:-36.23, Z:1.51 [[ 7.64720432e-01 6.44121188e-01 -1.76225902e-02 9.24685341e+01] [-6.43936626e-01 7.64923326e-01 1.54249088e-02 -3.62324019e+01] [ 2.34154409e-02 -4.47911645e-04 9.99725721e-01 1.50799651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.14762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.49, Y:-36.26, Z:1.51 [[ 7.68504224e-01 6.39602772e-01 -1.75940856e-02 9.24898033e+01] [-6.39417493e-01 7.68705370e-01 1.54053101e-02 -3.62564656e+01] [ 2.33779471e-02 -5.89079833e-04 9.99726525e-01 1.50856191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.51, Y:-36.28, Z:1.51 [[ 7.74228224e-01 6.32694399e-01 -1.63845796e-02 9.25115791e+01] [-6.32532098e-01 7.74401215e-01 1.43493674e-02 -3.62798505e+01] [ 2.17670028e-02 -7.45912760e-04 9.99762792e-01 1.51060293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.20762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.53, Y:-36.30, Z:1.51 [[ 7.76465012e-01 6.29962799e-01 -1.57784015e-02 9.25331719e+01] [-6.29811604e-01 7.76624901e-01 1.38241232e-02 -3.63018179e+01] [ 2.09625829e-02 -7.96527659e-04 9.99779944e-01 1.51126749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.23762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.55, Y:-36.32, Z:1.51 [[ 7.80492078e-01 6.24994295e-01 -1.46371767e-02 9.25540112e+01] [-6.24863228e-01 7.80628837e-01 1.28282945e-02 -3.63238746e+01] [ 1.94438131e-02 -8.66148801e-04 9.99810576e-01 1.51243364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.26762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.58, Y:-36.35, Z:1.51 [[ 7.81908951e-01 6.23227380e-01 -1.43535517e-02 9.25759130e+01] [-6.23100960e-01 7.82040171e-01 1.25842757e-02 -3.63456021e+01] [ 1.90679192e-02 -8.96045960e-04 9.99817789e-01 1.51363811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.60, Y:-36.36, Z:1.52 [[ 7.82699718e-01 6.22244595e-01 -1.38858002e-02 9.26022095e+01] [-6.22126049e-01 7.82822372e-01 1.21783643e-02 -3.63641054e+01] [ 1.84480364e-02 -8.93284286e-04 9.99829421e-01 1.51505183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.63, Y:-36.38, Z:1.52 [[ 7.83056044e-01 6.21819322e-01 -1.28047819e-02 9.26297928e+01] [-6.21718374e-01 7.83160284e-01 1.12353805e-02 -3.63809278e+01] [ 1.70145733e-02 -8.36964401e-04 9.99854891e-01 1.51667272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.66, Y:-36.40, Z:1.52 [[ 7.82344669e-01 6.22730909e-01 -1.19596853e-02 9.26567026e+01] [-6.22642875e-01 7.82435701e-01 1.04987580e-02 -3.63994209e+01] [ 1.58955859e-02 -7.67034451e-04 9.99873363e-01 1.51787736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.68, Y:-36.42, Z:1.52 [[ 7.81348320e-01 6.23993773e-01 -1.12504757e-02 9.26832545e+01] [-6.23915932e-01 7.81428998e-01 9.88083149e-03 -3.64181377e+01] [ 1.49570252e-02 -7.01020086e-04 9.99887892e-01 1.51888374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.71, Y:-36.44, Z:1.52 [[ 7.80110652e-01 6.25547200e-01 -1.08660031e-02 9.27101011e+01] [-6.25474668e-01 7.80186051e-01 9.54800078e-03 -3.64356297e+01] [ 1.44502292e-02 -6.52087426e-04 9.99895377e-01 1.51951187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.74, Y:-36.45, Z:1.52 [[ 7.76681898e-01 6.29812938e-01 -1.00445648e-02 9.27384099e+01] [-6.29751298e-01 7.76746665e-01 8.82726601e-03 -3.64502837e+01] [ 1.33616086e-02 -5.30399979e-04 9.99910589e-01 1.52004367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.77, Y:-36.47, Z:1.52 [[ 7.74837879e-01 6.32085346e-01 -9.71471306e-03 9.27654252e+01] [-6.32027823e-01 7.74898630e-01 8.54078032e-03 -3.64674978e+01] [ 1.29264199e-02 -4.77751167e-04 9.99916336e-01 1.52049852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.50762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.79, Y:-36.48, Z:1.52 [[ 7.71594186e-01 6.36037816e-01 -9.91508162e-03 9.27927594e+01] [-6.35978209e-01 7.71657773e-01 8.71774504e-03 -3.64818880e+01] [ 1.31958653e-02 -4.20785542e-04 9.99912842e-01 1.52052055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.82, Y:-36.50, Z:1.52 [[ 7.69894112e-01 6.38086264e-01 -1.04391681e-02 9.28207710e+01] [-6.38020353e-01 7.69964774e-01 9.18019312e-03 -3.64981001e+01] [ 1.38955468e-02 -4.07374931e-04 9.99903369e-01 1.51947385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.56762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.85, Y:-36.52, Z:1.52 [[ 7.68196860e-01 6.40118737e-01 -1.10266816e-02 9.28466050e+01] [-6.40045330e-01 7.68275892e-01 9.70201126e-03 -3.65152628e+01] [ 1.46819728e-02 -3.95478545e-04 9.99892136e-01 1.51825267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.87, Y:-36.53, Z:1.52 [[ 7.66657288e-01 6.41947613e-01 -1.18264464e-02 9.28729097e+01] [-6.41863307e-01 7.66748400e-01 1.04108418e-02 -3.65332660e+01] [ 1.57511239e-02 -3.90585754e-04 9.99875867e-01 1.51721089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.90, Y:-36.55, Z:1.52 [[ 7.64137254e-01 6.44931874e-01 -1.25353746e-02 9.29002441e+01] [-6.44837463e-01 7.64239984e-01 1.10405018e-02 -3.65490032e+01] [ 1.67004060e-02 -3.53179600e-04 9.99860476e-01 1.51583227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.93, Y:-36.57, Z:1.52 [[ 7.63275373e-01 6.45953738e-01 -1.24287019e-02 9.29261308e+01] [-6.45860998e-01 7.63376485e-01 1.09504655e-02 -3.65680073e+01] [ 1.65612729e-02 -3.31006847e-04 9.99862798e-01 1.51635784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.95, Y:-36.59, Z:1.52 [[ 7.62728385e-01 6.46603754e-01 -1.22064161e-02 9.29512033e+01] [-6.46514300e-01 7.62825987e-01 1.07598112e-02 -3.65885765e+01] [ 1.62687057e-02 -3.15190901e-04 9.99867606e-01 1.51698999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.717628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.98, Y:-36.61, Z:1.52 [[ 7.62443842e-01 6.46941222e-01 -1.21013492e-02 9.29770588e+01] [-6.46853260e-01 7.62539809e-01 1.06723857e-02 -3.66094136e+01] [ 1.61321667e-02 -3.09297547e-04 9.99869820e-01 1.51755150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.00, Y:-36.63, Z:1.52 [[ 7.61606877e-01 6.47923961e-01 -1.22272470e-02 9.30024667e+01] [-6.47834189e-01 7.61704965e-01 1.07893925e-02 -3.66270231e+01] [ 1.63042607e-02 -2.96046880e-04 9.99867033e-01 1.51717061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.777628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.03, Y:-36.65, Z:1.52 [[ 7.60709651e-01 6.48975197e-01 -1.23296768e-02 9.30278674e+01] [-6.48884000e-01 7.60809514e-01 1.08829506e-02 -3.66464799e+01] [ 1.64433005e-02 -2.78235537e-04 9.99864761e-01 1.51726703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.05, Y:-36.67, Z:1.52 [[ 7.59427220e-01 6.50483865e-01 -1.18759776e-02 9.30537250e+01] [-6.50399363e-01 7.59520035e-01 1.04873947e-02 -3.66660866e+01] [ 1.58419240e-02 -2.40284755e-04 9.99874480e-01 1.51773195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.08, Y:-36.68, Z:1.52 [[ 7.56013293e-01 6.54444874e-01 -1.20750949e-02 9.30809733e+01] [-6.54357932e-01 7.56109701e-01 1.06684908e-02 -3.66831183e+01] [ 1.61120355e-02 -1.64086718e-04 9.99870179e-01 1.51794014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.86762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.11, Y:-36.70, Z:1.52 [[ 7.53776908e-01 6.57009988e-01 -1.25796810e-02 9.31068997e+01] [-6.56915888e-01 7.53881862e-01 1.11199945e-02 -3.67020061e+01] [ 1.67895407e-02 -1.18202782e-04 9.99859039e-01 1.51801456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.13, Y:-36.72, Z:1.52 [[ 7.51476109e-01 6.59632237e-01 -1.29988286e-02 9.31332963e+01] [-6.59532049e-01 7.51588523e-01 1.14964678e-02 -3.67211911e+01] [ 1.73532112e-02 -6.61768255e-05 9.99849420e-01 1.51756903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.92762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.16, Y:-36.74, Z:1.52 [[ 7.47059353e-01 6.64609681e-01 -1.40105345e-02 9.31614588e+01] [-6.64494040e-01 7.47190718e-01 1.23976387e-02 -3.67382942e+01] [ 1.87081321e-02 4.81447752e-05 9.99824986e-01 1.51555221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.19, Y:-36.76, Z:1.52 [[ 7.44850218e-01 6.67074343e-01 -1.44904659e-02 9.31871377e+01] [-6.66951009e-01 7.44991147e-01 1.28274285e-02 -3.67577575e+01] [ 1.93521173e-02 1.09917881e-04 9.99812724e-01 1.51505595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.98762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.21, Y:-36.78, Z:1.51 [[ 7.42800388e-01 6.69347459e-01 -1.48849960e-02 9.32123035e+01] [-6.69217638e-01 7.42949494e-01 1.31834240e-02 -3.67773969e+01] [ 1.98830916e-02 1.68649385e-04 9.99802298e-01 1.51486805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.01762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.24, Y:-36.80, Z:1.51 [[ 7.39986364e-01 6.72438305e-01 -1.57132555e-02 9.32370906e+01] [-6.72294174e-01 7.40153131e-01 1.39242836e-02 -3.67980058e+01] [ 2.09934369e-02 2.60150124e-04 9.99779580e-01 1.51486809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.26, Y:-36.82, Z:1.52 [[ 7.39131701e-01 6.73361253e-01 -1.63997550e-02 9.32600293e+01] [-6.73204316e-01 7.39313558e-01 1.45400092e-02 -3.68185521e+01] [ 2.19152401e-02 2.93404119e-04 9.99759789e-01 1.51501710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.28, Y:-36.84, Z:1.52 [[ 7.38681608e-01 6.73842754e-01 -1.68945238e-02 9.32836727e+01] [-6.73676158e-01 7.38874716e-01 1.49862496e-02 -3.68414597e+01] [ 2.25813122e-02 3.11370963e-04 9.99744961e-01 1.51573576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.31, Y:-36.87, Z:1.52 [[ 7.39005794e-01 6.73468986e-01 -1.76057293e-02 9.33065829e+01] [-6.73287747e-01 7.39215416e-01 1.56262193e-02 -3.68656468e+01] [ 2.35382006e-02 3.05855207e-04 9.99722891e-01 1.51564238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.33, Y:-36.89, Z:1.52 [[ 7.39434279e-01 6.72982269e-01 -1.82157346e-02 9.33298044e+01] [-6.72787881e-01 7.39658556e-01 1.61767599e-02 -3.68881424e+01] [ 2.43600965e-02 2.93674702e-04 9.99703206e-01 1.51513863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.16762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.35, Y:-36.91, Z:1.52 [[ 7.39785240e-01 6.72579939e-01 -1.88155257e-02 9.33530300e+01] [-6.72372176e-01 7.40024422e-01 1.67185959e-02 -3.69121015e+01] [ 2.51685407e-02 2.82865496e-04 9.99683182e-01 1.51553950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.37, Y:-36.94, Z:1.52 [[ 7.40701387e-01 6.71560261e-01 -1.91903957e-02 9.33725179e+01] [-6.71343594e-01 7.40949901e-01 1.70594273e-02 -3.69368495e+01] [ 2.56755552e-02 2.47407742e-04 9.99670298e-01 1.51625283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.39, Y:-36.96, Z:1.52 [[ 7.41349002e-01 6.70838306e-01 -1.94325707e-02 9.33949974e+01] [-6.70615712e-01 7.41603613e-01 1.72814445e-02 -3.69615915e+01] [ 2.60043195e-02 2.20205593e-04 9.99661806e-01 1.51744384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.42, Y:-36.99, Z:1.52 [[ 7.42205468e-01 6.69893665e-01 -1.93266576e-02 9.34168637e+01] [-6.69672937e-01 7.42457032e-01 1.71963111e-02 -3.69855901e+01] [ 2.58689127e-02 1.79343399e-04 9.99665328e-01 1.51828085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.28762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.44, Y:-37.01, Z:1.52 [[ 7.43347718e-01 6.68629400e-01 -1.92066361e-02 9.34378539e+01] [-6.68410806e-01 7.43595797e-01 1.70963619e-02 -3.70088238e+01] [ 2.57131041e-02 1.29381560e-04 9.99669355e-01 1.51905506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.46, Y:-37.04, Z:1.52 [[ 7.45864217e-01 6.65841086e-01 -1.84991170e-02 9.34557093e+01] [-6.65637307e-01 7.46093592e-01 1.64720214e-02 -3.70351130e+01] [ 2.47698213e-02 2.78110528e-05 9.99693181e-01 1.52017561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.48, Y:-37.06, Z:1.52 [[ 7.47222909e-01 6.64329890e-01 -1.79922819e-02 9.34773835e+01] [-6.64136506e-01 7.47439494e-01 1.60282216e-02 -3.70603035e+01] [ 2.40961688e-02 -2.73231035e-05 9.99709645e-01 1.52157711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.50, Y:-37.09, Z:1.52 [[ 7.48562839e-01 6.62825272e-01 -1.77858254e-02 9.34989256e+01] [-6.62635675e-01 7.48774100e-01 1.58527753e-02 -3.70855560e+01] [ 2.38251855e-02 -8.12760373e-05 9.99716137e-01 1.52352132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.52, Y:-37.11, Z:1.53 [[ 7.51685907e-01 6.59301445e-01 -1.70265325e-02 9.35153442e+01] [-6.59126612e-01 7.51878693e-01 1.51835516e-02 -3.71136581e+01] [ 2.28124245e-02 -1.90621045e-04 9.99739745e-01 1.52584622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.54, Y:-37.14, Z:1.53 [[ 7.52924235e-01 6.57889528e-01 -1.69252945e-02 9.35365039e+01] [-6.57716258e-01 7.53114409e-01 1.51000172e-02 -3.71379659e+01] [ 2.26808263e-02 -2.37127475e-04 9.99742729e-01 1.52755996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.467628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.56, Y:-37.16, Z:1.53 [[ 7.54263745e-01 6.56355332e-01 -1.68487716e-02 9.35586151e+01] [-6.56183082e-01 7.54451851e-01 1.50388599e-02 -3.71607829e+01] [ 2.25824228e-02 -2.87387952e-04 9.99744943e-01 1.52893375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.58, Y:-37.19, Z:1.53 [[ 7.55408750e-01 6.55037091e-01 -1.68531736e-02 9.35784821e+01] [-6.54864259e-01 7.55596651e-01 1.50500337e-02 -3.71851272e+01] [ 2.25925319e-02 -3.32386093e-04 9.99744701e-01 1.52860582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.527628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.60, Y:-37.21, Z:1.53 [[ 7.57294891e-01 6.52850051e-01 -1.70663100e-02 9.35999685e+01] [-6.52672098e-01 7.57487059e-01 1.52475506e-02 -3.72089486e+01] [ 2.28818731e-02 -4.08187774e-04 9.99738092e-01 1.52946288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.62, Y:-37.23, Z:1.53 [[ 7.58147158e-01 6.51847374e-01 -1.75467424e-02 9.36185482e+01] [-6.51658810e-01 7.58350046e-01 1.56844786e-02 -3.72345295e+01] [ 2.35304591e-02 -4.56653575e-04 9.99723016e-01 1.52823546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.64, Y:-37.26, Z:1.53 [[ 7.59817187e-01 6.49884249e-01 -1.81192136e-02 9.36408568e+01] [-6.49682432e-01 7.60033007e-01 1.62039041e-02 -3.72581057e+01] [ 2.43018624e-02 -5.40270022e-04 9.99704520e-01 1.53016163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.66, Y:-37.28, Z:1.53 [[ 7.60847191e-01 6.48667254e-01 -1.85025868e-02 9.36635922e+01] [-6.48456242e-01 7.61071900e-01 1.65549495e-02 -3.72808336e+01] [ 2.48204525e-02 -5.97668966e-04 9.99691746e-01 1.53067236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.64762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.68, Y:-37.31, Z:1.53 [[ 7.62003325e-01 6.47307990e-01 -1.85283188e-02 9.36830825e+01] [-6.47095791e-01 7.62228276e-01 1.65859403e-02 -3.73056571e+01] [ 2.48590202e-02 -6.48944522e-04 9.99690756e-01 1.53017101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.70, Y:-37.33, Z:1.53 [[ 7.64488799e-01 6.44373208e-01 -1.84402947e-02 9.37046179e+01] [-6.44161979e-01 7.64710802e-01 1.65146541e-02 -3.73287961e+01] [ 2.47430932e-02 -7.46731371e-04 9.99693564e-01 1.53180069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.70762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.73, Y:-37.35, Z:1.53 [[ 7.65477411e-01 6.43195360e-01 -1.85489103e-02 9.37271883e+01] [-6.42981093e-01 7.65701701e-01 1.66198036e-02 -3.73515288e+01] [ 2.48927128e-02 -7.95485628e-04 9.99689812e-01 1.53315861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.73762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.75, Y:-37.37, Z:1.53 [[ 7.66166886e-01 6.42371127e-01 -1.86450430e-02 9.37479926e+01] [-6.42154187e-01 7.66393268e-01 1.67140363e-02 -3.73745945e+01] [ 2.50260498e-02 -8.32748693e-04 9.99686453e-01 1.53378402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.76762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.77, Y:-37.40, Z:1.53 [[ 7.66643846e-01 6.41794750e-01 -1.88868270e-02 9.37700517e+01] [-6.41571767e-01 7.66875964e-01 1.69388014e-02 -3.73980650e+01] [ 2.53550875e-02 -8.68772874e-04 9.99678131e-01 1.53453191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.79, Y:-37.42, Z:1.53 [[ 7.66262183e-01 6.42254555e-01 -1.87444240e-02 9.37917327e+01] [-6.42034888e-01 7.66490940e-01 1.68178954e-02 -3.74201692e+01] [ 2.51688010e-02 -8.52343104e-04 9.99682852e-01 1.53436833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.82, Y:-37.44, Z:1.54 [[ 7.65302792e-01 6.43404689e-01 -1.84943948e-02 9.38180666e+01] [-6.43191033e-01 7.65525801e-01 1.65994870e-02 -3.74385838e+01] [ 2.48381242e-02 -8.08204867e-04 9.99691160e-01 1.53574973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.84, Y:-37.46, Z:1.54 [[ 7.62341645e-01 6.46928439e-01 -1.78552717e-02 9.38422621e+01] [-6.46730087e-01 7.62550418e-01 1.60329427e-02 -3.74579329e+01] [ 2.39877115e-02 -6.75038510e-04 9.99712026e-01 1.53655911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.87, Y:-37.48, Z:1.54 [[ 7.60447087e-01 6.49164199e-01 -1.74948731e-02 9.38673487e+01] [-6.48974253e-01 7.60648071e-01 1.57140457e-02 -3.74786576e+01] [ 2.35084373e-02 -5.95978079e-04 9.99723461e-01 1.53750474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.89, Y:-37.50, Z:1.54 [[ 7.58366677e-01 6.51596359e-01 -1.73829839e-02 9.38913468e+01] [-6.51409371e-01 7.58565695e-01 1.56178533e-02 -3.74992397e+01] [ 2.33626716e-02 -5.20620885e-04 9.99726920e-01 1.53784288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.92, Y:-37.52, Z:1.54 [[ 7.58190968e-01 6.51800908e-01 -1.73790793e-02 9.39153915e+01] [-6.51613874e-01 7.58389943e-01 1.56221974e-02 -3.75209637e+01] [ 2.33626814e-02 -5.20159721e-04 9.99726920e-01 1.53834904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.94, Y:-37.54, Z:1.54 [[ 7.56027406e-01 6.54310960e-01 -1.73127050e-02 9.39415791e+01] [-6.54125817e-01 7.56225474e-01 1.55707137e-02 -3.75392245e+01] [ 2.32803971e-02 -4.47198979e-04 9.99728875e-01 1.53951770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.00762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.97, Y:-37.56, Z:1.54 [[ 7.52673125e-01 6.58169290e-01 -1.72148635e-02 9.39683479e+01] [-6.57987062e-01 7.52869893e-01 1.54903467e-02 -3.75576576e+01] [ 2.31558229e-02 -3.32010198e-04 9.99731813e-01 1.53933135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.99, Y:-37.58, Z:1.54 [[ 7.51257335e-01 6.59772944e-01 -1.76657450e-02 9.39933124e+01] [-6.59581297e-01 7.51464952e-01 1.59040358e-02 -3.75779255e+01] [ 2.37682408e-02 -2.96028551e-04 9.99717452e-01 1.53945807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.06762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.02, Y:-37.60, Z:1.54 [[ 7.50156454e-01 6.61011666e-01 -1.81348161e-02 9.40180703e+01] [-6.60809866e-01 7.50375575e-01 1.63345273e-02 -3.75986664e+01] [ 2.44052362e-02 -2.69785628e-04 9.99702111e-01 1.53918891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.04, Y:-37.62, Z:1.54 [[ 7.48844424e-01 6.62476595e-01 -1.88888909e-02 9.40429734e+01] [-6.62257894e-01 7.49082575e-01 1.70228742e-02 -3.76195173e+01] [ 2.54265948e-02 -2.38167314e-04 9.99676664e-01 1.53861156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.07, Y:-37.64, Z:1.54 [[ 7.48803901e-01 6.62508654e-01 -1.93649577e-02 9.40677460e+01] [-6.62278532e-01 7.49054218e-01 1.74620948e-02 -3.76412946e+01] [ 2.60741921e-02 -2.50688913e-04 9.99659979e-01 1.53874679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.09, Y:-37.66, Z:1.54 [[ 7.49142362e-01 6.62113256e-01 -1.97928709e-02 9.40901114e+01] [-6.61872455e-01 7.49403736e-01 1.78575783e-02 -3.76625494e+01] [ 2.66565907e-02 -2.77512304e-04 9.99644611e-01 1.53802569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.11, Y:-37.68, Z:1.54 [[ 7.49972793e-01 6.61167143e-01 -1.99704607e-02 9.41129482e+01] [-6.60921433e-01 7.50238566e-01 1.80264420e-02 -3.76848335e+01] [ 2.69011010e-02 -3.20435568e-04 9.99638049e-01 1.53806545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.217628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.13, Y:-37.71, Z:1.54 [[ 7.52842930e-01 6.57910084e-01 -1.95408314e-02 9.41328899e+01] [-6.57673515e-01 7.53096364e-01 1.76469419e-02 -3.77087010e+01] [ 2.63262301e-02 -4.33888136e-04 9.99653311e-01 1.53836556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.15, Y:-37.73, Z:1.54 [[ 7.54717716e-01 6.55780127e-01 -1.88041003e-02 9.41547895e+01] [-6.55560204e-01 7.54951774e-01 1.69893696e-02 -3.77324995e+01] [ 2.53374799e-02 -4.94958383e-04 9.99678832e-01 1.53953173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.277628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.18, Y:-37.76, Z:1.54 [[ 7.56834129e-01 6.53353817e-01 -1.81904187e-02 9.41765524e+01] [-6.53147123e-01 7.57052490e-01 1.64427508e-02 -3.77566834e+01] [ 2.45140358e-02 -5.63415348e-04 9.99699327e-01 1.54076911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.20, Y:-37.78, Z:1.54 [[ 7.59005990e-01 6.50842194e-01 -1.77297760e-02 9.41985947e+01] [-6.50645008e-01 7.59212775e-01 1.60323615e-02 -3.77806105e+01] [ 2.38952097e-02 -6.32868161e-04 9.99714268e-01 1.54199385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.22, Y:-37.81, Z:1.54 [[ 7.62974687e-01 6.46192661e-01 -1.74548450e-02 9.42166525e+01] [-6.46000221e-01 7.63173933e-01 1.57880247e-02 -3.78067331e+01] [ 2.35231884e-02 -7.70029525e-04 9.99722995e-01 1.54268803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.36762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.24, Y:-37.83, Z:1.54 [[ 7.64534086e-01 6.44340556e-01 -1.76883713e-02 9.42407196e+01] [-6.44142265e-01 7.64738214e-01 1.60064262e-02 -3.78272357e+01] [ 2.38405630e-02 -8.43630865e-04 9.99715417e-01 1.54400033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.26, Y:-37.85, Z:1.54 [[ 7.65889567e-01 6.42731937e-01 -1.75735183e-02 9.42602022e+01] [-6.42535619e-01 7.66090634e-01 1.59097379e-02 -3.78519164e+01] [ 2.36886044e-02 -8.93490810e-04 9.99718986e-01 1.54362253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.42762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.28, Y:-37.87, Z:1.54 [[ 7.67419920e-01 6.40894197e-01 -1.79246905e-02 9.42833573e+01] [-6.40689273e-01 7.67628607e-01 1.62350687e-02 -3.78731719e+01] [ 2.41644665e-02 -9.74958199e-04 9.99707521e-01 1.54449957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.31, Y:-37.89, Z:1.55 [[ 7.67421320e-01 6.40881687e-01 -1.83079435e-02 9.43094917e+01] [-6.40667710e-01 7.67639016e-01 1.65899529e-02 -3.78922192e+01] [ 2.46860887e-02 -1.00217529e-03 9.99694750e-01 1.54542272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.48762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.33, Y:-37.91, Z:1.54 [[ 7.67058629e-01 6.41310156e-01 -1.85025045e-02 9.43312672e+01] [-6.41091528e-01 7.67281092e-01 1.67743509e-02 -3.79141825e+01] [ 2.49541834e-02 -1.00511169e-03 9.99688091e-01 1.54453184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.51762800000002 meters Centerline goodness [0,1] 0.9998420648887686 Centerline is valid? [True, True] Translation: X:94.36, Y:-37.93, Z:1.54 [[ 7.66539217e-01 6.41899533e-01 -1.95606490e-02 9.43575550e+01] [-6.41655131e-01 7.66788034e-01 1.77427129e-02 -3.79343237e+01] [ 2.63879107e-02 -1.04929449e-03 9.99651228e-01 1.54224855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.38, Y:-37.95, Z:1.54 [[ 7.63560869e-01 6.45422412e-01 -2.01174085e-02 9.43849525e+01] [-6.45164871e-01 7.63825233e-01 1.82565827e-02 -3.79502261e+01] [ 2.71493919e-02 -9.60966861e-04 9.99630925e-01 1.54499919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.41, Y:-37.97, Z:1.54 [[ 7.61680700e-01 6.47631743e-01 -2.03871806e-02 9.44079385e+01] [-6.47367828e-01 7.61952962e-01 1.85088798e-02 -3.79710125e+01] [ 2.75210108e-02 -8.99851691e-04 9.99620820e-01 1.54437755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.43, Y:-37.99, Z:1.55 [[ 7.59685172e-01 6.49969055e-01 -2.04613837e-02 9.44348338e+01] [-6.49703836e-01 7.59960228e-01 1.85843244e-02 -3.79875009e+01] [ 2.76290736e-02 -8.24396145e-04 9.99617904e-01 1.54629877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.46, Y:-38.01, Z:1.55 [[ 7.57484966e-01 6.52535933e-01 -2.03318057e-02 9.44600721e+01] [-6.52274838e-01 7.57757430e-01 1.84719520e-02 -3.80070938e+01] [ 2.74601892e-02 -7.30300653e-04 9.99622631e-01 1.54694978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.66762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.49, Y:-38.02, Z:1.55 [[ 7.52671209e-01 6.58111281e-01 -1.93802324e-02 9.44888802e+01] [-6.57875848e-01 7.52920505e-01 1.76091332e-02 -3.80227607e+01] [ 2.61805436e-02 -5.04100700e-04 9.99657104e-01 1.54913689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.51, Y:-38.04, Z:1.55 [[ 7.50072252e-01 6.61077973e-01 -1.91710752e-02 9.45142583e+01] [-6.60848452e-01 7.50317102e-01 1.74232229e-02 -3.80414383e+01] [ 2.59024945e-02 -3.99500634e-04 9.99664394e-01 1.54985820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.54, Y:-38.06, Z:1.55 [[ 7.44947632e-01 6.66863842e-01 -1.85914393e-02 9.45424873e+01] [-6.66649607e-01 7.45179560e-01 1.69034163e-02 -3.80568991e+01] [ 2.51262377e-02 -1.98184257e-04 9.99684267e-01 1.55180732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.57, Y:-38.08, Z:1.55 [[ 7.42421374e-01 6.69696995e-01 -1.77887162e-02 9.45676828e+01] [-6.69501545e-01 7.42634449e-01 1.61788705e-02 -3.80756776e+01] [ 2.40454544e-02 -1.01966289e-04 9.99710861e-01 1.55226066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.78762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.59, Y:-38.09, Z:1.55 [[ 7.39868856e-01 6.72531416e-01 -1.71921687e-02 9.45931208e+01] [-6.72349500e-01 7.40068574e-01 1.56415028e-02 -3.80944284e+01] [ 2.32427858e-02 -1.35147957e-05 9.99729850e-01 1.55315346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.62, Y:-38.11, Z:1.55 [[ 7.37502707e-01 6.75150586e-01 -1.61692197e-02 9.46190922e+01] [-6.74990154e-01 7.37679933e-01 1.47176441e-02 -3.81143913e+01] [ 2.18643350e-02 5.97617234e-05 9.99760945e-01 1.55475817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.64, Y:-38.13, Z:1.56 [[ 7.35249652e-01 6.77619777e-01 -1.54721359e-02 9.46446694e+01] [-6.77473264e-01 7.35412417e-01 1.40908746e-02 -3.81346101e+01] [ 2.09266561e-02 1.21647751e-04 9.99781006e-01 1.55606730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.67, Y:-38.15, Z:1.56 [[ 7.31601087e-01 6.81584505e-01 -1.42271957e-02 9.46708375e+01] [-6.81461242e-01 7.31739379e-01 1.29636927e-02 -3.81525620e+01] [ 1.92464514e-02 2.11030749e-04 9.99814748e-01 1.55751599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.69, Y:-38.17, Z:1.56 [[ 7.30378869e-01 6.82902772e-01 -1.38026033e-02 9.46943811e+01] [-6.82786886e-01 7.30509239e-01 1.25825312e-02 -3.81738642e+01] [ 1.86755747e-02 2.34221557e-04 9.99825569e-01 1.55856153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.72, Y:-38.19, Z:1.56 [[ 7.29382200e-01 6.83975123e-01 -1.34028840e-02 9.47187882e+01] [-6.83865924e-01 7.29505290e-01 1.22241351e-02 -3.81936759e+01] [ 1.81384791e-02 2.49709130e-04 9.99835453e-01 1.55903735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.967628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.74, Y:-38.22, Z:1.56 [[ 7.29117271e-01 6.84260282e-01 -1.32616463e-02 9.47430705e+01] [-6.84153317e-01 7.29237824e-01 1.21010797e-02 -3.82160675e+01] [ 1.79511823e-02 2.49893106e-04 9.99838833e-01 1.55958487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.77, Y:-38.24, Z:1.56 [[ 7.29261432e-01 6.84105572e-01 -1.33164873e-02 9.47662662e+01] [-6.83997571e-01 7.29382963e-01 1.21579647e-02 -3.82398785e+01] [ 1.80301504e-02 2.42110252e-04 9.99837414e-01 1.56033348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.027628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.79, Y:-38.26, Z:1.56 [[ 7.29608808e-01 6.83733252e-01 -1.34099624e-02 9.47895067e+01] [-6.83623539e-01 7.29731997e-01 1.22502786e-02 -3.82626560e+01] [ 1.81616015e-02 2.29454792e-04 9.99835038e-01 1.56052280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.81, Y:-38.29, Z:1.56 [[ 7.30597045e-01 6.82672823e-01 -1.36299305e-02 9.48101406e+01] [-6.82559181e-01 7.30724145e-01 1.24574667e-02 -3.82855962e+01] [ 1.84640933e-02 2.01845867e-04 9.99829504e-01 1.56078643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.83, Y:-38.31, Z:1.56 [[ 7.31078236e-01 6.82159288e-01 -1.35395079e-02 9.48322182e+01] [-6.82046957e-01 7.31203577e-01 1.23804872e-02 -3.83078200e+01] [ 1.83456010e-02 1.83475458e-04 9.99831688e-01 1.56154350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.85, Y:-38.33, Z:1.56 [[ 7.31693380e-01 6.81497548e-01 -1.36341646e-02 9.48549524e+01] [-6.81383418e-01 7.31820378e-01 1.24728266e-02 -3.83307171e+01] [ 1.84779602e-02 1.63809033e-04 9.99829254e-01 1.56186712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.14762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.88, Y:-38.35, Z:1.56 [[ 7.32598843e-01 6.80518721e-01 -1.38998344e-02 9.48777367e+01] [-6.80399805e-01 7.32730681e-01 1.27222027e-02 -3.83538928e+01] [ 1.88425322e-02 1.37173635e-04 9.99822454e-01 1.56195160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.90, Y:-38.38, Z:1.56 [[ 7.34659305e-01 6.78274278e-01 -1.48225665e-02 9.48986073e+01] [-6.78138448e-01 7.34808817e-01 1.35738247e-02 -3.83781486e+01] [ 2.00985286e-02 7.96156119e-05 9.99798001e-01 1.56099117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.20762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.92, Y:-38.40, Z:1.56 [[ 7.35929039e-01 6.76883873e-01 -1.53841686e-02 9.49202145e+01] [-6.76737110e-01 7.36089819e-01 1.40947663e-02 -3.84017137e+01] [ 2.08646499e-02 3.82900171e-05 9.99782309e-01 1.56064636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.23762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.94, Y:-38.43, Z:1.56 [[ 7.37346849e-01 6.75325162e-01 -1.59859191e-02 9.49424991e+01] [-6.75166191e-01 7.37520118e-01 1.46522809e-02 -3.84266738e+01] [ 2.16849909e-02 -1.06609867e-05 9.99764853e-01 1.56090814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.26762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.96, Y:-38.45, Z:1.56 [[ 7.38984891e-01 6.73523581e-01 -1.63498592e-02 9.49641421e+01] [-6.73356653e-01 7.39165733e-01 1.49945473e-02 -3.84513801e+01] [ 2.21844369e-02 -7.14574521e-05 9.99753893e-01 1.56128909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.98, Y:-38.48, Z:1.56 [[ 7.43122849e-01 6.68952678e-01 -1.64543443e-02 9.49817576e+01] [-6.68782302e-01 7.43304963e-01 1.50985123e-02 -3.84782828e+01] [ 2.23307860e-02 -2.15675225e-04 9.99750614e-01 1.56196518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.00, Y:-38.50, Z:1.56 [[ 7.45103055e-01 6.66746195e-01 -1.64605083e-02 9.50027061e+01] [-6.66574993e-01 7.45284797e-01 1.51112315e-02 -3.85028285e+01] [ 2.23431227e-02 -2.87261522e-04 9.99750320e-01 1.56297406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.02, Y:-38.53, Z:1.56 [[ 7.47016778e-01 6.64608299e-01 -1.61784718e-02 9.50221644e+01] [-6.64442259e-01 7.47191867e-01 1.48592898e-02 -3.85272918e+01] [ 2.19640298e-02 -3.50478422e-04 9.99758700e-01 1.56324750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.04, Y:-38.55, Z:1.56 [[ 7.50328615e-01 6.60881934e-01 -1.55575977e-02 9.50406779e+01] [-6.60727477e-01 7.50489754e-01 1.42944119e-02 -3.85530257e+01] [ 2.11227363e-02 -4.46173978e-04 9.99776791e-01 1.56437861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.06, Y:-38.57, Z:1.57 [[ 7.51829621e-01 6.59179499e-01 -1.53169335e-02 9.50646867e+01] [-6.59029347e-01 7.51985471e-01 1.40773069e-02 -3.85744942e+01] [ 2.07975835e-02 -4.89427647e-04 9.99783587e-01 1.56561658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.09, Y:-38.60, Z:1.57 [[ 7.53282410e-01 6.57521718e-01 -1.51921633e-02 9.50853062e+01] [-6.57373543e-01 7.53435401e-01 1.39685831e-02 -3.85975832e+01] [ 2.06309604e-02 -5.35361696e-04 9.99787016e-01 1.56644559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.11, Y:-38.62, Z:1.57 [[ 7.54846412e-01 6.55735931e-01 -1.47404973e-02 9.51073059e+01] [-6.55596016e-01 7.54990108e-01 1.35572930e-02 -3.86210165e+01] [ 2.00189338e-02 -5.69862700e-04 9.99799439e-01 1.56718471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.50762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.13, Y:-38.64, Z:1.57 [[ 7.58334437e-01 6.51716939e-01 -1.39252297e-02 9.51287635e+01] [-6.51591298e-01 7.58462008e-01 1.28126094e-02 -3.86443831e+01] [ 1.89119523e-02 -6.42684461e-04 9.99820946e-01 1.56869025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.15, Y:-38.67, Z:1.57 [[ 7.59704688e-01 6.50124530e-01 -1.36704932e-02 9.51524060e+01] [-6.50003134e-01 7.59827378e-01 1.25810121e-02 -3.86654821e+01] [ 1.85664396e-02 -6.71990494e-04 9.99827403e-01 1.56976996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.56762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.17, Y:-38.69, Z:1.57 [[ 7.60834966e-01 6.48809798e-01 -1.32665049e-02 9.51749701e+01] [-6.48695172e-01 7.60950309e-01 1.22147378e-02 -3.86881067e+01] [ 1.80201926e-02 -6.87481981e-04 9.99837387e-01 1.57083691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.20, Y:-38.71, Z:1.57 [[ 7.62218838e-01 6.47190084e-01 -1.29397766e-02 9.51986028e+01] [-6.47080702e-01 7.62328334e-01 1.19195858e-02 -3.87089710e+01] [ 1.75785960e-02 -7.12253093e-04 9.99845231e-01 1.57251327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.22, Y:-38.73, Z:1.57 [[ 7.62246001e-01 6.47163477e-01 -1.26676273e-02 9.52218145e+01] [-6.47058553e-01 7.62350931e-01 1.16742210e-02 -3.87306208e+01] [ 1.72123070e-02 -7.01931708e-04 9.99851611e-01 1.57314510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.25, Y:-38.75, Z:1.57 [[ 7.61718824e-01 6.47791400e-01 -1.22774104e-02 9.52475038e+01] [-6.47692827e-01 7.61817466e-01 1.13203613e-02 -3.87504978e+01] [ 1.66863784e-02 -6.70941620e-04 9.99860548e-01 1.57401015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.27, Y:-38.77, Z:1.57 [[ 7.58959791e-01 6.51026947e-01 -1.19978751e-02 9.52726213e+01] [-6.50933127e-01 7.59054389e-01 1.10679131e-02 -3.87682327e+01] [ 1.63125494e-02 -5.90286631e-04 9.99866767e-01 1.57473625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.717628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.30, Y:-38.78, Z:1.57 [[ 7.56715204e-01 6.53635771e-01 -1.19322309e-02 9.53000342e+01] [-6.53543231e-01 7.56809086e-01 1.10114425e-02 -3.87844907e+01] [ 1.62278935e-02 -5.34297175e-04 9.99868176e-01 1.57472940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.32, Y:-38.80, Z:1.57 [[ 7.54055363e-01 6.56695621e-01 -1.23032665e-02 9.53249920e+01] [-6.56597571e-01 7.54155570e-01 1.13580763e-02 -3.88020495e+01] [ 1.67373760e-02 -4.86323449e-04 9.99859802e-01 1.57452079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.777628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.35, Y:-38.82, Z:1.57 [[ 7.47924048e-01 6.63648873e-01 -1.34086196e-02 9.53546342e+01] [-6.63533461e-01 7.48044144e-01 1.23816672e-02 -3.88160419e+01] [ 1.82473189e-02 -3.63478881e-04 9.99833438e-01 1.57402886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.38, Y:-38.83, Z:1.57 [[ 7.44665561e-01 6.67284154e-01 -1.43199296e-02 9.53814373e+01] [-6.67153088e-01 7.44803175e-01 1.32282778e-02 -3.88340920e+01] [ 1.94925492e-02 -2.97057637e-04 9.99809958e-01 1.57372603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.41, Y:-38.85, Z:1.57 [[ 7.41663869e-01 6.70607268e-01 -1.48524878e-02 9.54075825e+01] [-6.70466797e-01 7.41812538e-01 1.37270809e-02 -3.88520843e+01] [ 2.02232419e-02 -2.22780064e-04 9.99795465e-01 1.57397094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.86762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.43, Y:-38.87, Z:1.57 [[ 7.41476960e-01 6.70813997e-01 -1.48492092e-02 9.54313226e+01] [-6.70673496e-01 7.41625601e-01 1.37306268e-02 -3.88741349e+01] [ 2.02232504e-02 -2.21972319e-04 9.99795465e-01 1.57447686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.46, Y:-38.89, Z:1.57 [[ 7.38352233e-01 6.74242992e-01 -1.52435842e-02 9.54580236e+01] [-6.74095494e-01 7.38509559e-01 1.41030925e-02 -3.88922620e+01] [ 2.07664439e-02 -1.37418467e-04 9.99784345e-01 1.57430733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.92762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.49, Y:-38.91, Z:1.57 [[ 7.33017753e-01 6.80023367e-01 -1.59120871e-02 9.54880525e+01] [-6.79863836e-01 7.33190439e-01 1.47290323e-02 -3.89072613e+01] [ 2.16826763e-02 2.14104553e-05 9.99764903e-01 1.57335894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.51, Y:-38.93, Z:1.57 [[ 7.30573016e-01 6.82642363e-01 -1.62010441e-02 9.55148390e+01] [-6.82477453e-01 7.30752623e-01 1.50043230e-02 -3.89265742e+01] [ 2.20815420e-02 9.50938153e-05 9.99756169e-01 1.57363404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.98762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.54, Y:-38.95, Z:1.57 [[ 7.28620923e-01 6.84725539e-01 -1.62014584e-02 9.55409428e+01] [-6.84560953e-01 7.28801011e-01 1.50129332e-02 -3.89458055e+01] [ 2.20873780e-02 1.52148520e-04 9.99756033e-01 1.57342857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.01762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.57, Y:-38.96, Z:1.57 [[ 7.26099785e-01 6.87398306e-01 -1.62071394e-02 9.55674493e+01] [-6.87234104e-01 7.26280605e-01 1.50256168e-02 -3.89645619e+01] [ 2.20995146e-02 2.28001817e-04 9.99755750e-01 1.57415616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.59, Y:-38.99, Z:1.58 [[ 7.25106504e-01 6.88454579e-01 -1.58382441e-02 9.55922666e+01] [-6.88297860e-01 7.25279415e-01 1.46910335e-02 -3.89867914e+01] [ 2.16012618e-02 2.48865594e-04 9.99766635e-01 1.57577324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.62, Y:-39.01, Z:1.58 [[ 7.24659264e-01 6.88939998e-01 -1.51865217e-02 9.56164507e+01] [-6.88795860e-01 7.24818334e-01 1.40941539e-02 -3.90080910e+01] [ 2.07174958e-02 2.46954101e-04 9.99785339e-01 1.57691659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.64, Y:-39.03, Z:1.58 [[ 7.24551696e-01 6.89085464e-01 -1.36404705e-02 9.56407407e+01] [-6.88969104e-01 7.24680049e-01 1.26649252e-02 -3.90277227e+01] [ 1.86121927e-02 2.21469721e-04 9.99826754e-01 1.57826063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.66, Y:-39.05, Z:1.58 [[ 7.24608856e-01 6.89029545e-01 -1.34273069e-02 9.56646571e+01] [-6.88916711e-01 7.24733220e-01 1.24709338e-02 -3.90496696e+01] [ 1.83240572e-02 2.13747054e-04 9.99832078e-01 1.57885238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.16762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.69, Y:-39.07, Z:1.58 [[ 7.24512676e-01 6.89131519e-01 -1.33840276e-02 9.56884065e+01] [-6.89019302e-01 7.24636257e-01 1.24376699e-02 -3.90725032e+01] [ 1.82697420e-02 2.10603836e-04 9.99833072e-01 1.57935655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.71, Y:-39.10, Z:1.58 [[ 7.24578429e-01 6.89058227e-01 -1.35963260e-02 9.57120951e+01] [-6.88942274e-01 7.24705952e-01 1.26421954e-02 -3.90952602e+01] [ 1.85645471e-02 2.06821726e-04 9.99827643e-01 1.57963652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.74, Y:-39.12, Z:1.58 [[ 7.24567814e-01 6.89038892e-01 -1.50628440e-02 9.57352866e+01] [-6.88896393e-01 7.24724331e-01 1.40144105e-02 -3.91192448e+01] [ 2.05728835e-02 2.22348102e-04 9.99788331e-01 1.57917232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.76, Y:-39.14, Z:1.58 [[ 7.24577849e-01 6.89013597e-01 -1.57226869e-02 9.57591021e+01] [-6.88858147e-01 7.24748379e-01 1.46370002e-02 -3.91425871e+01] [ 2.14800839e-02 2.25054848e-04 9.99769251e-01 1.57930632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.28762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.78, Y:-39.17, Z:1.58 [[ 7.24758562e-01 6.88804186e-01 -1.65475342e-02 9.57823507e+01] [-6.88631737e-01 7.24947408e-01 1.54138769e-02 -3.91650227e+01] [ 2.26132349e-02 2.23817968e-04 9.99744263e-01 1.57899101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.80, Y:-39.19, Z:1.58 [[ 7.26089904e-01 6.87377617e-01 -1.74774802e-02 9.58041507e+01] [-6.87184619e-01 7.26300198e-01 1.62887089e-02 -3.91869677e+01] [ 2.38903912e-02 1.83188528e-04 9.99714567e-01 1.57769837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.83, Y:-39.21, Z:1.58 [[ 7.27329841e-01 6.86055086e-01 -1.78807478e-02 9.58262193e+01] [-6.85852489e-01 7.27549586e-01 1.66722452e-02 -3.92092792e+01] [ 2.44472093e-02 1.37333903e-04 9.99701113e-01 1.57737420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.85, Y:-39.23, Z:1.58 [[ 7.29283373e-01 6.83981492e-01 -1.77505364e-02 9.58478330e+01] [-6.83781034e-01 7.29499359e-01 1.65584369e-02 -3.92328747e+01] [ 2.42746693e-02 6.16874576e-05 9.99705325e-01 1.57769771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.40762800000002 meters Centerline goodness [0,1] 0.9999781626012709 Centerline is valid? [True, True] Translation: X:95.87, Y:-39.26, Z:1.58 [[ 7.31416532e-01 6.81697169e-01 -1.78557137e-02 9.58693476e+01] [-6.81493437e-01 7.31634451e-01 1.66651083e-02 -3.92576991e+01] [ 2.44244124e-02 -2.05840631e-05 9.99701679e-01 1.57852636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.89, Y:-39.29, Z:1.58 [[ 7.37583596e-01 6.75009000e-01 -1.82561798e-02 9.58866140e+01] [-6.74793734e-01 7.37809450e-01 1.70479319e-02 -3.92854481e+01] [ 2.49770894e-02 -2.55119185e-04 9.99687991e-01 1.57931927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.467628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.91, Y:-39.31, Z:1.58 [[ 7.40985448e-01 6.71267766e-01 -1.84432116e-02 9.59069701e+01] [-6.71046696e-01 7.41214836e-01 1.72307480e-02 -3.93108165e+01] [ 2.52368278e-02 -3.91477346e-04 9.99681424e-01 1.57985521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.93, Y:-39.34, Z:1.58 [[ 7.44462257e-01 6.67395869e-01 -1.89394002e-02 9.59275528e+01] [-6.67161320e-01 7.44702934e-01 1.77006486e-02 -3.93361859e+01] [ 2.59175666e-02 -5.41829554e-04 9.99663937e-01 1.58065497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.527628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.94, Y:-39.36, Z:1.58 [[ 7.50657339e-01 6.60423404e-01 -1.88278180e-02 9.59443537e+01] [-6.60189315e-01 7.50893012e-01 1.75997641e-02 -3.93623781e+01] [ 2.57609731e-02 -7.81467754e-04 9.99667826e-01 1.58126887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.97, Y:-39.39, Z:1.58 [[ 7.53250734e-01 6.57467408e-01 -1.87066591e-02 9.59665857e+01] [-6.57235313e-01 7.53482471e-01 1.74902615e-02 -3.93851198e+01] [ 2.55944166e-02 -8.79875398e-04 9.99672022e-01 1.58278396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.99, Y:-39.41, Z:1.58 [[ 7.55167020e-01 6.55274082e-01 -1.84024540e-02 9.59867841e+01] [-6.55048752e-01 7.55390622e-01 1.72087290e-02 -3.94081669e+01] [ 2.51774752e-02 -9.40960062e-04 9.99682554e-01 1.58367403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.01, Y:-39.43, Z:1.59 [[ 7.57216087e-01 6.52939575e-01 -1.71379415e-02 9.60100663e+01] [-6.52743440e-01 7.57409403e-01 1.60311464e-02 -3.94296924e+01] [ 2.34478080e-02 -9.52363057e-04 9.99724609e-01 1.58581401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.64762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.03, Y:-39.45, Z:1.59 [[ 7.57194965e-01 6.52965079e-01 -1.70994273e-02 9.60345866e+01] [-6.52769645e-01 7.57387413e-01 1.60030588e-02 -3.94521210e+01] [ 2.34003295e-02 -9.55448479e-04 9.99725718e-01 1.58702488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.06, Y:-39.47, Z:1.59 [[ 7.56762330e-01 6.53467404e-01 -1.70624647e-02 9.60575293e+01] [-6.53272743e-01 7.56954068e-01 1.59769477e-02 -3.94736494e+01] [ 2.33559166e-02 -9.44309011e-04 9.99726767e-01 1.58746281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.70762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.08, Y:-39.49, Z:1.59 [[ 7.55973530e-01 6.54378255e-01 -1.71207922e-02 9.60818337e+01] [-6.54182316e-01 7.56166810e-01 1.60391248e-02 -3.94942518e+01] [ 2.34418293e-02 -9.25034302e-04 9.99724775e-01 1.58827686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.73762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.11, Y:-39.51, Z:1.59 [[ 7.53803512e-01 6.56886323e-01 -1.67518136e-02 9.61086400e+01] [-6.56699225e-01 7.53989167e-01 1.56991670e-02 -3.95121540e+01] [ 2.29432541e-02 -8.33184249e-04 9.99736422e-01 1.58973072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.76762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.13, Y:-39.53, Z:1.59 [[ 7.52212880e-01 6.58712861e-01 -1.65272615e-02 9.61319600e+01] [-6.58531103e-01 7.52394029e-01 1.54922964e-02 -3.95334053e+01] [ 2.26399877e-02 -7.69789127e-04 9.99743386e-01 1.58974249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.16, Y:-39.55, Z:1.59 [[ 7.50331571e-01 6.60852331e-01 -1.66352383e-02 9.61553960e+01] [-6.60668568e-01 7.50515613e-01 1.55998953e-02 -3.95525005e+01] [ 2.27942332e-02 -7.14714869e-04 9.99739922e-01 1.58946848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.18, Y:-39.57, Z:1.59 [[ 7.46522081e-01 6.65134802e-01 -1.73343067e-02 9.61844946e+01] [-6.64936347e-01 7.46723056e-01 1.62583194e-02 -3.95681823e+01] [ 2.37579005e-02 -6.10983895e-04 9.99717555e-01 1.58953192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.21, Y:-39.59, Z:1.59 [[ 7.44608898e-01 6.67273461e-01 -1.74274994e-02 9.62092394e+01] [-6.67073355e-01 7.44812612e-01 1.63496672e-02 -3.95878995e+01] [ 2.38899203e-02 -5.48687183e-04 9.99714445e-01 1.58958343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.23, Y:-39.61, Z:1.59 [[ 7.42804534e-01 6.69272209e-01 -1.77801892e-02 9.62333320e+01] [-6.69064294e-01 7.43017133e-01 1.66886158e-02 -3.96074761e+01] [ 2.43802120e-02 -5.00289797e-04 9.99702633e-01 1.58972875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.26, Y:-39.63, Z:1.59 [[ 7.40102071e-01 6.72257614e-01 -1.78500697e-02 9.62603871e+01] [-6.72048735e-01 7.40317184e-01 1.67620313e-02 -3.96260046e+01] [ 2.44831165e-02 -4.09497351e-04 9.99700160e-01 1.59011816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.29, Y:-39.65, Z:1.59 [[ 7.39230621e-01 6.73220684e-01 -1.76635347e-02 9.62850768e+01] [-6.73016227e-01 7.39441524e-01 1.65949256e-02 -3.96460205e+01] [ 2.42331982e-02 -3.79631699e-04 9.99706261e-01 1.59062180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.31, Y:-39.67, Z:1.59 [[ 7.38710468e-01 6.73790261e-01 -1.77067348e-02 9.63088268e+01] [-6.73584799e-01 7.38922560e-01 1.66423843e-02 -3.96667845e+01] [ 2.42973823e-02 -3.66916076e-04 9.99704708e-01 1.59072149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.00762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.33, Y:-39.69, Z:1.59 [[ 7.37920180e-01 6.74669316e-01 -1.71791193e-02 9.63338995e+01] [-6.74476027e-01 7.38120047e-01 1.61519319e-02 -3.96863068e+01] [ 2.35774652e-02 -3.31932345e-04 9.99721958e-01 1.59198571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03762800000001 meters Centerline goodness [0,1] 0.9999350536889504 Centerline is valid? [True, True] Translation: X:96.36, Y:-39.71, Z:1.59 [[ 7.37495075e-01 6.75134300e-01 -1.71665931e-02 9.63596045e+01] [-6.74941226e-01 7.37694770e-01 1.61483173e-02 -3.97072925e+01] [ 2.35659888e-02 -3.22863139e-04 9.99722231e-01 1.59306015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.06762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.38, Y:-39.73, Z:1.59 [[ 7.37122670e-01 6.75542165e-01 -1.71158369e-02 9.63831350e+01] [-6.75350156e-01 7.37321289e-01 1.61084964e-02 -3.97284579e+01] [ 2.35018395e-02 -3.14754811e-04 9.99723744e-01 1.59303801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.09762800000001 meters Centerline goodness [0,1] 0.9999784301460279 Centerline is valid? [True, True] Translation: X:96.41, Y:-39.75, Z:1.59 [[ 7.35934044e-01 6.76831054e-01 -1.73438152e-02 9.64090642e+01] [-6.76634095e-01 7.36138333e-01 1.63296220e-02 -3.97473391e+01] [ 2.38198425e-02 -2.82108061e-04 9.99716227e-01 1.59328415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.12762800000002 meters Centerline goodness [0,1] 0.9999135434228159 Centerline is valid? [True, True] Translation: X:96.43, Y:-39.77, Z:1.59 [[ 7.35160536e-01 6.77666786e-01 -1.75132500e-02 9.64323637e+01] [-6.77466006e-01 7.35369062e-01 1.64970436e-02 -3.97684500e+01] [ 2.40582007e-02 -2.63343883e-04 9.99710525e-01 1.59305455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.15762800000002 meters Centerline goodness [0,1] 0.9998706673564408 Centerline is valid? [True, True] Translation: X:96.46, Y:-39.79, Z:1.59 [[ 7.34019752e-01 6.78898420e-01 -1.76618025e-02 9.64568194e+01] [-6.78694387e-01 7.34232172e-01 1.66447147e-02 -3.97886064e+01] [ 2.42679341e-02 -2.30583126e-04 9.99705464e-01 1.59372668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.187628 meters Centerline goodness [0,1] 0.9999569141946186 Centerline is valid? [True, True] Translation: X:96.48, Y:-39.81, Z:1.59 [[ 7.32054924e-01 6.80996894e-01 -1.84069983e-02 9.64822555e+01] [-6.80775721e-01 7.32286282e-01 1.73556424e-02 -3.98086683e+01] [ 2.52983309e-02 -1.74245977e-04 9.99679931e-01 1.59392837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.217628 meters Centerline goodness [0,1] 0.99991391184573 Centerline is valid? [True, True] Translation: X:96.51, Y:-39.83, Z:1.59 [[ 7.30978573e-01 6.82150613e-01 -1.84625802e-02 9.65057163e+01] [-6.81928247e-01 7.31211680e-01 1.74167923e-02 -3.98298384e+01] [ 2.53809298e-02 -1.41147049e-04 9.99677842e-01 1.59402396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.247628 meters Centerline goodness [0,1] 0.9999354130336499 Centerline is valid? [True, True] Translation: X:96.53, Y:-39.85, Z:1.59 [[ 7.29672591e-01 6.83550031e-01 -1.83647900e-02 9.65299720e+01] [-6.83330236e-01 7.29903655e-01 1.73332740e-02 -3.98513471e+01] [ 2.52526874e-02 -9.83986856e-05 9.99681095e-01 1.59482149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.277628 meters Centerline goodness [0,1] 0.9999784217681204 Centerline is valid? [True, True] Translation: X:96.55, Y:-39.87, Z:1.60 [[ 7.28161630e-01 6.85157637e-01 -1.84296715e-02 9.65549972e+01] [-6.84936574e-01 7.28394818e-01 1.74034167e-02 -3.98733738e+01] [ 2.53481610e-02 -4.93442427e-05 9.99678683e-01 1.59555345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30762800000001 meters Centerline goodness [0,1] 0.9998709954848419 Centerline is valid? [True, True] Translation: X:96.58, Y:-39.89, Z:1.59 [[ 7.25125045e-01 6.88367078e-01 -1.85589926e-02 9.65811226e+01] [-6.88143698e-01 7.25362505e-01 1.75353238e-02 -3.98939777e+01] [ 2.55327370e-02 5.59513864e-05 9.99673985e-01 1.59491736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.61, Y:-39.92, Z:1.60 [[ 7.23449211e-01 6.90126016e-01 -1.86365476e-02 9.66055578e+01] [-6.89901094e-01 7.23689208e-01 1.76184918e-02 -3.99157943e+01] [ 2.56460480e-02 1.11290566e-04 9.99671080e-01 1.59521798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.36762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.63, Y:-39.94, Z:1.60 [[ 7.21990187e-01 6.91648403e-01 -1.87791459e-02 9.66293546e+01] [-6.91420276e-01 7.22234353e-01 1.77634745e-02 -3.99380414e+01] [ 2.58490231e-02 1.59227968e-04 9.99665845e-01 1.59552196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.65, Y:-39.96, Z:1.60 [[ 7.20567664e-01 6.93124770e-01 -1.89814240e-02 9.66518639e+01] [-6.92891962e-01 7.20817598e-01 1.79643646e-02 -3.99596142e+01] [ 2.61336905e-02 2.07535917e-04 9.99658435e-01 1.59593487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.42762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.67, Y:-39.98, Z:1.60 [[ 7.18341383e-01 6.95445738e-01 -1.84629970e-02 9.66745821e+01] [-6.95226071e-01 7.18578560e-01 1.74803399e-02 -3.99811964e+01] [ 2.54237417e-02 2.79105309e-04 9.99676725e-01 1.59589528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.70, Y:-40.00, Z:1.60 [[ 7.17393526e-01 6.96428335e-01 -1.82785091e-02 9.66979318e+01] [-6.96213191e-01 7.17626282e-01 1.73121825e-02 -4.00047985e+01] [ 2.51738330e-02 3.06091499e-04 9.99683042e-01 1.59679702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.48762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.72, Y:-40.03, Z:1.60 [[ 7.16466381e-01 6.97381462e-01 -1.83035889e-02 9.67203833e+01] [-6.97165803e-01 7.16700067e-01 1.73452210e-02 -4.00282242e+01] [ 2.52144189e-02 3.33368537e-04 9.99682010e-01 1.59801052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.51762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.74, Y:-40.05, Z:1.60 [[ 7.15878518e-01 6.97985959e-01 -1.82632896e-02 9.67420807e+01] [-6.97771222e-01 7.16111360e-01 1.73159380e-02 -4.00521372e+01] [ 2.51648307e-02 3.47489879e-04 9.99683255e-01 1.59799604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.76, Y:-40.08, Z:1.60 [[ 7.16284450e-01 6.97566936e-01 -1.83563621e-02 9.67635787e+01] [-6.97349644e-01 7.16519547e-01 1.74130147e-02 -4.00751490e+01] [ 2.52994356e-02 3.28130878e-04 9.99679864e-01 1.59846430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.78, Y:-40.10, Z:1.60 [[ 7.17215030e-01 6.96622592e-01 -1.78764048e-02 9.67846560e+01] [-6.96416027e-01 7.17437722e-01 1.69655912e-02 -4.01000175e+01] [ 2.46438212e-02 2.81437852e-04 9.99696255e-01 1.59924941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.81, Y:-40.13, Z:1.60 [[ 7.18633589e-01 6.95159127e-01 -1.78760573e-02 9.68050477e+01] [-6.94951910e-01 7.18855853e-01 1.69736602e-02 -4.01250359e+01] [ 2.46497032e-02 2.25157810e-04 9.99696125e-01 1.60061075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.82, Y:-40.15, Z:1.60 [[ 7.22854856e-01 6.90793924e-01 -1.68704415e-02 9.68215733e+01] [-6.90607999e-01 7.23051693e-01 1.60262418e-02 -4.01531528e+01] [ 2.32690318e-02 6.62151340e-05 9.99729237e-01 1.60220827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66762800000001 meters Centerline goodness [0,1] 0.9999780749835563 Centerline is valid? [True, True] Translation: X:96.84, Y:-40.18, Z:1.60 [[ 7.25511396e-01 6.88013749e-01 -1.64406721e-02 9.68421695e+01] [-6.87836290e-01 7.25697651e-01 1.56255367e-02 -4.01791986e+01] [ 2.26815412e-02 -2.80140746e-05 9.99742740e-01 1.60343479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69762800000001 meters Centerline goodness [0,1] 0.9999780176298608 Centerline is valid? [True, True] Translation: X:96.86, Y:-40.20, Z:1.60 [[ 7.28339622e-01 6.85021242e-01 -1.63490992e-02 9.68615116e+01] [-6.84844832e-01 7.28523083e-01 1.55458800e-02 -4.02040025e+01] [ 2.25599541e-02 -1.26084265e-04 9.99745484e-01 1.60376760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72762800000001 meters Centerline goodness [0,1] 0.9998460049278423 Centerline is valid? [True, True] Translation: X:96.88, Y:-40.23, Z:1.60 [[ 7.33169043e-01 6.79857734e-01 -1.60192179e-02 9.68782596e+01] [-6.79687023e-01 7.33343972e-01 1.52371212e-02 -4.02321739e+01] [ 2.21066716e-02 -2.83331078e-04 9.99755578e-01 1.60411349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75762800000001 meters Centerline goodness [0,1] 0.9998460049278423 Centerline is valid? [True, True] Translation: X:96.90, Y:-40.25, Z:1.60 [[ 7.32977875e-01 6.80063922e-01 -1.60154971e-02 9.69016847e+01] [-6.79893175e-01 7.33152769e-01 1.52410314e-02 -4.02545603e+01] [ 2.21066816e-02 -2.82511696e-04 9.99755578e-01 1.60461943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.78762800000001 meters Centerline goodness [0,1] 0.9998012279694333 Centerline is valid? [True, True] Translation: X:96.92, Y:-40.28, Z:1.61 [[ 7.35117825e-01 6.77754114e-01 -1.58475289e-02 9.69220080e+01] [-6.77586214e-01 7.35288539e-01 1.50892969e-02 -4.02798845e+01] [ 2.18793394e-02 -3.54344005e-04 9.99760556e-01 1.60506193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81762800000001 meters Centerline goodness [0,1] 0.9999779064115594 Centerline is valid? [True, True] Translation: X:96.94, Y:-40.30, Z:1.61 [[ 7.36840946e-01 6.75880009e-01 -1.58629568e-02 9.69416280e+01] [-6.75711208e-01 7.37011561e-01 1.51103622e-02 -4.03041083e+01] [ 2.19039743e-02 -4.15155936e-04 9.99759993e-01 1.60588366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.96, Y:-40.33, Z:1.61 [[ 7.39432698e-01 6.73046915e-01 -1.57205293e-02 9.69604528e+01] [-6.72880389e-01 7.39599623e-01 1.49793126e-02 -4.03299986e+01] [ 2.17086777e-02 -4.98157656e-04 9.99764215e-01 1.60616435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.87762800000002 meters Centerline goodness [0,1] 0.9999556590178472 Centerline is valid? [True, True] Translation: X:96.98, Y:-40.35, Z:1.61 [[ 7.39869340e-01 6.72566152e-01 -1.57521527e-02 9.69825390e+01] [-6.72398696e-01 7.40036825e-01 1.50163539e-02 -4.03530452e+01] [ 2.17566644e-02 -5.18412876e-04 9.99763161e-01 1.60654650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.90762800000002 meters Centerline goodness [0,1] 0.9998888493686644 Centerline is valid? [True, True] Translation: X:97.00, Y:-40.38, Z:1.61 [[ 7.40172710e-01 6.72223021e-01 -1.61421602e-02 9.70048096e+01] [-6.72046917e-01 7.40348506e-01 1.53958019e-02 -4.03758019e+01] [ 2.23002367e-02 -5.47263414e-04 9.99751169e-01 1.60637755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.937628 meters Centerline goodness [0,1] 0.9998663637578511 Centerline is valid? [True, True] Translation: X:97.02, Y:-40.40, Z:1.61 [[ 7.40593865e-01 6.71740908e-01 -1.68783756e-02 9.70241218e+01] [-6.71548088e-01 7.40785935e-01 1.61048072e-02 -4.04000050e+01] [ 2.33215211e-02 -5.92480555e-04 9.99727841e-01 1.60503545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.967628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.05, Y:-40.42, Z:1.61 [[ 7.40209276e-01 6.72152291e-01 -1.73644789e-02 9.70474981e+01] [-6.71948172e-01 7.40412680e-01 1.65745951e-02 -4.04225004e+01] [ 2.39975325e-02 -6.00639155e-04 9.99711837e-01 1.60568418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.997628 meters Centerline goodness [0,1] 0.9999552832804185 Centerline is valid? [True, True] Translation: X:97.07, Y:-40.45, Z:1.61 [[ 7.39167215e-01 6.73295588e-01 -1.74608048e-02 9.70687996e+01] [-6.73089305e-01 7.39373196e-01 1.66752647e-02 -4.04453769e+01] [ 2.41374332e-02 -5.73128046e-04 9.99708485e-01 1.60549896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.027628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.09, Y:-40.47, Z:1.61 [[ 7.38225821e-01 6.74326279e-01 -1.75130650e-02 9.70901415e+01] [-6.74118867e-01 7.38433322e-01 1.67326957e-02 -4.04678342e+01] [ 2.42155272e-02 -5.46620419e-04 9.99706612e-01 1.60538494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.11, Y:-40.49, Z:1.61 [[ 7.36996651e-01 6.75667723e-01 -1.75802463e-02 9.71133492e+01] [-6.75458910e-01 7.37206123e-01 1.68045253e-02 -4.04899019e+01] [ 2.43145405e-02 -5.10144875e-04 9.99704228e-01 1.60578070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08762800000001 meters Centerline goodness [0,1] 0.999977583501457 Centerline is valid? [True, True] Translation: X:97.14, Y:-40.51, Z:1.61 [[ 7.35624501e-01 6.77160918e-01 -1.75978611e-02 9.71374846e+01] [-6.76951964e-01 7.35834815e-01 1.68274860e-02 -4.05117352e+01] [ 2.43440347e-02 -4.65804371e-04 9.99703532e-01 1.60709663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.16, Y:-40.53, Z:1.61 [[ 7.32324051e-01 6.80734557e-01 -1.73766150e-02 9.71605864e+01] [-6.80531713e-01 7.32530097e-01 1.66206443e-02 -4.05335140e+01] [ 2.40431405e-02 -3.46359996e-04 9.99710862e-01 1.60672581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.14762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.18, Y:-40.56, Z:1.61 [[ 7.30145457e-01 6.83066577e-01 -1.75403357e-02 9.71846019e+01] [-6.82860361e-01 7.30356060e-01 1.67855022e-02 -4.05552200e+01] [ 2.42763060e-02 -2.78258180e-04 9.99705248e-01 1.60658960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.21, Y:-40.57, Z:1.61 [[ 7.26898710e-01 6.86534123e-01 -1.70048072e-02 9.72094784e+01] [-6.86341097e-01 7.27097566e-01 1.62796814e-02 -4.05746863e+01] [ 2.35407107e-02 -1.62581445e-04 9.99722866e-01 1.60662032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.20762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.24, Y:-40.59, Z:1.61 [[ 7.23369936e-01 6.90257327e-01 -1.67558407e-02 9.72353227e+01] [-6.90070777e-01 7.23563971e-01 1.60468849e-02 -4.05946653e+01] [ 2.32004026e-02 -4.51181038e-05 9.99730833e-01 1.60683607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.23762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.26, Y:-40.61, Z:1.61 [[ 7.18038844e-01 6.95812576e-01 -1.62812022e-02 9.72606249e+01] [-6.95637691e-01 7.18223394e-01 1.55999702e-02 -4.06142558e+01] [ 2.25481957e-02 1.24433330e-04 9.99745749e-01 1.60741269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.26762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.28, Y:-40.64, Z:1.61 [[ 7.16262767e-01 6.97639009e-01 -1.63542270e-02 9.72835237e+01] [-6.97462844e-01 7.16449427e-01 1.56780225e-02 -4.06360293e+01] [ 2.26545766e-02 1.76881854e-04 9.99743336e-01 1.60855794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.31, Y:-40.66, Z:1.61 [[ 7.14434956e-01 6.99513567e-01 -1.62315207e-02 9.73069095e+01] [-6.99340349e-01 7.14619281e-01 1.55678907e-02 -4.06568874e+01] [ 2.24893084e-02 2.29112014e-04 9.99747057e-01 1.60921160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.33, Y:-40.68, Z:1.61 [[ 7.11912011e-01 7.02094440e-01 -1.56424415e-02 9.73308237e+01] [-7.01934042e-01 7.12083781e-01 1.50096586e-02 -4.06778046e+01] [ 2.16769267e-02 2.94405917e-04 9.99764984e-01 1.60997568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.35, Y:-40.70, Z:1.61 [[ 7.10575334e-01 7.03448763e-01 -1.55734834e-02 9.73534686e+01] [-7.03289946e-01 7.10745897e-01 1.49506436e-02 -4.06999705e+01] [ 2.15858012e-02 3.29115709e-04 9.99766945e-01 1.61045107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.38, Y:-40.72, Z:1.61 [[ 7.09143935e-01 7.04873747e-01 -1.63670537e-02 9.73775065e+01] [-7.04698555e-01 7.09332680e-01 1.57192773e-02 -4.07192649e+01] [ 2.26897920e-02 3.86608954e-04 9.99742479e-01 1.60883807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.40, Y:-40.74, Z:1.61 [[ 7.08673252e-01 7.05335732e-01 -1.68441870e-02 9.74008519e+01] [-7.05150184e-01 7.08873287e-01 1.61827548e-02 -4.07413529e+01] [ 2.33546694e-02 4.09396069e-04 9.99727159e-01 1.60840010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.42, Y:-40.76, Z:1.61 [[ 7.08262757e-01 7.05732550e-01 -1.74767199e-02 9.74228347e+01] [-7.05532726e-01 7.08478215e-01 1.67985300e-02 -4.07643665e+01] [ 2.42371447e-02 4.32624625e-04 9.99706144e-01 1.60838095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.44, Y:-40.79, Z:1.61 [[ 7.08115470e-01 7.05839150e-01 -1.90676427e-02 9.74445575e+01] [-7.05601074e-01 7.08371988e-01 1.83371495e-02 -4.07883127e+01] [ 2.64500620e-02 4.69329910e-04 9.99650026e-01 1.60700358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.50762800000001 meters Centerline goodness [0,1] 0.9999775643902001 Centerline is valid? [True, True] Translation: X:97.47, Y:-40.81, Z:1.61 [[ 7.08122286e-01 7.05807189e-01 -1.99759786e-02 9.74676050e+01] [-7.05545591e-01 7.08403824e-01 1.92208262e-02 -4.08107686e+01] [ 2.77172569e-02 4.83268176e-04 9.99615686e-01 1.60631324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.49, Y:-40.83, Z:1.61 [[ 7.08014834e-01 7.05903588e-01 -2.03744787e-02 9.74903308e+01] [-7.05631190e-01 7.08307761e-01 1.96147807e-02 -4.08332433e+01] [ 2.82775455e-02 4.89311962e-04 9.99599990e-01 1.60636750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.56762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.51, Y:-40.86, Z:1.61 [[ 7.07793228e-01 7.06114557e-01 -2.07600288e-02 9.75133652e+01] [-7.05831524e-01 7.08097438e-01 1.99969508e-02 -4.08563068e+01] [ 2.88202613e-02 4.99376422e-04 9.99584485e-01 1.60754863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.54, Y:-40.88, Z:1.61 [[ 7.07807008e-01 7.06096012e-01 -2.09203430e-02 9.75374909e+01] [-7.05808249e-01 7.08115935e-01 2.01628163e-02 -4.08791694e+01] [ 2.90509124e-02 4.94367960e-04 9.99577811e-01 1.60812264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.56, Y:-40.90, Z:1.61 [[ 7.07705019e-01 7.06205840e-01 -2.06620000e-02 9.75621605e+01] [-7.05924876e-01 7.08006410e-01 1.99246754e-02 -4.08991853e+01] [ 2.86997505e-02 4.85027026e-04 9.99587960e-01 1.60726286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.58, Y:-40.92, Z:1.61 [[ 7.08047760e-01 7.05864145e-01 -2.05955945e-02 9.75848048e+01] [-7.05584550e-01 7.08347087e-01 1.98707701e-02 -4.09224286e+01] [ 2.86148935e-02 4.62478994e-04 9.99590403e-01 1.60923382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.61, Y:-40.95, Z:1.61 [[ 7.10083437e-01 7.03833623e-01 -1.99935660e-02 9.76076708e+01] [-7.03569147e-01 7.10364764e-01 1.92965831e-02 -4.09457669e+01] [ 2.77843088e-02 3.64672064e-04 9.99613875e-01 1.61093460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.717628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.63, Y:-40.97, Z:1.61 [[ 7.11578117e-01 7.02322666e-01 -1.99864120e-02 9.76293290e+01] [-7.02057614e-01 7.11858681e-01 1.92957208e-02 -4.09691719e+01] [ 2.77793230e-02 3.01200019e-04 9.99614035e-01 1.61221092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.65, Y:-40.99, Z:1.61 [[ 7.13424368e-01 7.00453981e-01 -1.97456667e-02 9.76507140e+01] [-7.00194305e-01 7.13697536e-01 1.90725793e-02 -4.09932328e+01] [ 2.74518978e-02 2.18960579e-04 9.99623102e-01 1.61293819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.777628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.67, Y:-41.02, Z:1.61 [[ 7.15575633e-01 6.98257774e-01 -1.96874016e-02 9.76716978e+01] [-6.97998540e-01 7.15846397e-01 1.90256091e-02 -4.10176854e+01] [ 2.73779350e-02 1.27515248e-04 9.99625146e-01 1.61391166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.69, Y:-41.04, Z:1.62 [[ 7.19213041e-01 6.94527645e-01 -1.90775234e-02 9.76911215e+01] [-6.94282672e-01 7.19466017e-01 1.84451087e-02 -4.10432931e+01] [ 2.65362677e-02 -2.07688630e-05 9.99647851e-01 1.61571663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.71, Y:-41.07, Z:1.62 [[ 7.20260260e-01 6.93451273e-01 -1.87214019e-02 9.77138817e+01] [-6.93214754e-01 7.20503524e-01 1.81101332e-02 -4.10668449e+01] [ 2.60473310e-02 -6.60572716e-05 9.99660709e-01 1.61690532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.86762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.74, Y:-41.09, Z:1.62 [[ 7.21028042e-01 6.92667331e-01 -1.81805271e-02 9.77369868e+01] [-6.92443788e-01 7.21257207e-01 1.75966501e-02 -4.10902608e+01] [ 2.53014609e-02 -9.86850730e-05 9.99679862e-01 1.61762175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.76, Y:-41.11, Z:1.62 [[ 7.21908011e-01 6.91761029e-01 -1.77623615e-02 9.77603883e+01] [-6.91547142e-01 7.22126485e-01 1.72014638e-02 -4.11137068e+01] [ 2.47259740e-02 -1.34364245e-04 9.99694257e-01 1.61954706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.92762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.78, Y:-41.14, Z:1.62 [[ 7.21982245e-01 6.91693055e-01 -1.73883842e-02 9.77840556e+01] [-6.91487833e-01 7.22191594e-01 1.68487053e-02 -4.11363091e+01] [ 2.42118774e-02 -1.40609965e-04 9.99706840e-01 1.62047864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.81, Y:-41.16, Z:1.62 [[ 7.21145502e-01 6.92578429e-01 -1.68607613e-02 9.78082036e+01] [-6.92385512e-01 7.21342573e-01 1.63461240e-02 -4.11574647e+01] [ 2.34833578e-02 -1.13786935e-04 9.99724221e-01 1.62179335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.98762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.83, Y:-41.18, Z:1.62 [[ 7.20255762e-01 6.93508100e-01 -1.66778967e-02 9.78308340e+01] [-6.93319437e-01 7.20448823e-01 1.61756305e-02 -4.11781974e+01] [ 2.32335018e-02 -8.74810533e-05 9.99730062e-01 1.62232898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.01762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.85, Y:-41.20, Z:1.62 [[ 7.19182510e-01 6.94618370e-01 -1.67880301e-02 9.78548505e+01] [-6.94427365e-01 7.19378424e-01 1.62885437e-02 -4.12000278e+01] [ 2.33912683e-02 -5.63681928e-05 9.99726385e-01 1.62283807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.04762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.88, Y:-41.22, Z:1.62 [[ 7.17122232e-01 6.96737892e-01 -1.70884305e-02 9.78789276e+01] [-6.96540394e-01 7.17325804e-01 1.65882386e-02 -4.12203670e+01] [ 2.38156266e-02 6.98748357e-06 9.99716368e-01 1.62285726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.90, Y:-41.24, Z:1.62 [[ 7.15949198e-01 6.97929885e-01 -1.76244669e-02 9.79032292e+01] [-6.97719979e-01 7.16166094e-01 1.71159839e-02 -4.12423780e+01] [ 2.45678023e-02 4.27676859e-05 9.99698165e-01 1.62276691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.93, Y:-41.26, Z:1.62 [[ 7.14779893e-01 6.99103584e-01 -1.85440866e-02 9.79269591e+01] [-6.98871338e-01 7.15020400e-01 1.80188963e-02 -4.12643190e+01] [ 2.58564752e-02 8.03857951e-05 9.99665662e-01 1.62252651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.95, Y:-41.29, Z:1.62 [[ 7.13809610e-01 7.00080180e-01 -1.90678491e-02 9.79497920e+01] [-6.99834738e-01 7.14064233e-01 1.85367036e-02 -4.12853223e+01] [ 2.65928478e-02 1.12666062e-04 9.99646341e-01 1.62206797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.97, Y:-41.31, Z:1.62 [[ 7.12514035e-01 7.01401310e-01 -1.89723998e-02 9.79734044e+01] [-7.01158545e-01 7.12766567e-01 1.84530661e-02 -4.13077766e+01] [ 2.64658970e-02 1.54591664e-04 9.99649705e-01 1.62275448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.00, Y:-41.33, Z:1.62 [[ 7.12240600e-01 7.01675941e-01 -1.90840800e-02 9.79969920e+01] [-7.01430126e-01 7.12496210e-01 1.85722641e-02 -4.13313729e+01] [ 2.66290455e-02 1.58228103e-04 9.99645372e-01 1.62298502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.02, Y:-41.35, Z:1.62 [[ 7.12259846e-01 7.01656606e-01 -1.90766513e-02 9.80191822e+01] [-7.01410702e-01 7.12515252e-01 1.85753047e-02 -4.13541513e+01] [ 2.66258903e-02 1.50123673e-04 9.99645457e-01 1.62317039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.04, Y:-41.38, Z:1.62 [[ 7.12543080e-01 7.01378076e-01 -1.87390695e-02 9.80415891e+01] [-7.01140445e-01 7.12789434e-01 1.82564666e-02 -4.13779843e+01] [ 2.61616962e-02 1.30200555e-04 9.99657716e-01 1.62433886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.28762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.06, Y:-41.40, Z:1.63 [[ 7.14149130e-01 6.99774491e-01 -1.75123393e-02 9.80619550e+01] [-6.99566265e-01 7.14363814e-01 1.70699529e-02 -4.14020471e+01] [ 2.44552991e-02 6.05497604e-05 9.99700923e-01 1.62654758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.08, Y:-41.42, Z:1.63 [[ 7.15199151e-01 6.98716853e-01 -1.68799834e-02 9.80830826e+01] [-6.98522927e-01 7.15398322e-01 1.64608991e-02 -4.14249230e+01] [ 2.35774194e-02 1.82343325e-05 9.99722014e-01 1.62781979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.10, Y:-41.45, Z:1.63 [[ 7.17316304e-01 6.96575440e-01 -1.54911491e-02 9.81035205e+01] [-6.96411475e-01 7.17483556e-01 1.51130795e-02 -4.14498317e+01] [ 2.16420448e-02 -5.26442939e-05 9.99765782e-01 1.63056776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.13, Y:-41.47, Z:1.63 [[ 7.18189053e-01 6.95685166e-01 -1.50543685e-02 9.81263534e+01] [-6.95529971e-01 7.18346813e-01 1.46940988e-02 -4.14742004e+01] [ 2.10367241e-02 -8.23764437e-05 9.99778700e-01 1.63177694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.15, Y:-41.50, Z:1.63 [[ 7.19068562e-01 6.94777709e-01 -1.49779679e-02 9.81493300e+01] [-6.94623719e-01 7.19224529e-01 1.46275853e-02 -4.14983443e+01] [ 2.09354421e-02 -1.14185009e-04 9.99780823e-01 1.63239277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.17, Y:-41.52, Z:1.63 [[ 7.20041047e-01 6.93767724e-01 -1.50743758e-02 9.81722661e+01] [-6.93611350e-01 7.20198808e-01 1.47299602e-02 -4.15221617e+01] [ 2.10757184e-02 -1.50417809e-04 9.99777871e-01 1.63284700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.467628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.19, Y:-41.55, Z:1.63 [[ 7.22481559e-01 6.91215712e-01 -1.55318243e-02 9.81942625e+01] [-6.91048930e-01 7.22648451e-01 1.51852804e-02 -4.15458997e+01] [ 2.17203532e-02 -2.37834493e-04 9.99764057e-01 1.63221699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.22, Y:-41.57, Z:1.63 [[ 7.23741610e-01 6.89888862e-01 -1.58568631e-02 9.82166275e+01] [-6.89714537e-01 7.23915240e-01 1.55107382e-02 -4.15684088e+01] [ 2.21797103e-02 -2.89057627e-04 9.99753958e-01 1.63250068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.527628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.24, Y:-41.59, Z:1.63 [[ 7.24770243e-01 6.88794348e-01 -1.64450643e-02 9.82375487e+01] [-6.88606385e-01 7.24956709e-01 1.60939881e-02 -4.15911545e+01] [ 2.30074077e-02 -3.40267353e-04 9.99735237e-01 1.63248891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.26, Y:-41.61, Z:1.63 [[ 7.26408305e-01 6.87038121e-01 -1.75952843e-02 9.82606111e+01] [-6.86822218e-01 7.26621246e-01 1.72280485e-02 -4.16131124e+01] [ 2.46214335e-02 -4.29765354e-04 9.99696754e-01 1.63339470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.28, Y:-41.64, Z:1.63 [[ 7.26606315e-01 6.86812056e-01 -1.82335621e-02 9.82834850e+01] [-6.86579900e-01 7.26834911e-01 1.78620516e-02 -4.16352128e+01] [ 2.55206619e-02 -4.59882297e-04 9.99674189e-01 1.63350024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.30, Y:-41.66, Z:1.63 [[ 7.26682889e-01 6.86718908e-01 -1.86847469e-02 9.83047106e+01] [-6.86474854e-01 7.26922905e-01 1.83129826e-02 -4.16579897e+01] [ 2.61582419e-02 -4.81122199e-04 9.99657699e-01 1.63233215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.64762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.33, Y:-41.68, Z:1.63 [[ 7.25850258e-01 6.87580660e-01 -1.93452532e-02 9.83289361e+01] [-6.87319100e-01 7.26107852e-01 1.89695186e-02 -4.16784715e+01] [ 2.70898143e-02 -4.72667965e-04 9.99632892e-01 1.63187604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.35, Y:-41.70, Z:1.63 [[ 7.25668983e-01 6.87772110e-01 -1.93404201e-02 9.83520041e+01] [-6.87510487e-01 7.25926512e-01 1.89744454e-02 -4.17012300e+01] [ 2.70898181e-02 -4.72424886e-04 9.99632892e-01 1.63238226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.70762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.38, Y:-41.72, Z:1.63 [[ 7.25074591e-01 6.88406498e-01 -1.90612265e-02 9.83775498e+01] [-6.88152340e-01 7.25324956e-01 1.87100400e-02 -4.17210226e+01] [ 2.67056964e-02 -4.49146999e-04 9.99643238e-01 1.63417047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.73762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.40, Y:-41.74, Z:1.64 [[ 7.24319536e-01 6.89192102e-01 -1.93766955e-02 9.84020499e+01] [-6.88929468e-01 7.24578539e-01 1.90296978e-02 -4.17432109e+01] [ 2.71550552e-02 -4.34405344e-04 9.99631139e-01 1.63512406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.76762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.43, Y:-41.76, Z:1.64 [[ 7.23119792e-01 6.90467463e-01 -1.87736265e-02 9.84269524e+01] [-6.90221102e-01 7.23363350e-01 1.84470453e-02 -4.17635543e+01] [ 2.63172379e-02 -3.81470359e-04 9.99653569e-01 1.63658477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.79762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.45, Y:-41.78, Z:1.64 [[ 7.22387191e-01 6.91240461e-01 -1.85302856e-02 9.84493592e+01] [-6.91000477e-01 7.22624729e-01 1.82165168e-02 -4.17845352e+01] [ 2.59824360e-02 -3.54942210e-04 9.99662337e-01 1.63710255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.47, Y:-41.81, Z:1.64 [[ 7.21354550e-01 6.92327455e-01 -1.81743859e-02 9.84736478e+01] [-6.92096794e-01 7.21583395e-01 1.78726783e-02 -4.18064116e+01] [ 2.54880809e-02 -3.14103585e-04 9.99675077e-01 1.63810872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.50, Y:-41.83, Z:1.64 [[ 7.18986163e-01 6.94795081e-01 -1.78519645e-02 9.84989180e+01] [-6.94573163e-01 7.19207720e-01 1.75606436e-02 -4.18267835e+01] [ 2.50403195e-02 -2.26364306e-04 9.99686416e-01 1.63887232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.52, Y:-41.85, Z:1.64 [[ 7.17291707e-01 6.96559245e-01 -1.72576063e-02 9.85234234e+01] [-6.96352177e-01 7.17499262e-01 1.69839730e-02 -4.18481117e+01] [ 2.42126631e-02 -1.65091269e-04 9.99706817e-01 1.64027505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.55, Y:-41.87, Z:1.64 [[ 7.15268143e-01 6.98640777e-01 -1.71040276e-02 9.85470313e+01] [-6.98437783e-01 7.15472609e-01 1.68406719e-02 -4.18685812e+01] [ 2.40030434e-02 -9.94970006e-05 9.99711880e-01 1.64044691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.57, Y:-41.89, Z:1.64 [[ 7.12703077e-01 7.01269727e-01 -1.65859785e-02 9.85717272e+01] [-7.01079386e-01 7.12896044e-01 1.63378451e-02 -4.18887194e+01] [ 2.32813146e-02 -1.59448855e-05 9.99728953e-01 1.64116273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.60, Y:-41.91, Z:1.64 [[ 7.07421321e-01 7.06612191e-01 -1.59463624e-02 9.85991441e+01] [-7.06437433e-01 7.07601011e-01 1.57150682e-02 -4.19065756e+01] [ 2.23881209e-02 1.47932983e-04 9.99749344e-01 1.64192349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.00762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.62, Y:-41.93, Z:1.64 [[ 7.04546803e-01 7.09479352e-01 -1.59013134e-02 9.86235426e+01] [-7.09306161e-01 7.04726184e-01 1.56772374e-02 -4.19260607e+01] [ 2.23287481e-02 2.33552059e-04 9.99750655e-01 1.64220180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.65, Y:-41.95, Z:1.64 [[ 7.00006518e-01 7.13954827e-01 -1.61052741e-02 9.86482057e+01] [-7.13778258e-01 7.00191661e-01 1.58819411e-02 -4.19466562e+01] [ 2.26157671e-02 3.78132195e-04 9.99744159e-01 1.64356492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.06762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.67, Y:-41.97, Z:1.64 [[ 6.98290374e-01 7.15638545e-01 -1.58753192e-02 9.86736188e+01] [-7.15467354e-01 6.98470681e-01 1.56579985e-02 -4.19651110e+01] [ 2.22939123e-02 4.24442955e-04 9.99751370e-01 1.64316989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.69, Y:-41.99, Z:1.65 [[ 6.97132711e-01 7.16774835e-01 -1.54860654e-02 9.86943737e+01] [-7.16612107e-01 6.97304551e-01 1.52791072e-02 -4.19895835e+01] [ 2.17501834e-02 4.45936566e-04 9.99763337e-01 1.64553866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.72, Y:-42.01, Z:1.65 [[ 6.95907952e-01 7.17967109e-01 -1.53412382e-02 9.87172003e+01] [-7.17807538e-01 6.96076868e-01 1.51437028e-02 -4.20115647e+01] [ 2.15513616e-02 4.73433164e-04 9.99767630e-01 1.64672269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.74, Y:-42.03, Z:1.65 [[ 6.95799563e-01 7.18077851e-01 -1.50721023e-02 9.87404740e+01] [-7.17923697e-01 6.95962632e-01 1.48855536e-02 -4.20345878e+01] [ 2.11786064e-02 4.63257685e-04 9.99775601e-01 1.64753056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.76, Y:-42.06, Z:1.65 [[ 6.95736553e-01 7.18143450e-01 -1.48537646e-02 9.87637848e+01] [-7.17993575e-01 6.95894949e-01 1.46780605e-02 -4.20583489e+01] [ 2.08776127e-02 4.52844306e-04 9.99781936e-01 1.64785856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.217628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.78, Y:-42.08, Z:1.65 [[ 6.96966832e-01 7.16944749e-01 -1.50818417e-02 9.87846264e+01] [-7.16789782e-01 6.97129868e-01 1.49115818e-02 -4.20830921e+01] [ 2.12047826e-02 4.17632158e-04 9.99775066e-01 1.64828880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.81, Y:-42.11, Z:1.65 [[ 6.97987972e-01 7.15950858e-01 -1.50718466e-02 9.88052902e+01] [-7.15795710e-01 6.98150574e-01 1.49090089e-02 -4.21073729e+01] [ 2.11965361e-02 3.82054246e-04 9.99775255e-01 1.64872347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.277628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.83, Y:-42.13, Z:1.65 [[ 6.99438909e-01 7.14532057e-01 -1.51378027e-02 9.88259021e+01] [-7.14375075e-01 6.99602621e-01 1.49808370e-02 -4.21308036e+01] [ 2.12947347e-02 3.35888638e-04 9.99773185e-01 1.64902828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.85, Y:-42.15, Z:1.65 [[ 7.01238722e-01 7.12756857e-01 -1.55537068e-02 9.88464918e+01] [-7.12590578e-01 7.01411136e-01 1.53976018e-02 -4.21545470e+01] [ 2.18842894e-02 2.86030279e-04 9.99760469e-01 1.64912001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.86, Y:-42.18, Z:1.65 [[ 7.06275314e-01 7.07752396e-01 -1.61779393e-02 9.88643695e+01] [-7.07571042e-01 7.06460564e-01 1.60216049e-02 -4.21829548e+01] [ 2.27684054e-02 1.31377342e-04 9.99740758e-01 1.64949505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.36762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.88, Y:-42.21, Z:1.65 [[ 7.09237222e-01 7.04769175e-01 -1.68218078e-02 9.88835712e+01] [-7.04572167e-01 7.09436684e-01 1.66628984e-02 -4.22073691e+01] [ 2.36775047e-02 3.42298169e-05 9.99719648e-01 1.64921862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.90, Y:-42.23, Z:1.65 [[ 7.11903087e-01 7.02061829e-01 -1.74121832e-02 9.89040014e+01] [-7.01849770e-01 7.12115991e-01 1.72544249e-02 -4.22337791e+01] [ 2.45131671e-02 -6.27415616e-05 9.99699505e-01 1.64995482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.42762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.92, Y:-42.26, Z:1.65 [[ 7.18044902e-01 6.95757156e-01 -1.82619452e-02 9.89212732e+01] [-6.95521612e-01 7.18277029e-01 1.81051729e-02 -4.22624665e+01] [ 2.57139394e-02 -2.98749555e-04 9.99669297e-01 1.65103353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.94, Y:-42.29, Z:1.65 [[ 7.20902583e-01 6.92786545e-01 -1.86083009e-02 9.89410629e+01] [-6.92540806e-01 7.21142586e-01 1.84554364e-02 -4.22874508e+01] [ 2.62049162e-02 -4.17564056e-04 9.99656505e-01 1.65134992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.48762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.96, Y:-42.31, Z:1.65 [[ 7.26646754e-01 6.86756522e-01 -1.87075856e-02 9.89595044e+01] [-6.86505919e-01 7.26887242e-01 1.85623476e-02 -4.23136253e+01] [ 2.63461186e-02 -6.45401360e-04 9.99652672e-01 1.65164631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.51762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.98, Y:-42.34, Z:1.65 [[ 7.29233272e-01 6.84012237e-01 -1.86036505e-02 9.89804651e+01] [-6.83763359e-01 7.29470154e-01 1.84652012e-02 -4.23384150e+01] [ 2.62012313e-02 -7.44944537e-04 9.99656411e-01 1.65191984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.54762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.00, Y:-42.36, Z:1.65 [[ 7.31268850e-01 6.81847857e-01 -1.81485044e-02 9.90018985e+01] [-6.81610279e-01 7.31493577e-01 1.80159637e-02 -4.23620438e+01] [ 2.55596606e-02 -8.04305928e-04 9.99672975e-01 1.65304284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.02, Y:-42.39, Z:1.66 [[ 7.33578241e-01 6.79382869e-01 -1.73747523e-02 9.90224519e+01] [-6.79164321e-01 7.33783473e-01 1.72522506e-02 -4.23860423e+01] [ 2.44701897e-02 -8.55563797e-04 9.99700194e-01 1.65560843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.05, Y:-42.41, Z:1.66 [[ 7.33926406e-01 6.79017971e-01 -1.69300104e-02 9.90450689e+01] [-6.78810187e-01 7.34121155e-01 1.68184314e-02 -4.24087787e+01] [ 2.38486959e-02 -8.51227428e-04 9.99715217e-01 1.65713478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.07, Y:-42.43, Z:1.66 [[ 7.34056628e-01 6.78886281e-01 -1.65615473e-02 9.90673636e+01] [-6.78687220e-01 7.34242948e-01 1.64605612e-02 -4.24321640e+01] [ 2.33350485e-02 -8.42873512e-04 9.99727345e-01 1.65829866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.09, Y:-42.45, Z:1.66 [[ 7.34181525e-01 6.78769510e-01 -1.57936781e-02 9.90926391e+01] [-6.78588274e-01 7.34350932e-01 1.57055133e-02 -4.24530383e+01] [ 2.22585258e-02 -8.13292978e-04 9.99751918e-01 1.66002362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.12, Y:-42.47, Z:1.66 [[ 7.33800023e-01 6.79185870e-01 -1.56230575e-02 9.91152425e+01] [-6.79008444e-01 7.33965883e-01 1.55439995e-02 -4.24745392e+01] [ 2.20240560e-02 -7.97999236e-04 9.99757123e-01 1.66058773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.14, Y:-42.50, Z:1.66 [[ 7.33398913e-01 6.79618760e-01 -1.56325062e-02 9.91399831e+01] [-6.79441081e-01 7.33565073e-01 1.55595678e-02 -4.24959382e+01] [ 2.20420347e-02 -7.90003196e-04 9.99756733e-01 1.66115028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.16, Y:-42.52, Z:1.66 [[ 7.32691910e-01 6.80377190e-01 -1.57937955e-02 9.91631394e+01] [-6.80195907e-01 7.32861702e-01 1.57243386e-02 -4.25167046e+01] [ 2.22731492e-02 -7.78220636e-04 9.99751620e-01 1.66170256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.78762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.19, Y:-42.54, Z:1.66 [[ 7.31665313e-01 6.81484451e-01 -1.56464845e-02 9.91875715e+01] [-6.81306671e-01 7.31832217e-01 1.55828881e-02 -4.25371593e+01] [ 2.20700974e-02 -7.41404431e-04 9.99756151e-01 1.66201454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.22, Y:-42.55, Z:1.66 [[ 7.29780180e-01 6.83493792e-01 -1.60351346e-02 9.92157680e+01] [-6.83307376e-01 7.29955986e-01 1.59777670e-02 -4.25541533e+01] [ 2.26256471e-02 -7.03331931e-04 9.99743760e-01 1.66163214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.24, Y:-42.57, Z:1.66 [[ 7.28700705e-01 6.84636533e-01 -1.63737551e-02 9.92396969e+01] [-6.84442287e-01 7.28884316e-01 1.63220853e-02 -4.25745310e+01] [ 2.31092692e-02 -6.87024650e-04 9.99732709e-01 1.66182118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.27, Y:-42.59, Z:1.66 [[ 7.26919747e-01 6.86528495e-01 -1.63189057e-02 9.92678922e+01] [-6.86335894e-01 7.27102626e-01 1.62730067e-02 -4.25914442e+01] [ 2.30374020e-02 -6.28919137e-04 9.99734406e-01 1.66243011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.29, Y:-42.61, Z:1.66 [[ 7.26002501e-01 6.87491720e-01 -1.65982846e-02 9.92894880e+01] [-6.87292532e-01 7.26191956e-01 1.65595511e-02 -4.26132262e+01] [ 2.34380950e-02 -6.14398465e-04 9.99725101e-01 1.66230475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.32, Y:-42.63, Z:1.66 [[ 7.25166981e-01 6.88373550e-01 -1.65742738e-02 9.93160520e+01] [-6.88174988e-01 7.25356125e-01 1.65432309e-02 -4.26317626e+01] [ 2.34101736e-02 -5.90604148e-04 9.99725770e-01 1.66404420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.967628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.34, Y:-42.65, Z:1.66 [[ 7.24295432e-01 6.89289411e-01 -1.66203227e-02 9.93406283e+01] [-6.89089795e-01 7.24485876e-01 1.65972833e-02 -4.26530914e+01] [ 2.34815207e-02 -5.68441679e-04 9.99724109e-01 1.66444393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.37, Y:-42.67, Z:1.66 [[ 7.23173481e-01 6.90454800e-01 -1.70963389e-02 9.93663771e+01] [-6.90243736e-01 7.23375328e-01 1.70798196e-02 -4.26711789e+01] [ 2.41599131e-02 -5.51031759e-04 9.99707955e-01 1.66470940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.027628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.39, Y:-42.69, Z:1.66 [[ 7.22552309e-01 6.91103987e-01 -1.71300948e-02 9.93907249e+01] [-6.90892131e-01 7.22755141e-01 1.71192980e-02 -4.26914280e+01] [ 2.42120792e-02 -5.34540568e-04 9.99706702e-01 1.66454963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.42, Y:-42.71, Z:1.66 [[ 7.21251528e-01 6.92455366e-01 -1.73723697e-02 9.94163259e+01] [-6.92237675e-01 7.21460542e-01 1.73691471e-02 -4.27094527e+01] [ 2.45608384e-02 -5.01715074e-04 9.99698211e-01 1.66444962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.04, Y:-42.22, Z:2.53 [[ 7.45798070e-01 -6.66160729e-01 3.88871832e-03 1.00035525e+02] [-6.66143552e-01 -7.45807448e-01 -4.90082842e-03 -4.22152460e+01] [ 6.16497452e-03 1.06458374e-03 -9.99980430e-01 2.52986701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.03, Y:-42.22, Z:2.53 [[ 7.95863493e-01 -6.05459451e-01 4.48924802e-03 1.00031918e+02] [-6.05441547e-01 -7.95875411e-01 -4.78147580e-03 -4.22207739e+01] [ 6.46787183e-03 1.08742476e-03 -9.99978492e-01 2.53046170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.14762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.03, Y:-42.23, Z:2.53 [[ 8.41329796e-01 -5.40489240e-01 5.96283906e-03 1.00026795e+02] [-5.40466246e-01 -8.41350250e-01 -5.09845109e-03 -4.22275456e+01] [ 7.77249409e-03 1.06676558e-03 -9.99969225e-01 2.53008456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.02, Y:-42.23, Z:2.53 [[ 8.81294316e-01 -4.72521643e-01 6.60491713e-03 1.00024404e+02] [-4.72498995e-01 -8.81318426e-01 -4.74672515e-03 -4.22325542e+01] [ 8.06396554e-03 1.06244519e-03 -9.99966921e-01 2.53029814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.20762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.02, Y:-42.24, Z:2.53 [[ 9.15722307e-01 -4.01747557e-01 7.18033589e-03 1.00022518e+02] [-4.01725877e-01 -9.15749846e-01 -4.30565523e-03 -4.22376527e+01] [ 8.30517796e-03 1.05825781e-03 -9.99964951e-01 2.53102528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.23762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.02, Y:-42.24, Z:2.53 [[ 9.44609687e-01 -3.28114019e-01 7.33009792e-03 1.00022183e+02] [-3.28095187e-01 -9.44637527e-01 -3.67302377e-03 -4.22426204e+01] [ 8.12945616e-03 1.06460399e-03 -9.99966389e-01 2.53193932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.26762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.02, Y:-42.25, Z:2.53 [[ 9.68092801e-01 -2.50496825e-01 6.90426332e-03 1.00021442e+02] [-2.50482239e-01 -9.68116803e-01 -2.91604121e-03 -4.22489499e+01] [ 7.41459240e-03 1.09360317e-03 -9.99971914e-01 2.53277379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.29762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.02, Y:-42.25, Z:2.53 [[ 9.85042121e-01 -1.72172930e-01 6.96430770e-03 1.00021233e+02] [-1.72160578e-01 -9.85066118e-01 -2.34044442e-03 -4.22530572e+01] [ 7.26326473e-03 1.10645710e-03 -9.99973010e-01 2.53279056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.02, Y:-42.27, Z:2.53 [[ 9.95921170e-01 -8.99275333e-02 7.35269959e-03 1.00018219e+02] [-8.99166167e-02 -9.95947665e-01 -1.80271327e-03 -4.22695370e+01] [ 7.48501754e-03 1.13423044e-03 -9.99971344e-01 2.53172748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.02, Y:-42.28, Z:2.53 [[ 9.99925461e-01 -9.63767103e-03 7.49585651e-03 1.00015370e+02] [-9.62880334e-03 -9.99952900e-01 -1.21820352e-03 -4.22795350e+01] [ 7.50724410e-03 1.14593658e-03 -9.99971164e-01 2.53368868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.01, Y:-42.28, Z:2.53 [[ 9.97488891e-01 7.04500307e-02 7.25992185e-03 1.00014263e+02] [ 7.04565556e-02 -9.97514639e-01 -6.46635065e-04 -4.22809022e+01] [ 7.19632286e-03 1.15652038e-03 -9.99973437e-01 2.53472542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.02, Y:-42.30, Z:2.53 [[ 9.88620270e-01 1.50291536e-01 6.51273811e-03 1.00015872e+02] [ 1.50295953e-01 -9.88641032e-01 -1.91387572e-04 -4.22957755e+01] [ 6.40999620e-03 1.16804781e-03 -9.99978774e-01 2.53464034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.02, Y:-42.31, Z:2.54 [[ 9.73684165e-01 2.27821676e-01 6.03573832e-03 1.00016998e+02] [ 2.27824575e-01 -9.73702171e-01 2.12011536e-04 -4.23057671e+01] [ 5.92531233e-03 1.16865724e-03 -9.99981762e-01 2.53782194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.02, Y:-42.32, Z:2.54 [[ 9.52791483e-01 3.03578915e-01 5.31344927e-03 1.00019674e+02] [ 3.03580799e-01 -9.52805583e-01 4.67687366e-04 -4.23173872e+01] [ 5.20466415e-03 1.16745264e-03 -9.99985774e-01 2.53605484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.50762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.02, Y:-42.33, Z:2.54 [[ 9.26325739e-01 3.76693566e-01 4.75208959e-03 1.00022583e+02] [ 3.76694744e-01 -9.26337200e-01 6.78832915e-04 -4.23278493e+01] [ 4.65774936e-03 1.16126677e-03 -9.99988478e-01 2.53657989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.03, Y:-42.34, Z:2.54 [[ 8.94408395e-01 4.47231928e-01 4.15035081e-03 1.00026841e+02] [ 4.47232730e-01 -8.94417279e-01 7.84660314e-04 -4.23363137e+01] [ 4.06307063e-03 1.15436595e-03 -9.99991079e-01 2.53642715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.56762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.03, Y:-42.35, Z:2.54 [[ 8.56640523e-01 5.15897982e-01 4.03561895e-03 1.00030963e+02] [ 5.15898123e-01 -8.56649255e-01 1.08634149e-03 -4.23450058e+01] [ 4.01755135e-03 1.15136410e-03 -9.99991267e-01 2.53684188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.04, Y:-42.35, Z:2.54 [[ 8.14271896e-01 5.80471506e-01 3.75638334e-03 1.00035283e+02] [ 5.80471237e-01 -8.14279757e-01 1.27299331e-03 -4.23528300e+01] [ 3.79768326e-03 1.14390981e-03 -9.99992135e-01 2.53732835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.04, Y:-42.36, Z:2.54 [[ 7.67498379e-01 6.41040847e-01 3.58748201e-03 1.00043245e+02] [ 6.41040049e-01 -7.67505926e-01 1.51927708e-03 -4.23624094e+01] [ 3.72733237e-03 1.13367694e-03 -9.99992411e-01 2.53680066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.05, Y:-42.37, Z:2.54 [[ 7.15421579e-01 6.98683079e-01 3.73075640e-03 1.00049503e+02] [ 6.98680920e-01 -7.15430421e-01 2.06984246e-03 -4.23710915e+01] [ 4.11526052e-03 1.12579835e-03 -9.99990899e-01 2.53755321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.06, Y:-42.38, Z:2.54 [[ 6.58903355e-01 7.52218662e-01 3.66785897e-03 1.00057297e+02] [ 7.52215376e-01 -6.58912614e-01 2.48903521e-03 -4.23787200e+01] [ 4.28909728e-03 1.11898626e-03 -9.99990176e-01 2.53731030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.717628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.06, Y:-42.39, Z:2.54 [[ 5.98897748e-01 8.00815868e-01 3.92848162e-03 1.00063722e+02] [ 8.00809370e-01 -5.98909615e-01 3.40963991e-03 -4.23858598e+01] [ 5.08329916e-03 1.10393923e-03 -9.99986471e-01 2.53725118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.07, Y:-42.39, Z:2.54 [[ 5.34606144e-01 8.45092207e-01 3.92850903e-03 1.00073308e+02] [ 8.45082668e-01 -5.34619457e-01 4.16192302e-03 -4.23927165e+01] [ 5.61746607e-03 1.09492527e-03 -9.99983622e-01 2.53694042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.777628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.08, Y:-42.40, Z:2.54 [[ 4.66420692e-01 8.84554439e-01 3.89648789e-03 1.00083172e+02] [ 8.84540658e-01 -4.66435698e-01 5.05610906e-03 -4.23996979e+01] [ 6.28986476e-03 1.08832807e-03 -9.99979626e-01 2.53802257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.09, Y:-42.40, Z:2.54 [[ 3.95263802e-01 9.18560552e-01 3.61093449e-03 1.00090350e+02] [ 9.18543844e-01 -3.95278806e-01 5.64550791e-03 -4.24047240e+01] [ 6.61306673e-03 1.08533672e-03 -9.99977544e-01 2.53841146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.10, Y:-42.41, Z:2.54 [[ 3.21552991e-01 9.46885753e-01 3.32331051e-03 1.00097243e+02] [ 9.46864601e-01 -3.21568343e-01 6.42083691e-03 -4.24079837e+01] [ 7.14847045e-03 1.08208577e-03 -9.99973864e-01 2.53866601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.86762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.11, Y:-42.41, Z:2.54 [[ 2.45231701e-01 9.69460051e-01 2.93653836e-03 1.00109157e+02] [ 9.69434042e-01 -2.45246882e-01 7.18369251e-03 -4.24121085e+01] [ 7.68447978e-03 1.08511112e-03 -9.99969885e-01 2.53827001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.12, Y:-42.41, Z:2.54 [[ 1.67642593e-01 9.85844970e-01 2.37841334e-03 1.00119587e+02] [ 9.85817069e-01 -1.67655934e-01 7.49622801e-03 -4.24144871e+01] [ 7.78887379e-03 1.08799337e-03 -9.99969074e-01 2.53897122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.92762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.13, Y:-42.42, Z:2.54 [[ 8.89579958e-02 9.96033863e-01 1.73729208e-03 1.00128990e+02] [ 9.96008693e-01 -8.89682449e-02 7.16490074e-03 -4.24171803e+01] [ 7.29104759e-03 1.09298280e-03 -9.99972823e-01 2.53973969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.14, Y:-42.42, Z:2.54 [[ 1.01579267e-02 9.99947728e-01 1.16516883e-03 1.00138383e+02] [ 9.99924177e-01 -1.01657854e-02 6.94961431e-03 -4.24183763e+01] [ 6.96109590e-03 1.09448681e-03 -9.99975172e-01 2.54062934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.98762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.15, Y:-42.42, Z:2.54 [[-6.87703218e-02 9.97632296e-01 6.67599453e-04 1.00146360e+02] [ 9.97613207e-01 6.87648113e-02 6.26823286e-03 -4.24193912e+01] [ 6.20748419e-03 1.09707442e-03 -9.99980132e-01 2.54134074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.01762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.15, Y:-42.42, Z:2.54 [[-1.45918845e-01 9.89296549e-01 1.69413410e-04 1.00153185e+02] [ 9.89277026e-01 1.45914885e-01 6.30972677e-03 -4.24207883e+01] [ 6.21747098e-03 1.08830484e-03 -9.99980079e-01 2.54215466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.04762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.16, Y:-42.42, Z:2.54 [[-2.22412076e-01 9.74952696e-01 -3.31083171e-04 1.00161920e+02] [ 9.74932840e-01 2.22409691e-01 6.31554363e-03 -4.24193520e+01] [ 6.23099239e-03 1.08186931e-03 -9.99980002e-01 2.54223782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.17, Y:-42.42, Z:2.54 [[-2.96937630e-01 9.54896233e-01 -1.10816581e-03 1.00169605e+02] [ 9.54870044e-01 2.96937786e-01 7.15186621e-03 -4.24179509e+01] [ 7.15834641e-03 1.06550387e-03 -9.99973811e-01 2.54259128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.18, Y:-42.42, Z:2.54 [[-3.70448206e-01 9.28850630e-01 -2.15272259e-03 1.00179011e+02] [ 9.28814684e-01 3.70452965e-01 8.23913773e-03 -4.24150592e+01] [ 8.45041074e-03 1.05269344e-03 -9.99963741e-01 2.54244555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.19, Y:-42.41, Z:2.54 [[-4.42464704e-01 8.96780864e-01 -3.01122274e-03 1.00187341e+02] [ 8.96741414e-01 4.42473703e-01 8.47697565e-03 -4.24135933e+01] [ 8.93437643e-03 1.05047439e-03 -9.99959536e-01 2.54278603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.20, Y:-42.41, Z:2.54 [[-5.12977618e-01 8.58391580e-01 -4.22592753e-03 1.00197002e+02] [ 8.58343594e-01 5.12993928e-01 9.13807171e-03 -4.24087208e+01] [ 1.00119190e-02 1.06032844e-03 -9.99949317e-01 2.54188123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.21, Y:-42.40, Z:2.54 [[-5.80106347e-01 8.14525508e-01 -4.98236076e-03 1.00206847e+02] [ 8.14478156e-01 5.80126746e-01 8.84823892e-03 -4.24019205e+01] [ 1.00975170e-02 1.07489555e-03 -9.99948441e-01 2.54207093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.22, Y:-42.40, Z:2.54 [[-6.43887236e-01 7.65101039e-01 -5.44309781e-03 1.00216661e+02] [ 7.65058225e-01 6.43909311e-01 8.16768211e-03 -4.23961190e+01] [ 9.75396344e-03 1.09477951e-03 -9.99951830e-01 2.54266947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.23, Y:-42.39, Z:2.55 [[-7.05982406e-01 7.08214505e-01 -4.58890802e-03 1.00226015e+02] [ 7.08188190e-01 7.05996409e-01 6.20956850e-03 -4.23875435e+01] [ 7.63745907e-03 1.13403565e-03 -9.99970191e-01 2.54551393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.28762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.23, Y:-42.38, Z:2.55 [[-7.61623736e-01 6.48002905e-01 -4.63894036e-03 1.00234021e+02] [ 6.47980926e-01 7.61636992e-01 5.46001057e-03 -4.23790335e+01] [ 7.07129129e-03 1.15252878e-03 -9.99974334e-01 2.54687789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.25, Y:-42.35, Z:2.55 [[-8.07555398e-01 5.89774276e-01 -4.53674347e-03 1.00246598e+02] [ 5.89757092e-01 8.07567447e-01 4.62512420e-03 -4.23513682e+01] [ 6.39150561e-03 1.05946738e-03 -9.99979013e-01 2.54745546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.26, Y:-42.33, Z:2.55 [[-8.49987118e-01 5.26780930e-01 -4.87339909e-03 1.00264209e+02] [ 5.26764488e-01 8.50000390e-01 4.30242187e-03 -4.23269691e+01] [ 6.40882492e-03 1.08986960e-03 -9.99978869e-01 2.54764445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.28, Y:-42.30, Z:2.55 [[-8.85880855e-01 4.63883902e-01 -5.18039573e-03 1.00278595e+02] [ 4.63868362e-01 8.85895320e-01 3.95274742e-03 -4.23033278e+01] [ 6.42290423e-03 1.09864158e-03 -9.99978769e-01 2.54790485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.29, Y:-42.28, Z:2.55 [[-9.16832251e-01 3.99229867e-01 -5.84263676e-03 1.00286682e+02] [ 3.99213750e-01 9.16850195e-01 3.75530283e-03 -4.22754762e+01] [ 6.85605170e-03 1.11052181e-03 -9.99975880e-01 2.54836288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.30, Y:-42.25, Z:2.55 [[-9.42532856e-01 3.34040750e-01 -6.97087966e-03 1.00299326e+02] [ 3.34022575e-01 9.42557966e-01 3.66057147e-03 -4.22541359e+01] [ 7.79323819e-03 1.12177771e-03 -9.99969003e-01 2.54823323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.467628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.52, Y:-41.65, Z:1.68 [[-9.01496159e-01 -4.32446058e-01 1.71779502e-02 1.00521485e+02] [ 4.32388671e-01 -9.01659239e-01 -7.11710623e-03 -4.16455873e+01] [ 1.85664220e-02 1.01150712e-03 9.99827117e-01 1.68491160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.26, Y:-42.24, Z:2.55 [[-9.42650788e-01 3.33679032e-01 -8.23378543e-03 1.00256277e+02] [ 3.33655718e-01 9.42686085e-01 4.09962034e-03 -4.22443473e+01] [ 9.12983230e-03 1.11726076e-03 -9.99957698e-01 2.54836752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.527628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.27, Y:-42.23, Z:2.55 [[-9.62995429e-01 2.69345315e-01 -9.63873547e-03 1.00267125e+02] [ 2.69320236e-01 9.63043039e-01 3.83606633e-03 -4.22256336e+01] [ 1.03157436e-02 1.09820783e-03 -9.99946188e-01 2.54696270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.45, Y:-41.58, Z:1.69 [[-9.33790830e-01 -3.57477905e-01 1.56279901e-02 1.00449256e+02] [ 3.57443638e-01 -9.33921172e-01 -5.02896848e-03 -4.15784123e+01] [ 1.63930559e-02 8.90120980e-04 9.99865229e-01 1.68898571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.22, Y:-42.22, Z:2.55 [[-9.63120907e-01 2.68884678e-01 -9.95734710e-03 1.00218698e+02] [ 2.68858696e-01 9.63171788e-01 3.88707220e-03 -4.22176487e+01] [ 1.06358100e-02 1.06660115e-03 -9.99942869e-01 2.54676750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.41, Y:-41.56, Z:1.69 [[-9.36185350e-01 -3.51097604e-01 1.69547560e-02 1.00406782e+02] [ 3.51058477e-01 -9.36338371e-01 -5.32919967e-03 -4.15595723e+01] [ 1.77464578e-02 9.62992156e-04 9.99842055e-01 1.68902011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.64762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.18, Y:-42.21, Z:2.55 [[-9.63693957e-01 2.66904746e-01 -7.47081049e-03 1.00178802e+02] [ 2.66888352e-01 9.63722372e-01 3.12992998e-03 -4.22130292e+01] [ 8.03518038e-03 1.02242231e-03 -9.99967195e-01 2.54886176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.36, Y:-41.54, Z:1.69 [[-9.37415779e-01 -3.47697539e-01 1.89229599e-02 1.00360795e+02] [ 3.47647891e-01 -9.37606227e-01 -5.95883174e-03 -4.15434851e+01] [ 1.98141561e-02 9.92624190e-04 9.99803188e-01 1.68783260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.70762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.13, Y:-42.21, Z:2.55 [[-9.65115052e-01 2.61795230e-01 -4.02424752e-03 1.00129164e+02] [ 2.61788523e-01 9.65122930e-01 2.12101222e-03 -4.22054275e+01] [ 4.43916444e-03 9.93519007e-04 -9.99989653e-01 2.55186426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.73762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.14, Y:-42.18, Z:2.55 [[-9.81329620e-01 1.92304492e-01 -3.34041368e-03 1.00136157e+02] [ 1.92299878e-01 9.81334815e-01 1.65462124e-03 -4.21803216e+01] [ 3.59625534e-03 9.81367694e-04 -9.99993052e-01 2.55268470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.76762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.14, Y:-42.15, Z:2.55 [[-9.92520192e-01 1.22050664e-01 -2.70259003e-03 1.00139707e+02] [ 1.22047486e-01 9.92523395e-01 1.31175612e-03 -4.21542630e+01] [ 2.84248454e-03 9.72100122e-04 -9.99995488e-01 2.55406675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.79762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.23, Y:-41.44, Z:1.69 [[-9.77500056e-01 -2.09546053e-01 2.41680087e-02 1.00225550e+02] [ 2.09508949e-01 -9.77798194e-01 -4.08571235e-03 -4.14444232e+01] [ 2.44875802e-02 1.06963005e-03 9.99699562e-01 1.68538738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.08, Y:-42.16, Z:2.56 [[-9.92922692e-01 1.18755827e-01 -1.25761587e-03 1.00080913e+02] [ 1.18754454e-01 9.92923026e-01 1.11575449e-03 -4.21553601e+01] [ 1.38121810e-03 9.58510470e-04 -9.99998587e-01 2.55600540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.08, Y:-42.14, Z:2.56 [[-9.98773363e-01 4.94918407e-02 -1.52574331e-03 1.00078060e+02] [ 4.94903099e-02 9.98774078e-01 1.02529134e-03 -4.21361462e+01] [ 1.57461642e-03 9.48524170e-04 -9.99998310e-01 2.55517612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.13, Y:-41.39, Z:1.69 [[-9.90901017e-01 -1.32335288e-01 2.45468144e-02 1.00127187e+02] [ 1.32318561e-01 -9.91204548e-01 -2.31160344e-03 -4.13889945e+01] [ 2.46368207e-02 9.57428943e-04 9.99696009e-01 1.68865904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.02, Y:-42.14, Z:2.55 [[-9.98878992e-01 4.72949391e-02 -1.98699286e-03 1.00021819e+02] [ 4.72929171e-02 9.98880509e-01 1.05259295e-03 -4.21427449e+01] [ 2.03455076e-03 9.57442301e-04 -9.99997472e-01 2.55381085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.02, Y:-42.12, Z:2.55 [[-9.99742363e-01 -2.25604776e-02 -2.49664025e-03 1.00021657e+02] [-2.25627497e-02 9.99745036e-01 8.85664078e-04 -4.21191983e+01] [ 2.47602270e-03 9.41766967e-04 -9.99996491e-01 2.55382098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.03, Y:-42.10, Z:2.55 [[-9.95786451e-01 -9.16278105e-02 -3.69985032e-03 1.00025679e+02] [-9.16306443e-02 9.95792881e-01 6.03446114e-04 -4.20998573e+01] [ 3.62899216e-03 9.39923132e-04 -9.99992973e-01 2.55283851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.00762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.02, Y:-42.08, Z:2.55 [[-9.86803506e-01 -1.61864459e-01 -4.32867898e-03 1.00019540e+02] [-1.61866998e-01 9.86812554e-01 2.40611473e-04 -4.20775969e+01] [ 4.23264832e-03 9.38106519e-04 -9.99990602e-01 2.55226197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.00, Y:-42.06, Z:2.55 [[-9.72844484e-01 -2.31405185e-01 -5.02495908e-03 1.00001467e+02] [-2.31406977e-01 9.72857008e-01 -2.29788628e-04 -4.20630096e+01] [ 4.94174094e-03 9.39261990e-04 -9.99987348e-01 2.55108682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.06762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.96, Y:-42.05, Z:2.55 [[-9.53554326e-01 -3.01183920e-01 -4.73217856e-03 9.99582778e+01] [-3.01184966e-01 9.53565603e-01 -5.06934294e-04 -4.20499480e+01] [ 4.66512316e-03 9.41871648e-04 -9.99988675e-01 2.55228472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.91, Y:-42.04, Z:2.55 [[-9.28549566e-01 -3.71182490e-01 -4.38905364e-03 9.99094522e+01] [-3.71183042e-01 9.28559440e-01 -7.18272592e-04 -4.20409568e+01] [ 4.34210740e-03 9.62190577e-04 -9.99990110e-01 2.55394911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.84, Y:-42.05, Z:2.56 [[-8.97464893e-01 -4.41075452e-01 -3.03505263e-03 9.98422906e+01] [-4.41076320e-01 8.97469503e-01 -4.13494947e-04 -4.20460241e+01] [ 2.90624965e-03 9.67592648e-04 -9.99995309e-01 2.55646979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.77, Y:-42.06, Z:2.56 [[-8.61255594e-01 -5.08167031e-01 -2.25167575e-03 9.97664255e+01] [-5.08167920e-01 8.61257990e-01 -2.00909768e-04 -4.20574030e+01] [ 2.04136945e-03 9.71194719e-04 -9.99997445e-01 2.55875773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.68, Y:-42.08, Z:2.56 [[-8.17737116e-01 -5.75591254e-01 -8.47283769e-04 9.96821845e+01] [-5.75591769e-01 8.17736981e-01 5.88085810e-04 -4.20812069e+01] [ 3.54358223e-04 9.68589158e-04 -9.99999468e-01 2.55905166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.217628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.58, Y:-42.12, Z:2.56 [[-7.69890805e-01 -6.38174782e-01 -1.04687165e-03 9.95824483e+01] [-6.38175400e-01 7.69890904e-01 3.94669593e-04 -4.21185542e+01] [ 5.54108783e-04 9.71940227e-04 -9.99999374e-01 2.56071500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.50, Y:-42.15, Z:2.56 [[-7.17730440e-01 -6.96320955e-01 -3.77489341e-04 9.95041714e+01] [-6.96320937e-01 7.17729891e-01 9.77638940e-04 -4.21473837e+01] [-4.09815096e-04 9.64534958e-04 -9.99999451e-01 2.56213652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.277628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.41, Y:-42.20, Z:2.56 [[-6.61841424e-01 -7.49643811e-01 -2.91928058e-04 9.94094693e+01] [-7.49643591e-01 6.61840795e-01 1.11726797e-03 -4.22010211e+01] [-6.44343120e-04 9.58296222e-04 -9.99999333e-01 2.56464080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.32, Y:-42.26, Z:2.57 [[-6.03805202e-01 -7.97131589e-01 -7.13142486e-04 9.93200661e+01] [-7.97131902e-01 6.03804846e-01 6.62501996e-04 -4.22618129e+01] [-9.75023794e-05 9.68490778e-04 -9.99999526e-01 2.56620152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.24, Y:-42.32, Z:2.57 [[-5.42545454e-01 -8.40025643e-01 -1.16181547e-03 9.92413940e+01] [-8.40026212e-01 5.42545816e-01 4.10718883e-06 -4.23245906e+01] [ 6.26887980e-04 9.78183788e-04 -9.99999325e-01 2.56736205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.36762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.16, Y:-42.41, Z:2.57 [[-4.78922029e-01 -8.77856269e-01 -1.43542260e-03 9.91597350e+01] [-8.77856622e-01 4.78923177e-01 -5.84239846e-04 -4.24101393e+01] [ 1.20033577e-03 9.80289906e-04 -9.99998799e-01 2.56788983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.09, Y:-42.50, Z:2.57 [[-4.15905157e-01 -9.09405966e-01 -1.92081097e-03 9.90928734e+01] [-9.09404601e-01 4.15908447e-01 -1.85323966e-03 -4.24954533e+01] [ 2.48422871e-03 9.76022400e-04 -9.99996438e-01 2.56809188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.42762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.03, Y:-42.59, Z:2.57 [[-3.47272273e-01 -9.37762576e-01 -1.82197348e-03 9.90288025e+01] [-9.37760640e-01 3.47275708e-01 -2.13659561e-03 -4.25850725e+01] [ 2.63634653e-03 9.66594599e-04 -9.99996058e-01 2.56924003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.97, Y:-42.69, Z:2.57 [[-2.75444621e-01 -9.61315334e-01 -1.75769249e-03 9.89660889e+01] [-9.61312139e-01 2.75448564e-01 -2.65723087e-03 -4.26890620e+01] [ 3.03859066e-03 9.57771172e-04 -9.99994925e-01 2.57040457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.48762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.91, Y:-42.80, Z:2.57 [[-2.00108401e-01 -9.79772556e-01 -1.53826382e-03 9.89113262e+01] [-9.79769167e-01 2.00112025e-01 -2.74893220e-03 -4.27962154e+01] [ 3.00115341e-03 9.57059040e-04 -9.99995039e-01 2.57230776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.51762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.87, Y:-42.90, Z:2.57 [[-1.26450152e-01 -9.91972185e-01 -1.24267736e-03 9.88661202e+01] [-9.91970105e-01 1.26452695e-01 -2.24188278e-03 -4.29011931e+01] [ 2.38102526e-03 9.49212371e-04 -9.99996715e-01 2.57476287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.54762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.83, Y:-43.02, Z:2.58 [[-5.03160000e-02 -9.98732845e-01 -1.00211320e-03 9.88285363e+01] [-9.98732854e-01 5.03169480e-02 -9.44381692e-04 -4.30189534e+01] [ 9.93608292e-04 9.53325864e-04 -9.99999052e-01 2.57789970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.80, Y:-43.14, Z:2.58 [[ 2.57157801e-02 -9.99668824e-01 -9.70033848e-04 9.87998992e+01] [-9.99669209e-01 -2.57161666e-02 3.88076435e-04 -4.31353955e+01] [-4.12893465e-04 9.59733282e-04 -9.99999454e-01 2.58051779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.78, Y:-43.25, Z:2.58 [[ 1.00089976e-01 -9.94977776e-01 -1.10532892e-03 9.87812569e+01] [-9.94977407e-01 -1.00091377e-01 1.29470560e-03 -4.32522176e+01] [-1.39883719e-03 9.70190245e-04 -9.99998551e-01 2.58306958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.77, Y:-43.38, Z:2.59 [[ 1.75306353e-01 -9.84513207e-01 -1.19497534e-03 9.87729736e+01] [-9.84512972e-01 -1.75307747e-01 1.18355365e-03 -4.33753154e+01] [-1.37471263e-03 9.68984253e-04 -9.99998586e-01 2.58578650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.77, Y:-43.50, Z:2.59 [[ 2.49739681e-01 -9.68312193e-01 -1.26031224e-03 9.87720930e+01] [-9.68312143e-01 -2.49740990e-01 1.01580765e-03 -4.34977696e+01] [-1.29837056e-03 9.66688169e-04 -9.99998690e-01 2.58677270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.78, Y:-43.62, Z:2.59 [[ 3.21273422e-01 -9.46985878e-01 -1.06534205e-03 9.87820813e+01] [-9.46986343e-01 -3.21273773e-01 1.71638800e-04 -4.36154777e+01] [-5.04805978e-04 9.53721383e-04 -9.99999418e-01 2.58986857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.80, Y:-43.73, Z:2.59 [[ 3.93087595e-01 -9.19500564e-01 -9.25427404e-04 9.87976943e+01] [-9.19501018e-01 -3.93087551e-01 -2.36130706e-04 -4.37349256e+01] [-1.46651675e-04 9.43751490e-04 -9.99999544e-01 2.58996446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.83, Y:-43.85, Z:2.59 [[ 4.62633898e-01 -8.86549177e-01 -6.57963986e-04 9.88253319e+01] [-8.86549348e-01 -4.62633430e-01 -7.50264021e-04 -4.38509122e+01] [ 3.60749815e-04 9.30415111e-04 -9.99999502e-01 2.59265593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.78762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.86, Y:-43.97, Z:2.59 [[ 5.29806590e-01 -8.48118336e-01 -5.15304002e-04 9.88602684e+01] [-8.48118343e-01 -5.29806037e-01 -9.16742508e-04 -4.39676453e+01] [ 5.04494960e-04 9.22734998e-04 -9.99999447e-01 2.59361370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.90, Y:-44.08, Z:2.59 [[ 5.94169050e-01 -8.04340147e-01 -2.59852215e-04 9.89011071e+01] [-8.04339791e-01 -5.94168404e-01 -1.18692283e-03 -4.40778745e+01] [ 8.00293710e-04 9.14242289e-04 -9.99999262e-01 2.59486518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.94, Y:-44.18, Z:2.60 [[ 6.54470558e-01 -7.56087487e-01 2.01327112e-05 9.89445397e+01] [-7.56086722e-01 -6.54469933e-01 -1.40572822e-03 -4.41753075e+01] [ 1.07602977e-03 9.04785658e-04 -9.99999012e-01 2.59645754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.00, Y:-44.27, Z:2.60 [[ 7.10714901e-01 -7.03480135e-01 1.69954843e-04 9.89997384e+01] [-7.03479250e-01 -7.10714353e-01 -1.43262310e-03 -4.42733352e+01] [ 1.12861124e-03 8.98626879e-04 -9.99998959e-01 2.59815996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.90762800000002 meters Centerline goodness [0,1] 0.9998417793047331 Centerline is valid? [True, True] Translation: X:98.99, Y:-44.28, Z:2.60 [[ 7.63348920e-01 -6.45986392e-01 8.70313035e-05 9.89935104e+01] [-6.45985786e-01 -7.63348374e-01 -1.27443978e-03 -4.42783058e+01] [ 8.89705962e-04 9.16621247e-04 -9.99999184e-01 2.60069531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.99, Y:-44.28, Z:2.60 [[ 8.11538271e-01 -5.84299121e-01 4.13830408e-04 9.89871639e+01] [-5.84298106e-01 -8.11537867e-01 -1.41903576e-03 -4.42831216e+01] [ 1.16498039e-03 9.09801505e-04 -9.99998908e-01 2.59816149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.967628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.98, Y:-44.29, Z:2.60 [[ 8.54284436e-01 -5.19805242e-01 7.82321136e-04 9.89778544e+01] [-5.19803770e-01 -8.54284320e-01 -1.53005158e-03 -4.42903159e+01] [ 1.46365351e-03 9.00445775e-04 -9.99998523e-01 2.59797327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.97, Y:-44.30, Z:2.60 [[ 8.92045505e-01 -4.51944548e-01 9.70767807e-04 9.89690377e+01] [-4.51942960e-01 -8.92045584e-01 -1.49585433e-03 -4.42963474e+01] [ 1.54201234e-03 8.95638451e-04 -9.99998410e-01 2.59899090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.027628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.96, Y:-44.30, Z:2.60 [[ 9.24253586e-01 -3.81777572e-01 1.09263011e-03 9.89619780e+01] [-3.81775988e-01 -9.24253803e-01 -1.41525498e-03 -4.43032677e+01] [ 1.55018014e-03 8.90914550e-04 -9.99998402e-01 2.59956474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05762800000001 meters Centerline goodness [0,1] 0.9998185858769105 Centerline is valid? [True, True] Translation: X:98.96, Y:-44.31, Z:2.60 [[ 9.50644618e-01 -3.10281354e-01 5.39906494e-04 9.89554999e+01] [-3.10280628e-01 -9.50644345e-01 -1.12272101e-03 -4.43100631e+01] [ 8.61618451e-04 8.99786157e-04 -9.99999224e-01 2.60241361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.95, Y:-44.32, Z:2.60 [[ 9.71970237e-01 -2.35101503e-01 1.06833828e-03 9.89453434e+01] [-2.35100258e-01 -9.71970418e-01 -1.17227857e-03 -4.43157062e+01] [ 1.31399766e-03 8.88253275e-04 -9.99998742e-01 2.60038331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.94, Y:-44.32, Z:2.60 [[ 9.87337113e-01 -1.58626140e-01 1.78132838e-03 9.89367680e+01] [-1.58624228e-01 -9.87338335e-01 -1.16875179e-03 -4.43221509e+01] [ 1.94416838e-03 8.71390176e-04 -9.99997730e-01 2.60040887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.14762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.93, Y:-44.33, Z:2.60 [[ 9.96710990e-01 -8.09948166e-02 2.65370129e-03 9.89271211e+01] [-8.09922285e-02 -9.96714160e-01 -1.06880747e-03 -4.43280913e+01] [ 2.73154952e-03 8.50362972e-04 -9.99995908e-01 2.60041550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.92, Y:-44.34, Z:2.60 [[ 9.99989571e-01 -2.14229895e-03 4.03348979e-03 9.89187573e+01] [-2.13897109e-03 -9.99997369e-01 -8.29189333e-04 -4.43368699e+01] [ 4.03525555e-03 8.20553167e-04 -9.99991522e-01 2.59948095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.20762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.91, Y:-44.35, Z:2.60 [[ 9.97081574e-01 7.62194954e-02 4.35016303e-03 9.89112073e+01] [ 7.62222980e-02 -9.97090733e-01 -4.81883899e-04 -4.43470905e+01] [ 4.30077830e-03 8.12056980e-04 -9.99990422e-01 2.59948445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.23762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.90, Y:-44.36, Z:2.60 [[ 9.88064646e-01 1.53973917e-01 4.50432588e-03 9.89036324e+01] [ 1.53975985e-01 -9.88074584e-01 -1.13916747e-04 -4.43550957e+01] [ 4.43306971e-03 8.06115124e-04 -9.99989849e-01 2.60005885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.26762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.90, Y:-44.36, Z:2.60 [[ 9.73112993e-01 2.30282352e-01 4.59802783e-03 9.88961033e+01] [ 2.30283583e-01 -9.73123528e-01 2.67120874e-04 -4.43608787e+01] [ 4.53596228e-03 7.98911529e-04 -9.99989393e-01 2.60071858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.29762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.89, Y:-44.37, Z:2.60 [[ 9.52239040e-01 3.05323926e-01 4.25578167e-03 9.88900826e+01] [ 3.05324530e-01 -9.52248212e-01 5.23024639e-04 -4.43674013e+01] [ 4.21225242e-03 8.01350056e-04 -9.99990807e-01 2.60138873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.89, Y:-44.38, Z:2.60 [[ 9.25562500e-01 3.78579342e-01 3.42626440e-03 9.88868621e+01] [ 3.78579866e-01 -9.25568482e-01 5.19371967e-04 -4.43798337e+01] [ 3.36786583e-03 8.16403502e-04 -9.99993995e-01 2.60181255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.88, Y:-44.39, Z:2.60 [[ 8.92905543e-01 4.50233404e-01 3.09400085e-03 9.88823735e+01] [ 4.50233703e-01 -8.92910524e-01 6.38654617e-04 -4.43911229e+01] [ 3.05020956e-03 8.22765213e-04 -9.99995010e-01 2.60244462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.88, Y:-44.40, Z:2.60 [[ 8.54781982e-01 5.18979919e-01 2.75814014e-03 9.88773003e+01] [ 5.18980100e-01 -8.54786030e-01 7.05703322e-04 -4.44001546e+01] [ 2.72386552e-03 8.28197363e-04 -9.99995947e-01 2.60355894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.88, Y:-44.42, Z:2.60 [[ 8.11448885e-01 5.84414447e-01 3.23431788e-03 9.88790966e+01] [ 5.84413495e-01 -8.11454926e-01 1.33033162e-03 -4.44176092e+01] [ 3.40196820e-03 8.10682902e-04 -9.99993885e-01 2.60216295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.88, Y:-44.43, Z:2.60 [[ 7.63398248e-01 6.45917559e-01 3.69077621e-03 9.88786092e+01] [ 6.45914665e-01 -7.63406762e-01 2.08855408e-03 -4.44309087e+01] [ 4.16659727e-03 7.89527955e-04 -9.99991008e-01 2.60239642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.88, Y:-44.44, Z:2.60 [[ 7.11041265e-01 7.03138509e-01 4.06888382e-03 9.88784994e+01] [ 7.03132742e-01 -7.11052496e-01 2.94865801e-03 -4.44433431e+01] [ 4.96650499e-03 7.64347916e-04 -9.99987375e-01 2.60261371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.50762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.88, Y:-44.46, Z:2.60 [[ 6.54742433e-01 7.55839268e-01 4.39854145e-03 9.88797297e+01] [ 7.55829256e-01 -6.54756797e-01 3.95884577e-03 -4.44563912e+01] [ 5.87222601e-03 7.32522001e-04 -9.99982490e-01 2.60287965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.88, Y:-44.47, Z:2.60 [[ 5.95243974e-01 8.03533346e-01 4.33287668e-03 9.88822109e+01] [ 8.03520117e-01 -5.95259326e-01 4.66445695e-03 -4.44688240e+01] [ 6.32723195e-03 7.05063683e-04 -9.99979734e-01 2.60213003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.56762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.88, Y:-44.48, Z:2.60 [[ 5.31475274e-01 8.47064031e-01 4.06951891e-03 9.88836662e+01] [ 8.47048405e-01 -5.31490409e-01 5.19085713e-03 -4.44816057e+01] [ 6.55989863e-03 6.88267282e-04 -9.99978247e-01 2.60222446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.89, Y:-44.49, Z:2.60 [[ 4.64605961e-01 8.85509380e-01 3.80003175e-03 9.88874099e+01] [ 8.85490592e-01 -4.64621022e-01 5.80674920e-03 -4.44938763e+01] [ 6.90750551e-03 6.67042073e-04 -9.99975920e-01 2.60211272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.89, Y:-44.51, Z:2.60 [[ 3.96094038e-01 9.18201719e-01 3.88787416e-03 9.88928230e+01] [ 9.18171279e-01 -3.96112666e-01 7.50059015e-03 -4.45066008e+01] [ 8.42709097e-03 5.98795343e-04 -9.99964312e-01 2.60145766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.90, Y:-44.52, Z:2.60 [[ 3.24166677e-01 9.45993823e-01 3.41367533e-03 9.88991566e+01] [ 9.45958449e-01 -3.24184148e-01 8.20071095e-03 -4.45182986e+01] [ 8.86448133e-03 5.70797803e-04 -9.99960547e-01 2.60138601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.90, Y:-44.53, Z:2.60 [[ 2.49815142e-01 9.68289354e-01 2.84986880e-03 9.89048330e+01] [ 9.68249020e-01 -2.49830797e-01 8.85479575e-03 -4.45299926e+01] [ 9.28598945e-03 5.47320624e-04 -9.99956734e-01 2.60154892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.717628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.92, Y:-44.54, Z:2.60 [[ 1.73468524e-01 9.84837128e-01 2.12173496e-03 9.89165442e+01] [ 9.84797165e-01 -1.73480635e-01 8.88889914e-03 -4.45411841e+01] [ 9.12219783e-03 5.47534365e-04 -9.99958242e-01 2.60229986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.93, Y:-44.55, Z:2.60 [[ 9.53978726e-02 9.95438250e-01 1.39153802e-03 9.89282514e+01] [ 9.95400984e-01 -9.54063676e-02 8.63165793e-03 -4.45515561e+01] [ 8.72504405e-03 5.61696508e-04 -9.99961778e-01 2.60310077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.777628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.94, Y:-44.56, Z:2.60 [[ 1.62177765e-02 9.99868227e-01 7.15764018e-04 9.89413206e+01] [ 9.99834171e-01 -1.62231463e-02 8.27285073e-03 -4.45609631e+01] [ 8.28337254e-03 5.81478080e-04 -9.99965523e-01 2.60377964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.95, Y:-44.57, Z:2.61 [[-6.39260052e-02 9.97954633e-01 1.26921136e-04 9.89544538e+01] [ 9.97925623e-01 6.39231760e-02 7.63405648e-03 -4.45700161e+01] [ 7.61032883e-03 6.14672588e-04 -9.99970852e-01 2.60551195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.97, Y:-44.58, Z:2.61 [[-1.42932420e-01 9.89732393e-01 -3.38167039e-04 9.89687948e+01] [ 9.89708927e-01 1.42931370e-01 6.84572887e-03 -4.45765077e+01] [ 6.82377429e-03 6.43789658e-04 -9.99976511e-01 2.60664984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.86762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.98, Y:-44.58, Z:2.61 [[-2.21073197e-01 9.75257061e-01 -5.53202856e-04 9.89807883e+01] [ 9.75241551e-01 2.21072825e-01 5.54277697e-03 -4.45841814e+01] [ 5.52793050e-03 6.85853013e-04 -9.99984486e-01 2.60817929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.99, Y:-44.59, Z:2.61 [[-2.97043936e-01 9.54863394e-01 -8.93574945e-04 9.89934505e+01] [ 9.54849450e-01 2.97044471e-01 5.20676484e-03 -4.45894194e+01] [ 5.23718065e-03 6.93408382e-04 -9.99986045e-01 2.60826878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.92762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.01, Y:-44.60, Z:2.61 [[-3.70958083e-01 9.28648846e-01 -1.19259112e-03 9.90051519e+01] [ 9.28636342e-01 3.70959341e-01 4.86949686e-03 -4.45953353e+01] [ 4.96445546e-03 6.98895760e-04 -9.99987433e-01 2.60881111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.02, Y:-44.60, Z:2.61 [[-4.42418635e-01 8.96807419e-01 -1.48450776e-03 9.90167159e+01] [ 8.96795924e-01 4.42420570e-01 4.59460743e-03 -4.45996044e+01] [ 4.77725480e-03 7.01439439e-04 -9.99988343e-01 2.60905687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.98762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.03, Y:-44.60, Z:2.61 [[-5.11204644e-01 8.59455929e-01 -2.30616840e-03 9.90275092e+01] [ 8.59440502e-01 5.11209403e-01 5.19332250e-03 -4.46031327e+01] [ 5.64236679e-03 6.72836051e-04 -9.99983855e-01 2.60905706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.01762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.04, Y:-44.60, Z:2.61 [[-5.77087183e-01 8.16676976e-01 -3.01666984e-03 9.90402825e+01] [ 8.16659348e-01 5.77094695e-01 5.40577057e-03 -4.46042752e+01] [ 6.15567252e-03 6.56009287e-04 -9.99980838e-01 2.60935226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.04762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.05, Y:-44.60, Z:2.61 [[-6.39718431e-01 7.68601240e-01 -3.53024657e-03 9.90521557e+01] [ 7.68583505e-01 6.39727839e-01 5.26199211e-03 -4.46049380e+01] [ 6.30277067e-03 6.52904059e-04 -9.99979924e-01 2.60962257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.06, Y:-44.61, Z:2.61 [[-6.98491422e-01 7.15607567e-01 -3.94262149e-03 9.90631482e+01] [ 7.15590566e-01 6.98502242e-01 4.97592059e-03 -4.46069246e+01] [ 6.31473638e-03 6.54335101e-04 -9.99979848e-01 2.61020378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.107628 meters Centerline goodness [0,1] 0.9999550773792143 Centerline is valid? [True, True] Translation: X:99.08, Y:-44.59, Z:2.61 [[-7.49148628e-01 6.62390039e-01 -3.97098996e-03 9.90847513e+01] [ 6.62376269e-01 7.49158912e-01 4.31307350e-03 -4.45864764e+01] [ 5.83183944e-03 6.00843580e-04 -9.99982814e-01 2.61149393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.11, Y:-44.57, Z:2.61 [[-7.95647925e-01 6.05743240e-01 -4.41653038e-03 9.91068650e+01] [ 6.05729473e-01 7.95659949e-01 4.12937134e-03 -4.45667449e+01] [ 6.01539511e-03 6.10303125e-04 -9.99981721e-01 2.61066066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.13, Y:-44.55, Z:2.61 [[-8.38128288e-01 5.45449503e-01 -5.08069367e-03 9.91319229e+01] [ 5.45434868e-01 8.38143460e-01 4.04301397e-03 -4.45481831e+01] [ 6.46361013e-03 6.17376895e-04 -9.99978920e-01 2.61077659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.15, Y:-44.52, Z:2.61 [[-8.78132008e-01 4.78387077e-01 -5.47550640e-03 9.91517376e+01] [ 4.78372948e-01 8.78148830e-01 3.73563386e-03 -4.45209392e+01] [ 6.59538851e-03 6.61045522e-04 -9.99978032e-01 2.60980970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.17, Y:-44.49, Z:2.61 [[-9.11589062e-01 4.11059355e-01 -5.96558709e-03 9.91658605e+01] [ 4.11045516e-01 9.11608324e-01 3.44186853e-03 -4.44945772e+01] [ 6.85309110e-03 6.85441877e-04 -9.99976282e-01 2.61004287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.18, Y:-44.47, Z:2.61 [[-9.41131366e-01 3.37977157e-01 -6.57209311e-03 9.91815923e+01] [ 3.37963335e-01 9.41154023e-01 3.14461055e-03 -4.44658819e+01] [ 7.24815841e-03 7.38365116e-04 -9.99973459e-01 2.61029720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.28762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.46, Y:-43.68, Z:1.76 [[-9.14732943e-01 -4.03860295e-01 1.26690368e-02 9.94644722e+01] [ 4.03830740e-01 -9.14820467e-01 -4.92399510e-03 -4.36786401e+01] [ 1.35785003e-02 6.12005977e-04 9.99907621e-01 1.76117541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.13, Y:-44.45, Z:2.61 [[-9.45303112e-01 3.26137750e-01 -6.01622864e-03 9.91338455e+01] [ 3.26125668e-01 9.45321921e-01 2.91806695e-03 -4.44459290e+01] [ 6.63896461e-03 7.96411185e-04 -9.99977645e-01 2.61167695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.14, Y:-44.42, Z:2.61 [[-9.66541502e-01 2.56453064e-01 -5.41761342e-03 9.91449863e+01] [ 2.56444327e-01 9.66556357e-01 2.26185466e-03 -4.44195873e+01] [ 5.81648825e-03 7.96860168e-04 -9.99982767e-01 2.61310184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.16, Y:-44.39, Z:2.61 [[-9.82245184e-01 1.87519901e-01 -5.53939538e-03 9.91592552e+01] [ 1.87512308e-01 9.82260484e-01 1.86430127e-03 -4.43944915e+01] [ 5.79072278e-03 7.92496135e-04 -9.99982920e-01 2.61334479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.32, Y:-43.58, Z:1.76 [[-9.61137438e-01 -2.75635025e-01 1.54970288e-02 9.93223676e+01] [ 2.75613205e-01 -9.61261996e-01 -3.56871612e-03 -4.35794937e+01] [ 1.58803680e-02 8.41159118e-04 9.99873545e-01 1.75994052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.11, Y:-44.39, Z:2.62 [[-9.83466983e-01 1.81056036e-01 -3.37717483e-03 9.91078993e+01] [ 1.81052183e-01 9.83472471e-01 1.41612532e-03 -4.43870671e+01] [ 3.57775651e-03 7.81267623e-04 -9.99993295e-01 2.61563614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.467628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.27, Y:-43.57, Z:1.76 [[-9.61824099e-01 -2.73101723e-01 1.76026288e-02 9.92735027e+01] [ 2.73072648e-01 -9.61984757e-01 -4.08127267e-03 -4.35666089e+01] [ 1.80480632e-02 8.81330058e-04 9.99836732e-01 1.75877219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.05, Y:-44.38, Z:2.62 [[-9.83965640e-01 1.78356021e-01 -8.65253382e-04 9.90520646e+01] [ 1.78355238e-01 9.83965741e-01 9.10828515e-04 -4.43825695e+01] [ 1.01383143e-03 7.41901490e-04 -9.99999211e-01 2.61924808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.527628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.07, Y:-44.36, Z:2.62 [[-9.93994756e-01 1.09427465e-01 -2.34389795e-04 9.90727537e+01] [ 1.09427260e-01 9.93994517e-01 7.58483467e-04 -4.43612345e+01] [ 3.15981094e-04 7.28279956e-04 -9.99999685e-01 2.61965871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.08, Y:-44.34, Z:2.62 [[-9.99196553e-01 4.00778935e-02 1.08397136e-04 9.90799681e+01] [ 4.00779612e-02 9.99196298e-01 7.18395338e-04 -4.43378434e+01] [-7.95182452e-05 7.22162481e-04 -9.99999736e-01 2.61913277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.12, Y:-43.48, Z:1.76 [[-9.91959153e-01 -1.25177973e-01 1.86417081e-02 9.91207312e+01] [ 1.25168094e-01 -9.92134092e-01 -1.70036979e-03 -4.34761132e+01] [ 1.87079230e-02 6.46649699e-04 9.99824782e-01 1.76095692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.00, Y:-44.33, Z:2.62 [[-9.99358602e-01 3.57312217e-02 -2.37984039e-03 9.89988552e+01] [ 3.57293009e-02 9.99361148e-01 8.44808860e-04 -4.43345004e+01] [ 2.40850607e-03 7.59236969e-04 -9.99996811e-01 2.61655838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.64762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.04, Y:-43.48, Z:1.76 [[-9.92896873e-01 -1.17853532e-01 1.63200666e-02 9.90401296e+01] [ 1.17847353e-01 -9.93030814e-01 -1.34320334e-03 -4.34753223e+01] [ 1.63646303e-02 5.89614250e-04 9.99865917e-01 1.76334318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.92, Y:-44.33, Z:2.62 [[-9.99430379e-01 3.33552734e-02 -5.13266339e-03 9.89211725e+01] [ 3.33508988e-02 9.99443266e-01 9.35570520e-04 -4.43274867e+01] [ 5.16101207e-03 7.63858661e-04 -9.99986390e-01 2.61565861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.70762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.93, Y:-44.30, Z:2.62 [[-9.99343985e-01 -3.55738053e-02 -6.79000726e-03 9.89257524e+01] [-3.55779820e-02 9.99366780e-01 4.95288306e-04 -4.42997796e+01] [ 6.76808840e-03 7.36538145e-04 -9.99976825e-01 2.61515731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.73762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.93, Y:-44.28, Z:2.61 [[-9.94911007e-01 -1.00343024e-01 -9.13051003e-03 9.89263413e+01] [-1.00345100e-01 9.94952666e-01 -2.31645611e-04 -4.42761732e+01] [ 9.10766932e-03 6.85735176e-04 -9.99958289e-01 2.61298019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.76762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.92, Y:-44.25, Z:2.61 [[-9.85831630e-01 -1.67467357e-01 -9.52269716e-03 9.89191693e+01] [-1.67465866e-01 9.85877408e-01 -9.59398535e-04 -4.42527143e+01] [ 9.54887993e-03 6.48921303e-04 -9.99954198e-01 2.61234147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.79762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.89, Y:-44.23, Z:2.61 [[-9.72040115e-01 -2.34632618e-01 -9.24933059e-03 9.88938258e+01] [-2.34628022e-01 9.72083921e-01 -1.59419953e-03 -4.42331730e+01] [ 9.36517676e-03 6.20526246e-04 -9.99955953e-01 2.61275050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.84, Y:-44.22, Z:2.62 [[-9.54143544e-01 -2.99265964e-01 -7.06971989e-03 9.88381089e+01] [-2.99262394e-01 9.54169542e-01 -1.58231567e-03 -4.42247447e+01] [ 7.21924462e-03 6.05945023e-04 -9.99973757e-01 2.61552312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.78, Y:-44.22, Z:2.62 [[-9.29915472e-01 -3.67726078e-01 -5.89454972e-03 9.87775500e+01] [-3.67722840e-01 9.29933947e-01 -1.66346486e-03 -4.42157501e+01] [ 6.09324130e-03 6.20678851e-04 -9.99981243e-01 2.61821972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.70, Y:-44.22, Z:2.62 [[-9.00448296e-01 -4.34939384e-01 -4.53854736e-03 9.87015823e+01] [-4.34937347e-01 9.00459504e-01 -1.47815218e-03 -4.42195248e+01] [ 4.72968470e-03 6.42984139e-04 -9.99988608e-01 2.62187645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91762800000001 meters Centerline goodness [0,1] 0.9998184953262547 Centerline is valid? [True, True] Translation: X:98.62, Y:-44.23, Z:2.63 [[-8.66605018e-01 -4.98994577e-01 -3.94885273e-04 9.86159393e+01] [-4.98994732e-01 8.66604787e-01 6.32570364e-04 -4.42328367e+01] [ 2.65602871e-05 7.45234322e-04 -9.99999722e-01 2.62804974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.53, Y:-44.26, Z:2.63 [[-8.26930323e-01 -5.62304157e-01 -5.25212312e-04 9.85284411e+01] [-5.62304388e-01 8.26930155e-01 5.42940672e-04 -4.42571578e+01] [ 1.29016102e-04 7.44303293e-04 -9.99999715e-01 2.62623982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97762800000001 meters Centerline goodness [0,1] 0.9999545795199055 Centerline is valid? [True, True] Translation: X:98.44, Y:-44.29, Z:2.63 [[-7.82832790e-01 -6.22231578e-01 -8.28216280e-04 9.84370164e+01] [-6.22231950e-01 7.82832882e-01 2.82441470e-04 -4.42922517e+01] [ 4.72610936e-04 7.36447074e-04 -9.99999617e-01 2.62568005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.00762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.34, Y:-44.34, Z:2.63 [[-7.33105645e-01 -6.80113222e-01 -1.45582715e-03 9.83436744e+01] [-6.80113492e-01 7.33106743e-01 -3.76831817e-04 -4.43374792e+01] [ 1.32356500e-03 7.13870151e-04 -9.99998869e-01 2.62519363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.25, Y:-44.39, Z:2.63 [[-6.78841163e-01 -7.34282987e-01 -1.78028910e-03 9.82516221e+01] [-7.34282775e-01 6.78843137e-01 -8.94984719e-04 -4.43924529e+01] [ 1.86570909e-03 6.99683153e-04 -9.99998015e-01 2.62643039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.06762800000001 meters Centerline goodness [0,1] 0.9998869289914066 Centerline is valid? [True, True] Translation: X:98.16, Y:-44.46, Z:2.63 [[-6.19863859e-01 -7.84707593e-01 -1.67064958e-03 9.81591616e+01] [-7.84707293e-01 6.19865712e-01 -9.81607010e-04 -4.44585638e+01] [ 1.80585286e-03 7.02508198e-04 -9.99998123e-01 2.63006166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.07, Y:-44.53, Z:2.63 [[-5.54115393e-01 -8.32435144e-01 -2.80381549e-03 9.80682868e+01] [-8.32429926e-01 5.54122094e-01 -3.02051467e-03 -4.45293354e+01] [ 4.06803867e-03 6.60266248e-04 -9.99991508e-01 2.62926360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.99, Y:-44.61, Z:2.63 [[-4.86417999e-01 -8.73721872e-01 -2.76061121e-03 9.79855742e+01] [-8.73714699e-01 4.86425384e-01 -3.60148123e-03 -4.46113942e+01] [ 4.48952429e-03 6.60161299e-04 -9.99989704e-01 2.63046604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.91, Y:-44.70, Z:2.63 [[-4.15087626e-01 -9.09777135e-01 -2.79754674e-03 9.79071500e+01] [-9.09766026e-01 4.15096530e-01 -4.54409829e-03 -4.47032093e+01] [ 5.29536868e-03 6.58914008e-04 -9.99985762e-01 2.63125956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.83, Y:-44.80, Z:2.63 [[-3.38617036e-01 -9.40920460e-01 -2.68165787e-03 9.78348989e+01] [-9.40904909e-01 3.38626977e-01 -5.45185948e-03 -4.48006591e+01] [ 6.03784783e-03 6.77092564e-04 -9.99981543e-01 2.63158766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.217628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.77, Y:-44.90, Z:2.63 [[-2.62427233e-01 -9.64948662e-01 -2.45496326e-03 9.77718601e+01] [-9.64927539e-01 2.62437825e-01 -6.42131108e-03 -4.49046823e+01] [ 6.84051075e-03 6.83734760e-04 -9.99976370e-01 2.63234145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.71, Y:-45.02, Z:2.63 [[-1.81884410e-01 -9.83317564e-01 -2.15160934e-03 9.77129608e+01] [-9.83287613e-01 1.81895736e-01 -7.70793543e-03 -4.50174939e+01] [ 7.97071685e-03 7.13697527e-04 -9.99967979e-01 2.63374432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.277628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.67, Y:-45.13, Z:2.64 [[-1.03068884e-01 -9.94672990e-01 -1.56444765e-03 9.76661825e+01] [-9.94640894e-01 1.03078178e-01 -8.02373863e-03 -4.51284883e+01] [ 8.14225651e-03 7.29065820e-04 -9.99966586e-01 2.63594224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.63, Y:-45.24, Z:2.64 [[-2.41898042e-02 -9.99706956e-01 -9.24964537e-04 9.76286805e+01] [-9.99677662e-01 2.41962092e-02 -7.68860295e-03 -4.52434587e+01] [ 7.70873049e-03 7.38680586e-04 -9.99970014e-01 2.63889740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.80, Y:-45.34, Z:1.79 [[-9.44758315e-02 9.95527015e-01 5.28597150e-04 9.68026611e+01] [-9.95431881e-01 -9.44741223e-02 1.37844372e-02 -4.53406682e+01] [ 1.37727184e-02 7.76113710e-04 9.99904850e-01 1.78671632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.36762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.62, Y:-45.54, Z:2.65 [[-1.30743258e-02 -9.99914207e-01 -8.00880693e-04 9.76178936e+01] [-9.99905583e-01 1.30775925e-02 -4.21925712e-03 -4.55381874e+01] [ 4.22936872e-03 7.45641134e-04 -9.99990778e-01 2.64609444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.59, Y:-45.66, Z:2.65 [[ 6.31999236e-02 -9.98000755e-01 -5.13198488e-04 9.75939458e+01] [-9.97994953e-01 -6.31977663e-02 -3.48069641e-03 -4.56581680e+01] [ 3.44130465e-03 7.32149248e-04 -9.99993811e-01 2.64857519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.42762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.58, Y:-45.78, Z:2.65 [[ 1.38905064e-01 -9.90305666e-01 -2.66172267e-04 9.75799364e+01] [-9.90300356e-01 -1.38903426e-01 -3.32324558e-03 -4.57793615e+01] [ 3.25405669e-03 7.25206130e-04 -9.99994443e-01 2.65117384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.58, Y:-45.90, Z:2.65 [[ 2.11918545e-01 -9.77287329e-01 8.59559202e-05 9.75770285e+01] [-9.77280406e-01 -2.11917373e-01 -3.74641239e-03 -4.58988061e+01] [ 3.67953691e-03 7.09931225e-04 -9.99992978e-01 2.65240319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.48762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.58, Y:-46.02, Z:2.65 [[ 2.85412046e-01 -9.58404778e-01 4.95785721e-04 9.75813991e+01] [-9.58396205e-01 -2.85411621e-01 -4.11344072e-03 -4.60194911e+01] [ 4.08384425e-03 6.98866381e-04 -9.99991417e-01 2.65308272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.51762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.60, Y:-46.14, Z:2.65 [[ 3.57399256e-01 -9.33951279e-01 8.83969977e-04 9.75959865e+01] [-9.33941918e-01 -3.57399685e-01 -4.23778227e-03 -4.61398343e+01] [ 4.27381276e-03 6.89003614e-04 -9.99990630e-01 2.65446210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.54762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.62, Y:-46.25, Z:2.66 [[ 4.26717526e-01 -9.04384256e-01 1.12732338e-03 9.76208288e+01] [-9.04375745e-01 -4.26718474e-01 -3.98198983e-03 -4.62541913e+01] [ 4.08229862e-03 6.79660924e-04 -9.99991436e-01 2.65618543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.65, Y:-46.37, Z:2.66 [[ 4.94877205e-01 -8.68961835e-01 1.37167957e-03 9.76533220e+01] [-8.68953901e-01 -4.94878644e-01 -3.77417937e-03 -4.63693030e+01] [ 3.95843276e-03 6.75829029e-04 -9.99991937e-01 2.65752592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.69, Y:-46.48, Z:2.66 [[ 5.60815802e-01 -8.27939658e-01 1.24854821e-03 9.76941634e+01] [-8.27934291e-01 -5.60816778e-01 -3.05807091e-03 -4.64795315e+01] [ 3.23210497e-03 6.81298620e-04 -9.99994545e-01 2.65919729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.74, Y:-46.59, Z:2.66 [[ 6.23708122e-01 -7.81656396e-01 1.20719164e-03 9.77405046e+01] [-7.81652336e-01 -6.23708915e-01 -2.61054530e-03 -4.65870023e+01] [ 2.79348561e-03 6.84614142e-04 -9.99995864e-01 2.66124249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.79, Y:-46.69, Z:2.66 [[ 6.83163897e-01 -7.30264416e-01 9.85668468e-04 9.77944255e+01] [-7.30261823e-01 -6.83164259e-01 -2.06513981e-03 -4.66907239e+01] [ 2.18147159e-03 6.91032910e-04 -9.99997382e-01 2.66329890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.85, Y:-46.78, Z:2.67 [[ 7.41029709e-01 -6.71471939e-01 6.36606715e-04 9.78459073e+01] [-6.71470579e-01 -7.41029652e-01 -1.52202139e-03 -4.67839133e+01] [ 1.49373911e-03 7.00400392e-04 -9.99998639e-01 2.66593128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.84, Y:-46.79, Z:2.67 [[ 7.92743516e-01 -6.09555275e-01 2.91060498e-04 9.78396797e+01] [-6.09554655e-01 -7.92743247e-01 -1.12523981e-03 -4.67896547e+01] [ 9.16632106e-04 7.14609281e-04 -9.99999325e-01 2.66625330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.83, Y:-46.79, Z:2.67 [[ 8.39142119e-01 -5.43912220e-01 -2.25637616e-05 9.78332636e+01] [-5.43912046e-01 -8.39141817e-01 -8.35020247e-04 -4.67945868e+01] [ 4.35243520e-04 7.12973361e-04 -9.99999651e-01 2.66670954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.78762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.83, Y:-46.80, Z:2.67 [[ 8.80061079e-01 -4.74860374e-01 -3.49197394e-04 9.78257433e+01] [-4.74860502e-01 -8.80060862e-01 -6.18247088e-04 -4.67990185e+01] [-1.37339159e-05 7.09915249e-04 -9.99999748e-01 2.66738316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.82, Y:-46.80, Z:2.67 [[ 9.15465005e-01 -4.02397566e-01 -1.52854624e-04 9.78196207e+01] [-4.02397569e-01 -9.15464743e-01 -7.07189096e-04 -4.68022669e+01] [ 1.44638152e-04 7.08915199e-04 -9.99999738e-01 2.66752611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.81, Y:-46.81, Z:2.67 [[ 9.44241338e-01 -3.29253968e-01 3.46655034e-04 9.78148764e+01] [-3.29253577e-01 -9.44241134e-01 -8.73270908e-04 -4.68073384e+01] [ 6.14853855e-04 7.10441081e-04 -9.99999559e-01 2.66683665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.81, Y:-46.81, Z:2.67 [[ 9.67039527e-01 -2.54623637e-01 1.16465438e-03 9.78103698e+01] [-2.54622493e-01 -9.67039965e-01 -1.04526886e-03 -4.68123337e+01] [ 1.39241749e-03 7.14269102e-04 -9.99998775e-01 2.66641994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.80, Y:-46.82, Z:2.67 [[ 9.83749638e-01 -1.79525262e-01 2.70758367e-03 9.78019069e+01] [-1.79522517e-01 -9.83753099e-01 -1.22700528e-03 -4.68154230e+01] [ 2.88387227e-03 7.20993764e-04 -9.99995582e-01 2.66621207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.79, Y:-46.82, Z:2.67 [[ 9.94650619e-01 -1.03224444e-01 3.85490926e-03 9.77947296e+01] [-1.03220837e-01 -9.94657829e-01 -1.12378684e-03 -4.68176592e+01] [ 3.95031795e-03 7.19868317e-04 -9.99991938e-01 2.66558386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.967628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.79, Y:-46.82, Z:2.66 [[ 9.99569816e-01 -2.88236590e-02 5.42037774e-03 9.77880647e+01] [-2.88194060e-02 -9.99584264e-01 -8.61134577e-04 -4.68216505e+01] [ 5.44294535e-03 7.04552063e-04 -9.99984939e-01 2.66398083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.78, Y:-46.83, Z:2.66 [[ 9.98843298e-01 4.77594743e-02 5.57658483e-03 9.77810648e+01] [ 4.77625907e-02 -9.98858625e-01 -4.26928058e-04 -4.68282493e+01] [ 5.54982999e-03 6.92786369e-04 -9.99984360e-01 2.66438610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.027628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.77, Y:-46.84, Z:2.66 [[ 9.92227564e-01 1.24299956e-01 5.82939822e-03 9.77735322e+01] [ 1.24301817e-01 -9.92244454e-01 4.32992444e-05 -4.68355909e+01] [ 5.78957015e-03 6.81642087e-04 -9.99983008e-01 2.66447576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.77, Y:-46.84, Z:2.66 [[ 9.79689764e-01 2.00428006e-01 6.04825853e-03 9.77674430e+01] [ 2.00428372e-01 -9.79708203e-01 5.51838322e-04 -4.68438844e+01] [ 6.03613235e-03 6.71612254e-04 -9.99981557e-01 2.66469022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.76, Y:-46.85, Z:2.67 [[ 9.61429374e-01 2.74991446e-01 5.76743115e-03 9.77617998e+01] [ 2.74990557e-01 -9.61446446e-01 9.62062843e-04 -4.68515404e+01] [ 5.80963523e-03 6.61033631e-04 -9.99982905e-01 2.66512340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.76, Y:-46.86, Z:2.67 [[ 9.37155537e-01 3.48872417e-01 5.24743651e-03 9.77572789e+01] [ 3.48870793e-01 -9.37169997e-01 1.25129221e-03 -4.68608277e+01] [ 5.35428139e-03 6.58021914e-04 -9.99985449e-01 2.66576529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.14762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.75, Y:-46.87, Z:2.67 [[ 9.07220678e-01 4.20632160e-01 4.38499376e-03 9.77527576e+01] [ 4.20630640e-01 -9.07231036e-01 1.30823533e-03 -4.68710626e+01] [ 4.52848829e-03 6.57604583e-04 -9.99989530e-01 2.66705543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.75, Y:-46.88, Z:2.67 [[ 8.71548607e-01 4.90295191e-01 3.69476032e-03 9.77504923e+01] [ 4.90293852e-01 -8.71556189e-01 1.32213110e-03 -4.68829809e+01] [ 3.86842575e-03 6.59216756e-04 -9.99992300e-01 2.66750836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.20762800000001 meters Centerline goodness [0,1] 0.9998639332365747 Centerline is valid? [True, True] Translation: X:97.75, Y:-46.89, Z:2.67 [[ 8.30718179e-01 5.56686533e-01 2.72229660e-03 9.77486328e+01] [ 5.56685978e-01 -8.30722376e-01 1.02730524e-03 -4.68939859e+01] [ 2.83335969e-03 6.62063203e-04 -9.99995767e-01 2.67085833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.23762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.75, Y:-46.91, Z:2.67 [[ 7.84306795e-01 6.20366587e-01 2.85465655e-03 9.77467459e+01] [ 6.20365320e-01 -7.84311713e-01 1.41656748e-03 -4.69056183e+01] [ 3.11773170e-03 6.59906426e-04 -9.99994922e-01 2.66917499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.26762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.74, Y:-46.92, Z:2.67 [[ 7.33432452e-01 6.79757037e-01 2.68502305e-03 9.77443986e+01] [ 6.79755491e-01 -7.33437072e-01 1.59167966e-03 -4.69158331e+01] [ 3.05125089e-03 6.57769645e-04 -9.99995129e-01 2.66984877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.29762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.74, Y:-46.92, Z:2.67 [[ 6.77962169e-01 7.35092432e-01 2.53260940e-03 9.77407416e+01] [ 7.35090572e-01 -6.77966582e-01 1.77903829e-03 -4.69242869e+01] [ 3.02478212e-03 6.55576631e-04 -9.99995210e-01 2.67008071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.74, Y:-46.93, Z:2.67 [[ 6.19378951e-01 7.85087323e-01 2.75859472e-03 9.77369134e+01] [ 7.85083748e-01 -6.19384759e-01 2.45549189e-03 -4.69313908e+01] [ 3.63640708e-03 6.44847889e-04 -9.99993180e-01 2.66950211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.74, Y:-46.94, Z:2.67 [[ 5.57136290e-01 8.30413872e-01 3.45773867e-03 9.77383120e+01] [ 8.30404299e-01 -5.57146672e-01 4.03566500e-03 -4.69427713e+01] [ 5.27773979e-03 6.22905627e-04 -9.99985879e-01 2.66878346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.74, Y:-46.95, Z:2.67 [[ 4.91781399e-01 8.70711254e-01 3.60113689e-03 9.77411614e+01] [ 8.70696221e-01 -4.91794216e-01 5.15163719e-03 -4.69541949e+01] [ 6.25660677e-03 6.02016938e-04 -9.99980246e-01 2.66835524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.74, Y:-46.97, Z:2.67 [[ 4.23835552e-01 9.05731398e-01 3.74959600e-03 9.77439912e+01] [ 9.05707043e-01 -4.23851754e-01 6.66658915e-03 -4.69657058e+01] [ 7.62741196e-03 5.70498012e-04 -9.99970748e-01 2.66824353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.75, Y:-46.98, Z:2.67 [[ 3.54935831e-01 9.34882989e-01 3.78858620e-03 9.77479853e+01] [ 9.34844192e-01 -3.54955679e-01 8.53245495e-03 -4.69770616e+01] [ 9.32162717e-03 5.13263807e-04 -9.99956421e-01 2.66765501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.75, Y:-46.99, Z:2.67 [[ 2.81807707e-01 9.59465620e-01 3.18450863e-03 9.77533131e+01] [ 9.59422714e-01 -2.81825265e-01 9.08716450e-03 -4.69878499e+01] [ 9.61629691e-03 4.94456920e-04 -9.99953640e-01 2.66742744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.50762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.76, Y:-47.00, Z:2.67 [[ 2.06827348e-01 9.78374698e-01 2.32368856e-03 9.77594877e+01] [ 9.78337063e-01 -2.06839807e-01 8.59565984e-03 -4.69989138e+01] [ 8.89040739e-03 4.95533113e-04 -9.99960357e-01 2.66776472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.77, Y:-47.01, Z:2.67 [[ 1.29532702e-01 9.91573921e-01 1.56138831e-03 9.77667320e+01] [ 9.91541483e-01 -1.29541119e-01 8.03654683e-03 -4.70093516e+01] [ 8.17109424e-03 5.07185659e-04 -9.99966487e-01 2.66859743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.56762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.77, Y:-47.02, Z:2.67 [[ 5.07700675e-02 9.98709961e-01 9.02068010e-04 9.77741304e+01] [ 9.98682351e-01 -5.07753881e-02 7.44458948e-03 -4.70203183e+01] [ 7.48078852e-03 5.22917091e-04 -9.99971882e-01 2.66929238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.78, Y:-47.03, Z:2.67 [[-2.99727835e-02 9.99550654e-01 3.50113386e-04 9.77847536e+01] [ 9.99528370e-01 2.99697695e-02 6.69706180e-03 -4.70294726e+01] [ 6.68355969e-03 5.50677846e-04 -9.99977513e-01 2.67043185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.80, Y:-47.04, Z:2.67 [[-1.09875579e-01 9.93945326e-01 -2.15622470e-04 9.77957808e+01] [ 9.93920765e-01 1.09874384e-01 7.00952868e-03 -4.70375633e+01] [ 6.99077965e-03 5.55864371e-04 -9.99975410e-01 2.67034741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.81, Y:-47.05, Z:2.67 [[-1.88958657e-01 9.81984696e-01 -8.26566723e-04 9.78054245e+01] [ 9.81957971e-01 1.88959631e-01 7.26649984e-03 -4.70461480e+01] [ 7.29177938e-03 5.61414267e-04 -9.99973257e-01 2.67019022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.81, Y:-47.05, Z:2.67 [[-2.68100830e-01 9.63389671e-01 -1.51253929e-03 9.78142341e+01] [ 9.63359981e-01 2.68104476e-01 7.58536302e-03 -4.70544454e+01] [ 7.71317894e-03 5.76522294e-04 -9.99970087e-01 2.67021447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.717628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.82, Y:-47.06, Z:2.67 [[-3.43914094e-01 9.38999194e-01 -1.90013586e-03 9.78214170e+01] [ 9.38974027e-01 3.43918839e-01 6.89997226e-03 -4.70618629e+01] [ 7.13256090e-03 5.88819485e-04 -9.99974390e-01 2.67050496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.83, Y:-47.07, Z:2.67 [[-4.18287453e-01 9.08312950e-01 -1.78666174e-03 9.78300489e+01] [ 9.08297458e-01 4.18290823e-01 5.34001788e-03 -4.70680537e+01] [ 5.59775160e-03 6.10842163e-04 -9.99984146e-01 2.67193010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.777628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.84, Y:-47.07, Z:2.67 [[-4.88900344e-01 8.72337877e-01 -1.75575488e-03 9.78390590e+01] [ 8.72327011e-01 4.88903106e-01 4.39759976e-03 -4.70736399e+01] [ 4.69458685e-03 6.18395627e-04 -9.99988789e-01 2.67280118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.85, Y:-47.08, Z:2.67 [[-5.56600197e-01 8.30778973e-01 -1.58683903e-03 9.78491409e+01] [ 8.30771872e-01 5.56602109e-01 3.49127616e-03 -4.70784042e+01] [ 3.78371677e-03 6.24943766e-04 -9.99992646e-01 2.67406601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.86, Y:-47.08, Z:2.68 [[-6.21381317e-01 7.83507787e-01 -8.98509866e-04 9.78592482e+01] [ 7.83505086e-01 6.21381644e-01 2.15243630e-03 -4.70838778e+01] [ 2.24476814e-03 6.33496653e-04 -9.99997280e-01 2.67573693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.86762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.87, Y:-47.09, Z:2.68 [[-6.81483035e-01 7.31833488e-01 -7.86844400e-04 9.78668051e+01] [ 7.31831610e-01 6.81483195e-01 1.77499624e-03 -4.70891342e+01] [ 1.83522292e-03 6.33792218e-04 -9.99998115e-01 2.67649164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.88, Y:-47.09, Z:2.68 [[-7.37729847e-01 6.75095457e-01 -8.92257360e-04 9.78759850e+01] [ 6.75093673e-01 7.37730114e-01 1.67685523e-03 -4.70928650e+01] [ 1.79028247e-03 6.34708855e-04 -9.99998196e-01 2.67702293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.92762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.90, Y:-47.08, Z:2.68 [[-7.84398152e-01 6.20256880e-01 -9.70908934e-04 9.79004022e+01] [ 6.20255334e-01 7.84398543e-01 1.49902912e-03 -4.70768483e+01] [ 1.69136268e-03 5.73624227e-04 -9.99998405e-01 2.67725229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.91, Y:-47.05, Z:2.68 [[-8.27916456e-01 5.60849292e-01 -1.55349927e-03 9.79137051e+01] [ 5.60846855e-01 8.27917711e-01 1.75176219e-03 -4.70524240e+01] [ 2.26864414e-03 5.79037570e-04 -9.99997259e-01 2.67670066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.98762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.94, Y:-47.04, Z:2.68 [[-8.66175560e-01 4.99735676e-01 -2.03782562e-03 9.79379331e+01] [ 4.99732597e-01 8.66177761e-01 1.84842313e-03 -4.70356875e+01] [ 2.68884222e-03 5.82691049e-04 -9.99996215e-01 2.67597391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.01762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.95, Y:-47.01, Z:2.67 [[-9.00487549e-01 4.34872237e-01 -2.88297693e-03 9.79525933e+01] [ 4.34867797e-01 9.00491967e-01 2.05323195e-03 -4.70131621e+01] [ 3.48899114e-03 5.95195981e-04 -9.99993736e-01 2.67478909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.04762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.98, Y:-47.00, Z:2.67 [[-9.29294723e-01 3.69327082e-01 -2.97055700e-03 9.79800799e+01] [ 3.69323066e-01 9.29299279e-01 1.82283193e-03 -4.69963177e+01] [ 3.43375768e-03 5.96852876e-04 -9.99993927e-01 2.67440895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.00, Y:-46.97, Z:2.67 [[-9.53311726e-01 3.01971560e-01 -3.15117125e-03 9.79968150e+01] [ 3.01967775e-01 9.53316746e-01 1.62634756e-03 -4.69736543e+01] [ 3.49517503e-03 5.98864034e-04 -9.99993713e-01 2.67444034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.26, Y:-46.14, Z:1.81 [[-9.22985569e-01 -3.84649057e-01 1.19474805e-02 9.82599631e+01] [ 3.84624780e-01 -9.23062715e-01 -4.35921155e-03 -4.61426671e+01] [ 1.27050404e-02 5.71807704e-04 9.99919124e-01 1.81194398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.95, Y:-46.96, Z:2.68 [[-9.55214074e-01 2.95904202e-01 -2.60304407e-03 9.79504245e+01] [ 2.95901332e-01 9.55217432e-01 1.43494249e-03 -4.69575756e+01] [ 2.91107859e-03 6.00433054e-04 -9.99995583e-01 2.67562188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.97, Y:-46.93, Z:2.68 [[-9.73911857e-01 2.26916334e-01 -2.16144843e-03 9.79685155e+01] [ 2.26914384e-01 9.73914076e-01 1.11148755e-03 -4.69333296e+01] [ 2.35727973e-03 5.92027163e-04 -9.99997046e-01 2.67589396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.98, Y:-46.91, Z:2.68 [[-9.87635405e-01 1.56764926e-01 -1.03223220e-03 9.79785427e+01] [ 1.56764206e-01 9.87635777e-01 7.45875129e-04 -4.69052110e+01] [ 1.13639651e-03 5.74835624e-04 -9.99999189e-01 2.67677524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.99, Y:-46.88, Z:2.68 [[-9.96235085e-01 8.66909124e-02 -5.84673373e-04 9.79905405e+01] [ 8.66905489e-02 9.96235094e-01 6.20795953e-04 -4.68776950e+01] [ 6.36289501e-04 5.67773053e-04 -9.99999636e-01 2.67749346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.99, Y:-46.85, Z:2.68 [[-9.99872448e-01 1.59630074e-02 -5.19401149e-04 9.79858352e+01] [ 1.59627090e-02 9.99872423e-01 5.73747757e-04 -4.68484481e+01] [ 5.28493626e-04 5.65383525e-04 -9.99999701e-01 2.67824922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.28762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.99, Y:-46.82, Z:2.68 [[-9.98498464e-01 -5.47796999e-02 -5.09552534e-05 9.79932125e+01] [-5.47797198e-02 9.98498309e-01 5.56130525e-04 -4.68210960e+01] [ 2.04140713e-05 5.58086789e-04 -9.99999844e-01 2.67811613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.00, Y:-46.79, Z:2.68 [[-9.92221592e-01 -1.24482055e-01 7.28567263e-04 9.80003721e+01] [-1.24481596e-01 9.92221708e-01 6.44432670e-04 -4.67915197e+01] [-8.03120557e-04 5.48726793e-04 -9.99999527e-01 2.67929277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.99, Y:-46.77, Z:2.68 [[-9.80884398e-01 -1.94588230e-01 1.10357895e-03 9.79868464e+01] [-1.94587452e-01 9.80884868e-01 7.73993325e-04 -4.67668526e+01] [-1.23309389e-03 5.44455360e-04 -9.99999092e-01 2.67931798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.96, Y:-46.74, Z:2.68 [[-9.64449738e-01 -2.64262230e-01 1.47557403e-03 9.79626340e+01] [-2.64261008e-01 9.64450711e-01 9.72925843e-04 -4.67440185e+01] [-1.68022598e-03 5.48401393e-04 -9.99998438e-01 2.68069748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.91, Y:-46.73, Z:2.68 [[-9.43341443e-01 -3.31816148e-01 2.22848825e-03 9.79105761e+01] [-3.31813780e-01 9.43343913e-01 1.37027803e-03 -4.67341124e+01] [-2.55691120e-03 5.53196948e-04 -9.99996578e-01 2.68149693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.85, Y:-46.73, Z:2.68 [[-9.16915700e-01 -3.99073245e-01 2.47869419e-03 9.78493745e+01] [-3.99070065e-01 9.16918880e-01 1.68814823e-03 -4.67301405e+01] [-2.94645629e-03 5.58716970e-04 -9.99995503e-01 2.68169728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.467628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.78, Y:-46.74, Z:2.68 [[-8.86391066e-01 -4.62929764e-01 2.62913945e-03 9.77781400e+01] [-4.62925709e-01 8.86394779e-01 2.02096440e-03 -4.67371900e+01] [-3.26602006e-03 5.74268541e-04 -9.99994502e-01 2.68216861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.69, Y:-46.75, Z:2.68 [[-8.50022145e-01 -5.26740214e-01 2.66480098e-03 9.76942479e+01] [-5.26735357e-01 8.50026123e-01 2.33562961e-03 -4.67543645e+01] [-3.49542048e-03 5.81691992e-04 -9.99993722e-01 2.68304082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.527628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.61, Y:-46.78, Z:2.68 [[-8.08463950e-01 -5.88540435e-01 2.48953459e-03 9.76085739e+01] [-5.88535248e-01 8.08467569e-01 2.54004247e-03 -4.67797389e+01] [-3.50762568e-03 5.88353904e-04 -9.99993675e-01 2.68401375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.52, Y:-46.81, Z:2.68 [[-7.62073737e-01 -6.47486521e-01 2.19665042e-03 9.75204950e+01] [-6.47481393e-01 7.62076672e-01 2.64432875e-03 -4.68146913e+01] [-3.38618327e-03 5.92883216e-04 -9.99994091e-01 2.68446923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.43, Y:-46.86, Z:2.68 [[-7.11516474e-01 -7.02668756e-01 9.62117854e-04 9.74326615e+01] [-7.02666746e-01 7.11516879e-01 1.78194701e-03 -4.68578610e+01] [-1.93668158e-03 5.91836432e-04 -9.99997949e-01 2.68462429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.34, Y:-46.92, Z:2.69 [[-6.56069277e-01 -7.54700539e-01 4.48151758e-04 9.73400618e+01] [-7.54699443e-01 6.56069165e-01 1.41470173e-03 -4.69166933e+01] [-1.36169471e-03 5.89922459e-04 -9.99998899e-01 2.68537385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.64762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.25, Y:-46.98, Z:2.69 [[-5.96704279e-01 -8.02461119e-01 3.94686410e-04 9.72545978e+01] [-8.02459893e-01 5.96704116e-01 1.52243611e-03 -4.69799451e+01] [-1.45720679e-03 5.91724128e-04 -9.99998763e-01 2.68584459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.17, Y:-47.05, Z:2.69 [[-5.33178020e-01 -8.46003029e-01 2.70029864e-04 9.71704771e+01] [-8.46001838e-01 5.33177760e-01 1.53835377e-03 -4.70541792e+01] [-1.44542587e-03 5.91770655e-04 -9.99998780e-01 2.68669476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.70762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.09, Y:-47.14, Z:2.69 [[-4.66294480e-01 -8.84629542e-01 1.79245659e-04 9.70871561e+01] [-8.84628280e-01 4.66294141e-01 1.60646411e-03 -4.71436348e+01] [-1.50470681e-03 5.90519568e-04 -9.99998694e-01 2.68787376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.73762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.02, Y:-47.23, Z:2.69 [[-3.96438106e-01 -9.18061449e-01 -6.58968183e-05 9.70155345e+01] [-9.18060671e-01 3.96437674e-01 1.33226471e-03 -4.72292731e+01] [-1.19697689e-03 5.88657776e-04 -9.99999110e-01 2.68890464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.76762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.95, Y:-47.33, Z:2.69 [[-3.23275347e-01 -9.46304944e-01 5.10371927e-05 9.69467748e+01] [-9.46303073e-01 3.23274814e-01 1.97223659e-03 -4.73256865e+01] [-1.88283628e-03 5.89278817e-04 -9.99998054e-01 2.68911750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.79762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.89, Y:-47.43, Z:2.69 [[-2.48528323e-01 -9.68624629e-01 1.28737447e-05 9.68858208e+01] [-9.68621786e-01 2.48527626e-01 2.41952627e-03 -4.74317668e+01] [-2.34681222e-03 5.88851017e-04 -9.99997073e-01 2.69193179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.83, Y:-47.54, Z:2.69 [[-1.72153042e-01 -9.85070206e-01 -1.38156756e-04 9.68321149e+01] [-9.85066895e-01 1.72152095e-01 2.62086339e-03 -4.75413410e+01] [-2.55795047e-03 5.87283251e-04 -9.99996556e-01 2.69242580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.79, Y:-47.66, Z:2.69 [[-9.48367357e-02 -9.95492776e-01 -3.56845841e-04 9.67872379e+01] [-9.95490007e-01 9.48356048e-02 2.41934522e-03 -4.76574647e+01] [-2.37459900e-03 5.84679272e-04 -9.99997010e-01 2.69479158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.75, Y:-47.78, Z:2.70 [[-1.74892764e-02 -9.99846904e-01 -5.42331816e-04 9.67529884e+01] [-9.99844349e-01 1.74879657e-02 2.33417323e-03 -4.77793983e+01] [-2.32433160e-03 5.83070403e-04 -9.99997129e-01 2.69572603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.73, Y:-47.89, Z:2.70 [[ 5.98661926e-02 -9.98206143e-01 -7.31146353e-04 9.67277139e+01] [-9.98203305e-01 -5.98678175e-02 2.45085640e-03 -4.78923608e+01] [-2.49023205e-03 5.83109265e-04 -9.99996729e-01 2.69562896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.71, Y:-48.01, Z:2.70 [[ 1.36194621e-01 -9.90681748e-01 -8.36203007e-04 9.67135352e+01] [-9.90680256e-01 -1.36195947e-01 1.81517013e-03 -4.80139686e+01] [-1.91214338e-03 5.81193402e-04 -9.99998003e-01 2.69660981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.71, Y:-48.14, Z:2.70 [[ 2.12181429e-01 -9.77229937e-01 -8.31658248e-04 9.67086534e+01] [-9.77229475e-01 -2.12182275e-01 1.11111893e-03 -4.81376336e+01] [-1.26228182e-03 5.76962151e-04 -9.99999037e-01 2.69710842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.00762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.71, Y:-48.26, Z:2.70 [[ 2.86650849e-01 -9.58034745e-01 -8.47474656e-04 9.67124274e+01] [-9.58034557e-01 -2.86651527e-01 8.30026368e-04 -4.82580438e+01] [-1.03812400e-03 5.73982244e-04 -9.99999296e-01 2.69725348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.73, Y:-48.38, Z:2.70 [[ 3.59699183e-01 -9.33068075e-01 -6.82189288e-04 9.67257703e+01] [-9.33068229e-01 -3.59699381e-01 1.89629981e-04 -4.83797432e+01] [-4.22320746e-04 5.68319401e-04 -9.99999749e-01 2.69837114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.06762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.75, Y:-48.50, Z:2.70 [[ 4.30864623e-01 -9.02416380e-01 -5.94729015e-04 9.67461889e+01] [-9.02416555e-01 -4.30864663e-01 -6.61976859e-05 -4.84958292e+01] [-1.96509840e-04 5.65215550e-04 -9.99999821e-01 2.69927720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.78, Y:-48.62, Z:2.70 [[ 4.99653881e-01 -8.66225045e-01 -4.12476071e-04 9.67815368e+01] [-8.66225131e-01 -4.99653737e-01 -4.06993825e-04 -4.86203779e+01] [ 1.46453034e-04 5.60653183e-04 -9.99999832e-01 2.70013344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.82, Y:-48.73, Z:2.70 [[ 5.66292639e-01 -8.24204203e-01 -2.80252029e-04 9.68196621e+01] [-8.24204190e-01 -5.66292434e-01 -5.76509172e-04 -4.87318677e+01] [ 3.16456679e-04 5.57457797e-04 -9.99999795e-01 2.70112316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.86, Y:-48.83, Z:2.70 [[ 6.28989084e-01 -7.77414045e-01 -3.67735263e-04 9.68588842e+01] [-7.77414125e-01 -6.28988945e-01 -4.29758106e-04 -4.88317143e+01] [ 1.02798572e-04 5.56195745e-04 -9.99999840e-01 2.70216265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.91, Y:-48.93, Z:2.70 [[ 6.86929169e-01 -7.26724292e-01 -3.46008187e-04 9.69097868e+01] [-7.26724370e-01 -6.86929033e-01 -4.39167354e-04 -4.89317445e+01] [ 8.14705156e-05 5.53129447e-04 -9.99999844e-01 2.70320490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.217628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.97, Y:-49.03, Z:2.71 [[ 7.41487836e-01 -6.70966139e-01 -4.78797511e-04 9.69657340e+01] [-6.70966293e-01 -7.41487786e-01 -3.09408277e-04 -4.90260860e+01] [-1.47420030e-04 5.50679465e-04 -9.99999838e-01 2.70535654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.96, Y:-49.03, Z:2.71 [[ 7.92405881e-01 -6.09993833e-01 -6.65843647e-04 9.69598418e+01] [-6.09994058e-01 -7.92405964e-01 -1.93056641e-04 -4.90301314e+01] [-4.09855116e-04 5.59139886e-04 -9.99999760e-01 2.70615454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.277628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.95, Y:-49.04, Z:2.71 [[ 8.39160286e-01 -5.43883874e-01 -5.87284835e-04 9.69531109e+01] [-5.43884086e-01 -8.39160307e-01 -2.82594095e-04 -4.90351614e+01] [-3.39127751e-04 5.56556618e-04 -9.99999788e-01 2.70591573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.95, Y:-49.04, Z:2.71 [[ 8.79850965e-01 -4.75249534e-01 -3.99815491e-04 9.69450772e+01] [-4.75249677e-01 -8.79850881e-01 -4.14787158e-04 -4.90393404e+01] [-1.54650608e-04 5.54963064e-04 -9.99999834e-01 2.70610833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.94, Y:-49.04, Z:2.71 [[ 9.14910009e-01 -4.03657374e-01 -6.32269902e-04 9.69382551e+01] [-4.03657621e-01 -9.14910061e-01 -3.23880885e-04 -4.90426001e+01] [-4.47733187e-04 5.51542428e-04 -9.99999748e-01 2.70619330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.36762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.93, Y:-49.05, Z:2.71 [[ 9.44554517e-01 -3.28353195e-01 -9.71210257e-04 9.69321070e+01] [-3.28353561e-01 -9.44554859e-01 -2.40334935e-04 -4.90494754e+01] [-8.38446623e-04 5.45909795e-04 -9.99999499e-01 2.70566536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.93, Y:-49.06, Z:2.71 [[ 9.67615518e-01 -2.52423934e-01 -1.53838960e-03 9.69254859e+01] [-2.52424460e-01 -9.67616592e-01 -1.54685046e-04 -4.90564275e+01] [-1.44952509e-03 5.38002815e-04 -9.99998805e-01 2.70691520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.42762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.92, Y:-49.06, Z:2.71 [[ 9.84586101e-01 -1.74889728e-01 -1.94768266e-03 9.69189605e+01] [-1.74890428e-01 -9.84587884e-01 -1.93779932e-04 -4.90600600e+01] [-1.88377463e-03 5.31424081e-04 -9.99998084e-01 2.70805547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.91, Y:-49.06, Z:2.71 [[ 9.95299744e-01 -9.68133266e-02 -2.36622212e-03 9.69111225e+01] [-9.68142921e-02 -9.95302419e-01 -2.96677645e-04 -4.90642811e+01] [-2.32638425e-03 5.24367303e-04 -9.99997156e-01 2.70865218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.48762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.90, Y:-49.07, Z:2.71 [[ 9.99825930e-01 -1.84475140e-02 -2.79275894e-03 9.69031593e+01] [-1.84488851e-02 -9.99829696e-01 -4.65960970e-04 -4.90702162e+01] [-2.78368750e-03 5.17403149e-04 -9.99995992e-01 2.70930872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.51762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.90, Y:-49.08, Z:2.71 [[ 9.98230287e-01 5.94136193e-02 -2.51315921e-03 9.68961911e+01] [ 5.94121131e-02 -9.98233315e-01 -6.69850471e-04 -4.90769323e+01] [-2.54851750e-03 5.19352928e-04 -9.99996618e-01 2.70856336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.54762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.89, Y:-49.08, Z:2.71 [[ 9.90688107e-01 1.36135580e-01 -2.04420223e-03 9.68882685e+01] [ 1.36134178e-01 -9.90690077e-01 -8.10527469e-04 -4.90839332e+01] [-2.13551249e-03 5.24694133e-04 -9.99997582e-01 2.70827208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.88, Y:-49.09, Z:2.71 [[ 9.77695411e-01 2.10027222e-01 -5.00067456e-04 9.68821014e+01] [ 2.10026882e-01 -9.77695390e-01 -6.57776294e-04 -4.90887535e+01] [-6.27064574e-04 5.38077256e-04 -9.99999659e-01 2.70610812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.88, Y:-49.10, Z:2.71 [[ 9.59010005e-01 2.83372146e-01 1.91924070e-04 9.68756966e+01] [ 2.83372208e-01 -9.59009872e-01 -5.06309883e-04 -4.90951567e+01] [ 4.05829603e-05 5.39942191e-04 -9.99999853e-01 2.70538662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.87, Y:-49.10, Z:2.70 [[ 9.34845283e-01 3.55054585e-01 7.33817685e-04 9.68701489e+01] [ 3.55054868e-01 -9.34845416e-01 -2.96711334e-04 -4.91026536e+01] [ 5.80657380e-04 5.37924732e-04 -9.99999687e-01 2.70491950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.86, Y:-49.11, Z:2.70 [[ 9.06661611e-01 4.21857275e-01 1.07849896e-03 9.68625802e+01] [ 4.21857601e-01 -9.06662097e-01 -8.34238952e-05 -4.91078454e+01] [ 9.42641151e-04 5.30610226e-04 -9.99999415e-01 2.70472937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.86, Y:-49.11, Z:2.70 [[ 8.71926853e-01 4.89634612e-01 1.22869707e-03 9.68567049e+01] [ 4.89634886e-01 -8.71927561e-01 8.72576755e-05 -4.91147548e+01] [ 1.11405921e-03 5.25530638e-04 -9.99999241e-01 2.70445633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.85, Y:-49.12, Z:2.70 [[ 8.31926328e-01 5.54883488e-01 1.70257138e-03 9.68498719e+01] [ 5.54883489e-01 -8.31927911e-01 5.15122009e-04 -4.91224496e+01] [ 1.70224935e-03 5.16185188e-04 -9.99998418e-01 2.70433152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.84, Y:-49.13, Z:2.70 [[ 7.87008298e-01 6.16940143e-01 1.67316548e-03 9.68448399e+01] [ 6.16940000e-01 -7.87009910e-01 6.61799238e-04 -4.91307440e+01] [ 1.72508833e-03 5.11401222e-04 -9.99998381e-01 2.70423045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.78762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.84, Y:-49.14, Z:2.70 [[ 7.37763648e-01 6.75057615e-01 1.42020033e-03 9.68398722e+01] [ 6.75057533e-01 -7.37764839e-01 6.08807567e-04 -4.91384949e+01] [ 1.45875405e-03 5.09560841e-04 -9.99998806e-01 2.70456854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.84, Y:-49.15, Z:2.70 [[ 6.86616640e-01 7.27018870e-01 1.07368538e-03 9.68384693e+01] [ 7.27018940e-01 -6.86617291e-01 3.96365278e-04 -4.91494209e+01] [ 1.02537598e-03 5.08438610e-04 -9.99999345e-01 2.70452341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.83, Y:-49.16, Z:2.71 [[ 6.29311553e-01 7.77152318e-01 1.11585189e-03 9.68347528e+01] [ 7.77152263e-01 -6.29312342e-01 5.80327114e-04 -4.91603422e+01] [ 1.15322193e-03 5.01980264e-04 -9.99999209e-01 2.70507951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.83, Y:-49.17, Z:2.70 [[ 5.68315189e-01 8.22809902e-01 1.30781360e-03 9.68303912e+01] [ 8.22809395e-01 -5.68316485e-01 1.03575370e-03 -4.91690529e+01] [ 1.59548043e-03 4.87446760e-04 -9.99998608e-01 2.70452855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.82, Y:-49.18, Z:2.70 [[ 5.05042235e-01 8.63093369e-01 1.47589889e-03 9.68246619e+01] [ 8.63092012e-01 -5.05044176e-01 1.59962624e-03 -4.91783426e+01] [ 2.12602094e-03 4.65957733e-04 -9.99997631e-01 2.70358381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.82, Y:-49.19, Z:2.70 [[ 4.36713062e-01 8.99599930e-01 1.29127958e-03 9.68206206e+01] [ 8.99598641e-01 -4.36714722e-01 1.59254236e-03 -4.91882187e+01] [ 1.99657180e-03 4.66149305e-04 -9.99997898e-01 2.70347669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.967628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.82, Y:-49.20, Z:2.70 [[ 3.65159605e-01 9.30944318e-01 1.06709744e-03 9.68173443e+01] [ 9.30943343e-01 -3.65160860e-01 1.42808180e-03 -4.91986504e+01] [ 1.71912686e-03 4.71929476e-04 -9.99998411e-01 2.70396114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.83, Y:-49.21, Z:2.70 [[ 2.89331532e-01 9.57228817e-01 5.06291399e-04 9.68263130e+01] [ 9.57228950e-01 -2.89331512e-01 -1.14545464e-04 -4.92118709e+01] [ 3.68398370e-05 5.17778399e-04 -9.99999865e-01 2.70480257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.027628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.84, Y:-49.22, Z:2.71 [[ 2.11706931e-01 9.77333142e-01 3.25498520e-04 9.68396267e+01] [ 9.77332724e-01 -2.11706489e-01 -1.05345406e-03 -4.92248109e+01] [-9.60665412e-04 5.41143880e-04 -9.99999392e-01 2.70509107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.85, Y:-49.24, Z:2.71 [[ 1.32170452e-01 9.91226943e-01 3.45210839e-04 9.68513425e+01] [ 9.91225859e-01 -1.32169763e-01 -1.56548882e-03 -4.92363537e+01] [-1.50612826e-03 5.49093276e-04 -9.99998715e-01 2.70593018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.86, Y:-49.25, Z:2.71 [[ 5.15518811e-02 9.98670205e-01 4.75274221e-04 9.68627849e+01] [ 9.98669588e-01 -5.15512624e-02 -1.23324277e-03 -4.92477144e+01] [-1.20710182e-03 5.38217895e-04 -9.99999127e-01 2.70632421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.88, Y:-49.26, Z:2.71 [[-3.20262780e-02 9.99486890e-01 5.23423560e-04 9.68763500e+01] [ 9.99486998e-01 3.20264003e-02 -2.26947215e-04 -4.92571771e+01] [-2.43594139e-04 5.15886768e-04 -9.99999837e-01 2.70591035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.14762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.89, Y:-49.26, Z:2.70 [[-1.12957220e-01 9.93599752e-01 4.46271027e-04 9.68900361e+01] [ 9.93599730e-01 1.12956971e-01 5.47419717e-04 -4.92641325e+01] [ 4.93506671e-04 5.05249781e-04 -9.99999751e-01 2.70484064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.90, Y:-49.27, Z:2.70 [[-1.92304880e-01 9.81335189e-01 2.82364429e-04 9.69038842e+01] [ 9.81334639e-01 1.92304440e-01 1.15309095e-03 -4.92701530e+01] [ 1.07726879e-03 4.98839011e-04 -9.99999295e-01 2.70430548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.20762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.92, Y:-49.28, Z:2.70 [[-2.72021087e-01 9.62291289e-01 5.45548151e-05 9.69188016e+01] [ 9.62290027e-01 2.72020637e-01 1.63618621e-03 -4.92753045e+01] [ 1.55964770e-03 4.97574704e-04 -9.99998660e-01 2.70368904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.23762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.93, Y:-49.28, Z:2.70 [[-3.47622494e-01 9.37634536e-01 -2.80825727e-04 9.69301523e+01] [ 9.37632130e-01 3.47622255e-01 2.18108981e-03 -4.92809682e+01] [ 2.14268641e-03 4.94884656e-04 -9.99997582e-01 2.70378339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.26762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.94, Y:-49.29, Z:2.70 [[-4.20630347e-01 9.07231738e-01 -8.27319303e-04 9.69396120e+01] [ 9.07227070e-01 4.20630874e-01 2.95158181e-03 -4.92869537e+01] [ 3.02576474e-03 4.90958413e-04 -9.99995302e-01 2.70379525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.29762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.95, Y:-49.29, Z:2.70 [[-4.90780780e-01 8.71281941e-01 -1.41608156e-03 9.69520138e+01] [ 8.71275017e-01 4.90782580e-01 3.50759675e-03 -4.92888518e+01] [ 3.75109387e-03 4.87664586e-04 -9.99992846e-01 2.70361705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.96, Y:-49.29, Z:2.70 [[-5.57574362e-01 8.30124704e-01 -1.95085630e-03 9.69637670e+01] [ 8.30116269e-01 5.57577565e-01 3.77349317e-03 -4.92896582e+01] [ 4.22022361e-03 4.84565489e-04 -9.99990977e-01 2.70372756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.98, Y:-49.29, Z:2.70 [[-6.20741550e-01 7.84012720e-01 -1.99587619e-03 9.69755126e+01] [ 7.84005923e-01 6.20744570e-01 3.30021849e-03 -4.92895980e+01] [ 3.82634258e-03 4.83803982e-04 -9.99992562e-01 2.70437172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.99, Y:-49.29, Z:2.71 [[-6.80089972e-01 7.33126302e-01 -1.85888004e-03 9.69868718e+01] [ 7.33121433e-01 6.80092340e-01 2.71537258e-03 -4.92902061e+01] [ 3.25492113e-03 4.83912860e-04 -9.99994586e-01 2.70546964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.00, Y:-49.29, Z:2.71 [[-7.35159647e-01 6.77892360e-01 -1.49725954e-03 9.69973192e+01] [ 6.77889463e-01 7.35161011e-01 2.04053722e-03 -4.92888227e+01] [ 2.48399143e-03 4.85144156e-04 -9.99996797e-01 2.70629628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.02, Y:-49.27, Z:2.71 [[-7.80509469e-01 6.25143938e-01 -1.60550041e-04 9.70198901e+01] [ 6.25143707e-01 7.80509359e-01 6.97171086e-04 -4.92714193e+01] [ 5.61143088e-04 4.43781786e-04 -9.99999744e-01 2.70818439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.04, Y:-49.25, Z:2.71 [[-8.22369649e-01 5.68953549e-01 1.36437241e-04 9.70411518e+01] [ 5.68953548e-01 8.22369540e-01 4.46962547e-04 -4.92527553e+01] [ 1.42099097e-04 4.45194885e-04 -9.99999891e-01 2.70934210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.50762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:-49.23, Z:2.71 [[-8.60273884e-01 5.09831616e-01 7.53895751e-04 9.70598279e+01] [ 5.09831809e-01 8.60274096e-01 7.62450616e-05 -4.92321071e+01] [-6.09684843e-04 4.49951670e-04 -9.99999713e-01 2.70992670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.08, Y:-49.21, Z:2.71 [[-8.93942736e-01 4.48178372e-01 1.59127778e-03 9.70800003e+01] [ 4.48178513e-01 8.93944035e-01 -2.87002450e-04 -4.92131567e+01] [-1.55114157e-03 4.56612752e-04 -9.99998693e-01 2.71160458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.56762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.10, Y:-49.19, Z:2.71 [[-9.23285141e-01 3.84107166e-01 2.49672517e-03 9.70963291e+01] [ 3.84107072e-01 9.23288400e-01 -5.36145913e-04 -4.91907026e+01] [-2.51113487e-03 4.63994240e-04 -9.99996739e-01 2.71182883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.11, Y:-49.17, Z:2.71 [[-9.48147565e-01 3.17818817e-01 2.71947535e-03 9.71103514e+01] [ 3.17818877e-01 9.48151351e-01 -4.21372401e-04 -4.91671600e+01] [-2.71239430e-03 4.64777387e-04 -9.99996213e-01 2.71226012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.12, Y:-49.14, Z:2.71 [[-9.68339374e-01 2.49622671e-01 2.71646219e-03 9.71234544e+01] [ 2.49623002e-01 9.68343073e-01 -2.21941452e-04 -4.91423736e+01] [-2.68586896e-03 4.63176800e-04 -9.99996286e-01 2.71200475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.32, Y:-48.34, Z:1.86 [[-9.53898770e-01 -2.99822927e-01 1.35406626e-02 9.73241628e+01] [ 2.99795294e-01 -9.53994855e-01 -4.07419878e-03 -4.83356397e+01] [ 1.41392606e-02 1.73053710e-04 9.99900021e-01 1.85643830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.07, Y:-49.13, Z:2.71 [[-9.69723066e-01 2.44200740e-01 1.78146182e-03 9.70749123e+01] [ 2.44201161e-01 9.69724596e-01 1.92884975e-05 -4.91308300e+01] [-1.72281708e-03 4.53739544e-04 -9.99998413e-01 2.71082936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.717628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.08, Y:-49.10, Z:2.71 [[-9.84750108e-01 1.73966194e-01 1.72859936e-03 9.70831047e+01] [ 1.73966707e-01 9.84751523e-01 1.49767973e-04 -4.91038865e+01] [-1.67618629e-03 4.48202767e-04 -9.99998495e-01 2.71137818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.23, Y:-48.29, Z:1.86 [[-9.73016197e-01 -2.30328722e-01 1.37171721e-02 9.72283412e+01] [ 2.30309964e-01 -9.73112839e-01 -2.95334572e-03 -4.82858684e+01] [ 1.40285967e-02 2.85548197e-04 9.99901554e-01 1.85598135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.777628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.03, Y:-49.09, Z:2.71 [[-9.85733395e-01 1.68302831e-01 1.95748558e-03 9.70250040e+01] [ 1.68303384e-01 9.85735236e-01 1.20456516e-04 -4.90949111e+01] [-1.90928934e-03 4.48189457e-04 -9.99998077e-01 2.71128616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.17, Y:-48.28, Z:1.86 [[-9.73858564e-01 -2.26732367e-01 1.38539174e-02 9.71712506e+01] [ 2.26713608e-01 -9.73957058e-01 -2.93062733e-03 -4.82756208e+01] [ 1.41575887e-02 2.86855084e-04 9.99899735e-01 1.85778457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.97, Y:-49.09, Z:2.71 [[-9.86355524e-01 1.64617944e-01 1.92710044e-03 9.69716157e+01] [ 1.64618499e-01 9.86357305e-01 1.32056219e-04 -4.90891244e+01] [-1.87907077e-03 4.47490763e-04 -9.99998134e-01 2.71093697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.86762800000001 meters Centerline goodness [0,1] 0.999865846841811 Centerline is valid? [True, True] Translation: X:96.98, Y:-49.07, Z:2.71 [[-9.95351510e-01 9.62823881e-02 2.25252127e-03 9.69832238e+01] [ 9.62831528e-02 9.95353957e-01 2.33311379e-04 -4.90661472e+01] [-2.21959218e-03 4.49106683e-04 -9.99997436e-01 2.71349331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.99, Y:-49.04, Z:2.71 [[-9.99664945e-01 2.58393213e-02 1.52533651e-03 9.69871600e+01] [ 2.58399673e-02 9.99666010e-01 4.05347484e-04 -4.90406950e+01] [-1.51435316e-03 4.44626315e-04 -9.99998755e-01 2.71081157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.92762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.99, Y:-49.01, Z:2.71 [[-9.99027979e-01 -4.40575845e-02 1.42321750e-03 9.69891488e+01] [-4.40569001e-02 9.99028894e-01 5.08736403e-04 -4.90145393e+01] [-1.44424910e-03 4.45539350e-04 -9.99998858e-01 2.71051825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.99, Y:-48.99, Z:2.71 [[-9.93506736e-01 -1.13765383e-01 1.34269516e-03 9.69900530e+01] [-1.13764659e-01 9.93507543e-01 6.03855529e-04 -4.89885877e+01] [-1.40267562e-03 4.47183279e-04 -9.99998916e-01 2.71070804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.98762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.97, Y:-48.97, Z:2.71 [[-9.83301980e-01 -1.81976182e-01 1.37332290e-03 9.69725925e+01] [-1.81975339e-01 9.83302833e-01 7.16694793e-04 -4.89683163e+01] [-1.48081368e-03 4.54816510e-04 -9.99998800e-01 2.71132446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.01762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.93, Y:-48.95, Z:2.71 [[-9.67954212e-01 -2.51124298e-01 1.10949003e-03 9.69338167e+01] [-2.51123562e-01 9.67954739e-01 7.61562189e-04 -4.89501992e+01] [-1.26518291e-03 4.58538240e-04 -9.99999095e-01 2.71116778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.04762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.88, Y:-48.95, Z:2.71 [[-9.48205069e-01 -3.17658475e-01 4.90856808e-04 9.68785245e+01] [-3.17658145e-01 9.48205085e-01 6.47127413e-04 -4.89461403e+01] [-6.70998428e-04 4.57684830e-04 -9.99999670e-01 2.71287380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.81, Y:-48.94, Z:2.71 [[-9.22949425e-01 -3.84921234e-01 5.22908235e-05 9.68122235e+01] [-3.84921159e-01 9.22949315e-01 5.13524951e-04 -4.89442667e+01] [-2.45928437e-04 4.53829713e-04 -9.99999867e-01 2.71214213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.73, Y:-48.95, Z:2.71 [[-8.91512371e-01 -4.52996349e-01 2.79193547e-05 9.67335589e+01] [-4.52996273e-01 8.91512255e-01 5.25121845e-04 -4.89514053e+01] [-2.62768725e-04 4.55505258e-04 -9.99999862e-01 2.71279689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.65, Y:-48.97, Z:2.71 [[-8.56060288e-01 -5.16875743e-01 -5.00298567e-04 9.66522791e+01] [-5.16875889e-01 8.56060318e-01 2.17077717e-04 -4.89688078e+01] [ 3.16083545e-04 4.44423879e-04 -9.99999851e-01 2.71288138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.56, Y:-49.00, Z:2.71 [[-8.15664452e-01 -5.78524494e-01 -9.54983161e-04 9.65622043e+01] [-5.78524634e-01 8.15664898e-01 -1.50151117e-04 -4.90002564e+01] [ 8.65812342e-04 4.30008355e-04 -9.99999533e-01 2.71323526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.47, Y:-49.04, Z:2.71 [[-7.70364005e-01 -6.37603361e-01 -1.12024898e-03 9.64705156e+01] [-6.37603388e-01 7.70364703e-01 -3.78886391e-04 -4.90409245e+01] [ 1.10457951e-03 4.22394109e-04 -9.99999301e-01 2.71335462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.38, Y:-49.09, Z:2.71 [[-7.19361401e-01 -6.94633818e-01 -1.74204373e-03 9.63815886e+01] [-6.94633011e-01 7.19363401e-01 -1.13070272e-03 -4.90882147e+01] [ 2.03858685e-03 3.96697189e-04 -9.99997843e-01 2.71375512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.29, Y:-49.15, Z:2.71 [[-6.63297323e-01 -7.48354888e-01 -1.27380905e-03 9.62893689e+01] [-7.48354561e-01 6.63298417e-01 -8.12707071e-04 -4.91453230e+01] [ 1.45310883e-03 4.14194386e-04 -9.99998858e-01 2.71487746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.28762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.20, Y:-49.21, Z:2.72 [[-6.02839620e-01 -7.97861905e-01 -8.79997735e-04 9.62000881e+01] [-7.97861893e-01 6.02840108e-01 -4.51344048e-04 -4.92146999e+01] [ 8.90608152e-04 4.30028584e-04 -9.99999511e-01 2.71673958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.11, Y:-49.29, Z:2.72 [[-5.36830833e-01 -8.43689898e-01 -1.14118744e-04 9.61116742e+01] [-8.43689747e-01 5.36830643e-01 6.86465661e-04 -4.92934432e+01] [-5.17901705e-04 4.64796746e-04 -9.99999758e-01 2.71918449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.03, Y:-49.38, Z:2.72 [[-4.68964812e-01 -8.83216848e-01 6.73894495e-05 9.60286682e+01] [-8.83216241e-01 4.68964577e-01 1.13926560e-03 -4.93829268e+01] [-1.03782184e-03 4.74756022e-04 -9.99999349e-01 2.72113086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.95, Y:-49.48, Z:2.72 [[-3.97918141e-01 -9.17420893e-01 2.41706198e-04 9.59547293e+01] [-9.17419295e-01 3.97917917e-01 1.78003316e-03 -4.94750006e+01] [-1.72921884e-03 4.86561557e-04 -9.99998387e-01 2.72256145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.88, Y:-49.57, Z:2.72 [[-3.24121437e-01 -9.46015461e-01 2.05340908e-04 9.58841085e+01] [-9.46013238e-01 3.24121133e-01 2.10839203e-03 -4.95713362e+01] [-2.06112679e-03 4.89119839e-04 -9.99997756e-01 2.72310901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.82, Y:-49.68, Z:2.72 [[-2.49566876e-01 -9.68357563e-01 6.28665242e-05 9.58245949e+01] [-9.68355182e-01 2.49566405e-01 2.20259564e-03 -4.96777291e+01] [-2.14858952e-03 4.88817789e-04 -9.99997572e-01 2.72421474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.467628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.77, Y:-49.79, Z:2.72 [[-1.73613233e-01 -9.84813897e-01 -1.82665413e-04 9.57719384e+01] [-9.84812510e-01 1.73612670e-01 1.72093007e-03 -4.97926329e+01] [-1.66308282e-03 4.78667418e-04 -9.99998503e-01 2.72481428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.497628 meters Centerline goodness [0,1] 0.9998638591395898 Centerline is valid? [True, True] Translation: X:95.73, Y:-49.91, Z:2.73 [[-9.70841747e-02 -9.95276132e-01 -2.89488719e-04 9.57297162e+01] [-9.95274200e-01 9.70833987e-02 2.01990293e-03 -4.99061343e+01] [-1.98225663e-03 4.84221263e-04 -9.99997918e-01 2.72831687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.527628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.70, Y:-50.02, Z:2.73 [[-1.98658701e-02 -9.99802554e-01 -4.46833008e-04 9.56969106e+01] [-9.99802654e-01 1.98658564e-02 3.51315655e-05 -5.00241818e+01] [-2.62479084e-05 4.47442746e-04 -9.99999900e-01 2.72555062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.67, Y:-50.15, Z:2.73 [[ 5.78521017e-02 -9.98325083e-01 -4.03735230e-04 9.56746261e+01] [-9.98325018e-01 -5.78518691e-02 -5.65836000e-04 -5.01483198e+01] [ 5.41531435e-04 4.35793783e-04 -9.99999758e-01 2.72671528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.66, Y:-50.27, Z:2.73 [[ 1.35086304e-01 -9.90833791e-01 -2.98417281e-04 9.56591847e+01] [-9.90833405e-01 -1.35085958e-01 -9.73647612e-04 -5.02686434e+01] [ 9.24410970e-04 4.27208268e-04 -9.99999481e-01 2.72703590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.65, Y:-50.39, Z:2.73 [[ 2.11675640e-01 -9.77339954e-01 -1.94180928e-04 9.56544429e+01] [-9.77339425e-01 -2.11675306e-01 -1.10150844e-03 -5.03922270e+01] [ 1.03544490e-03 4.22943180e-04 -9.99999374e-01 2.72765851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.64762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.66, Y:-50.51, Z:2.73 [[ 2.87409881e-01 -9.57807665e-01 1.90064729e-04 9.56570353e+01] [-9.57805570e-01 -2.87409658e-01 -2.04430682e-03 -5.05102764e+01] [ 2.01267918e-03 4.05508924e-04 -9.99997892e-01 2.72793435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.67, Y:-50.63, Z:2.73 [[ 3.61197982e-01 -9.32489007e-01 5.20115560e-04 9.56714589e+01] [-9.32485890e-01 -3.61198138e-01 -2.44337832e-03 -5.06324948e+01] [ 2.46628819e-03 3.97542896e-04 -9.99996880e-01 2.72883671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.70762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.69, Y:-50.75, Z:2.73 [[ 4.32844819e-01 -9.01467997e-01 9.01356542e-04 9.56943866e+01] [-9.01463799e-01 -4.32845582e-01 -2.77864548e-03 -5.07532561e+01] [ 2.89500817e-03 3.90182007e-04 -9.99995733e-01 2.72984725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.73762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.72, Y:-50.87, Z:2.73 [[ 5.02961104e-01 -8.64308167e-01 1.23301944e-03 9.57235409e+01] [-8.64303403e-01 -5.02962464e-01 -2.89623635e-03 -5.08686336e+01] [ 3.12340323e-03 3.90991335e-04 -9.99995046e-01 2.73116467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.76762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.76, Y:-50.98, Z:2.73 [[ 5.68917144e-01 -8.22393797e-01 1.31347891e-03 9.57623505e+01] [-8.22389803e-01 -5.68918523e-01 -2.59346035e-03 -5.09794546e+01] [ 2.88010819e-03 3.95272394e-04 -9.99995774e-01 2.73257699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.79762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.81, Y:-51.09, Z:2.73 [[ 6.31341168e-01 -7.75504222e-01 1.23754321e-03 9.58099068e+01] [-7.75501329e-01 -6.31342253e-01 -2.15616456e-03 -5.10857121e+01] [ 2.45342804e-03 4.01559045e-04 -9.99996910e-01 2.73355894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.86, Y:-51.19, Z:2.73 [[ 6.89456446e-01 -7.24326163e-01 1.19059584e-03 9.58624122e+01] [-7.24323947e-01 -6.89457356e-01 -1.83668851e-03 -5.11855214e+01] [ 2.15122660e-03 4.03939659e-04 -9.99997605e-01 2.73410660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.92, Y:-51.28, Z:2.74 [[ 7.43415411e-01 -6.68829426e-01 8.51827444e-04 9.59204906e+01] [-6.68828252e-01 -7.43415786e-01 -1.31836231e-03 -5.12779034e+01] [ 1.51502148e-03 4.10364598e-04 -9.99998768e-01 2.73505902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.92, Y:-51.28, Z:2.74 [[ 7.93597670e-01 -6.08441916e-01 1.08299097e-03 9.59155670e+01] [-6.08440552e-01 -7.93598300e-01 -1.35402466e-03 -5.12799580e+01] [ 1.68330515e-03 4.15615193e-04 -9.99998497e-01 2.73552945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.91, Y:-51.28, Z:2.74 [[ 8.38896600e-01 -5.44289964e-01 9.64059009e-04 9.59091811e+01] [-5.44288965e-01 -8.38897050e-01 -1.12372517e-03 -5.12848216e+01] [ 1.42037859e-03 4.17962548e-04 -9.99998904e-01 2.73587981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.90, Y:-51.29, Z:2.74 [[ 8.79255839e-01 -4.76349449e-01 6.10166080e-04 9.59023734e+01] [-4.76348946e-01 -8.79255949e-01 -8.11377517e-04 -5.12864197e+01] [ 9.22991389e-04 4.22756450e-04 -9.99999485e-01 2.73756249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.90, Y:-51.29, Z:2.74 [[ 9.13858053e-01 -4.06033749e-01 2.33462798e-04 9.58955914e+01] [-4.06033572e-01 -9.13857983e-01 -5.70077106e-04 -5.12915637e+01] [ 4.44822386e-04 4.26175820e-04 -9.99999810e-01 2.73771983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.00762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.89, Y:-51.30, Z:2.74 [[ 9.42793176e-01 -3.33378110e-01 -2.50523115e-04 9.58905637e+01] [-3.33378184e-01 -9.42793111e-01 -3.67757380e-04 -5.12951839e+01] [-1.13589207e-04 4.30238090e-04 -9.99999901e-01 2.73818398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.88, Y:-51.30, Z:2.74 [[ 9.65852281e-01 -2.59092281e-01 -7.49132163e-04 9.58846051e+01] [-2.59092525e-01 -9.65852474e-01 -2.48749130e-04 -5.12978359e+01] [-6.59102173e-04 4.34349458e-04 -9.99999688e-01 2.73836863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.06762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.88, Y:-51.30, Z:2.74 [[ 9.83057577e-01 -1.83294235e-01 -1.01129446e-03 9.58757172e+01] [-1.83294578e-01 -9.83058000e-01 -2.56312279e-04 -5.12971918e+01] [-9.47180546e-04 4.37334519e-04 -9.99999456e-01 2.73819446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.87, Y:-51.30, Z:2.74 [[ 9.94382151e-01 -1.05848249e-01 -5.34835485e-04 9.58661010e+01] [-1.05848457e-01 -9.94382201e-01 -3.76614168e-04 -5.12991577e+01] [-4.91966936e-04 4.31109917e-04 -9.99999786e-01 2.73844594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.86, Y:-51.31, Z:2.74 [[ 9.99636626e-01 -2.69519819e-02 4.54891905e-04 9.58575279e+01] [-2.69517857e-02 -9.99636641e-01 -4.31971706e-04 -5.13079482e+01] [ 4.66369110e-04 4.19554590e-04 -9.99999803e-01 2.73787605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.85, Y:-51.32, Z:2.74 [[ 9.98504079e-01 5.46389314e-02 2.04721061e-03 9.58495176e+01] [ 5.46396525e-02 -9.98506094e-01 -2.97925115e-04 -5.13193878e+01] [ 2.02787396e-03 4.09338320e-04 -9.99997860e-01 2.73703991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.84, Y:-51.33, Z:2.74 [[ 9.90985381e-01 1.33954336e-01 2.05189876e-03 9.58417160e+01] [ 1.33954895e-01 -9.90987420e-01 -1.36929802e-04 -5.13285669e+01] [ 2.01506352e-03 4.10557315e-04 -9.99997885e-01 2.73704354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.217628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.84, Y:-51.34, Z:2.74 [[ 9.77252407e-01 2.12069638e-01 2.04960498e-03 9.58354027e+01] [ 2.12070035e-01 -9.77254470e-01 2.39877102e-05 -5.13390108e+01] [ 2.00807270e-03 4.11217753e-04 -9.99997899e-01 2.73712357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.83, Y:-51.35, Z:2.74 [[ 9.57641801e-01 2.87957132e-01 1.69468703e-03 9.58300245e+01] [ 2.87957415e-01 -9.57643212e-01 7.96309549e-05 -5.13488961e+01] [ 1.64583583e-03 4.11739766e-04 -9.99998561e-01 2.73708389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.277628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.82, Y:-51.36, Z:2.74 [[ 9.32467874e-01 3.61245391e-01 2.33065432e-03 9.58246802e+01] [ 3.61245315e-01 -9.32470698e-01 4.68369647e-04 -5.13588690e+01] [ 2.34246324e-03 4.05198306e-04 -9.99997174e-01 2.73657467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.82, Y:-51.37, Z:2.74 [[ 9.01417763e-01 4.32941299e-01 2.80142870e-03 9.58197541e+01] [ 4.32940545e-01 -9.01422028e-01 9.01519992e-04 -5.13703246e+01] [ 2.91557477e-03 4.00205932e-04 -9.99995670e-01 2.73616396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.82, Y:-51.38, Z:2.74 [[ 8.64871518e-01 5.01983769e-01 3.09094610e-03 9.58166792e+01] [ 5.01982145e-01 -8.64876950e-01 1.33649758e-03 -5.13822163e+01] [ 3.34418813e-03 3.95701070e-04 -9.99994330e-01 2.73645698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.36762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.81, Y:-51.39, Z:2.74 [[ 8.23086886e-01 5.67908153e-01 2.88246193e-03 9.58146117e+01] [ 5.67906282e-01 -8.23091838e-01 1.51000292e-03 -5.13939898e+01] [ 3.23007386e-03 3.94104632e-04 -9.99994706e-01 2.73656759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.81, Y:-51.40, Z:2.74 [[ 7.76903851e-01 6.29614393e-01 2.47445793e-03 9.58123713e+01] [ 6.29612724e-01 -7.76907693e-01 1.50145295e-03 -5.14046617e+01] [ 2.86776179e-03 3.91465614e-04 -9.99995811e-01 2.73667088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.42762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.81, Y:-51.42, Z:2.74 [[ 7.25839548e-01 6.87860744e-01 2.13235505e-03 9.58109354e+01] [ 6.87859255e-01 -7.25842576e-01 1.48335985e-03 -5.14156702e+01] [ 2.56809909e-03 3.90078919e-04 -9.99996626e-01 2.73678974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.81, Y:-51.43, Z:2.74 [[ 6.71175276e-01 7.41296676e-01 1.72836472e-03 9.58091822e+01] [ 7.41295584e-01 -6.71177389e-01 1.33046817e-03 -5.14262601e+01] [ 2.14631095e-03 3.88251797e-04 -9.99997621e-01 2.73726816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.48762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.81, Y:-51.44, Z:2.74 [[ 6.11419545e-01 7.91305282e-01 1.44574734e-03 9.58112494e+01] [ 7.91304415e-01 -6.11421130e-01 1.23450717e-03 -5.14398093e+01] [ 1.86083251e-03 3.89224439e-04 -9.99998193e-01 2.73733054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.51762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.81, Y:-51.45, Z:2.74 [[ 5.47913936e-01 8.36533821e-01 1.21898313e-03 9.58122601e+01] [ 8.36533121e-01 -5.47915153e-01 1.14996141e-03 -5.14529574e+01] [ 1.62988094e-03 3.89639884e-04 -9.99998596e-01 2.73784239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.54762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.81, Y:-51.46, Z:2.74 [[ 4.80704723e-01 8.76881939e-01 1.01728093e-03 9.58118872e+01] [ 8.76881407e-01 -4.80705640e-01 1.04217954e-03 -5.14641132e+01] [ 1.40288109e-03 3.91054105e-04 -9.99998940e-01 2.73817685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.82, Y:-51.48, Z:2.74 [[ 4.09383029e-01 9.12362275e-01 7.83833134e-04 9.58152422e+01] [ 9.12362026e-01 -4.09383588e-01 7.81672668e-04 -5.14757954e+01] [ 1.03405708e-03 3.95136062e-04 -9.99999387e-01 2.73863968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.82, Y:-51.49, Z:2.74 [[ 3.35890098e-01 9.41900945e-01 6.72013892e-04 9.58196057e+01] [ 9.41900765e-01 -3.35890537e-01 7.04653866e-04 -5.14877976e+01] [ 8.89437249e-04 3.96284142e-04 -9.99999526e-01 2.73867684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.83, Y:-51.50, Z:2.74 [[ 2.60207418e-01 9.65552573e-01 5.72998669e-04 9.58254614e+01] [ 9.65552469e-01 -2.60207746e-01 5.99337520e-04 -5.14998852e+01] [ 7.27790577e-04 3.97308211e-04 -9.99999656e-01 2.73900667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.83, Y:-51.51, Z:2.74 [[ 1.82998926e-01 9.83112991e-01 4.88877690e-04 9.58315224e+01] [ 9.83112968e-01 -1.82999147e-01 4.52181060e-04 -5.15109227e+01] [ 5.34009275e-04 3.97873349e-04 -9.99999778e-01 2.73946862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.84, Y:-51.52, Z:2.74 [[ 1.04487615e-01 9.94526104e-01 4.08472924e-04 9.58373423e+01] [ 9.94526183e-01 -1.04487648e-01 5.95486069e-05 -5.15227356e+01] [ 1.01903019e-04 4.00014926e-04 -9.99999915e-01 2.74043403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.84, Y:-51.53, Z:2.74 [[ 2.63190926e-02 9.99653511e-01 4.04485903e-04 9.58412605e+01] [ 9.99653555e-01 -2.63192000e-02 2.62576085e-04 -5.15338300e+01] [ 2.73130851e-04 3.97435007e-04 -9.99999884e-01 2.74073101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.85, Y:-51.54, Z:2.74 [[-5.21552375e-02 9.98638925e-01 3.57888474e-04 9.58486912e+01] [ 9.98638759e-01 5.21549785e-02 6.98306256e-04 -5.15437266e+01] [ 6.78690143e-04 3.93821630e-04 -9.99999692e-01 2.74061491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.78762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.86, Y:-51.55, Z:2.74 [[-1.29173530e-01 9.91621979e-01 2.24690302e-04 9.58567660e+01] [ 9.91621235e-01 1.29173144e-01 1.27503074e-03 -5.15529899e+01] [ 1.23532455e-03 3.87507896e-04 -9.99999162e-01 2.73983954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.86, Y:-51.56, Z:2.74 [[-2.05972433e-01 9.78557794e-01 4.22341050e-05 9.58642620e+01] [ 9.78556463e-01 2.05972081e-01 1.65862167e-03 -5.15623664e+01] [ 1.61435811e-03 3.82958796e-04 -9.99998624e-01 2.73990054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.87, Y:-51.57, Z:2.74 [[-2.81650383e-01 9.59517090e-01 -1.28022021e-04 9.58692170e+01] [ 9.59515504e-01 2.81650156e-01 1.78550448e-03 -5.15717810e+01] [ 1.74927949e-03 3.80048909e-04 -9.99998398e-01 2.74002023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.88, Y:-51.58, Z:2.74 [[-3.55557185e-01 9.34654485e-01 -2.84559330e-04 9.58820755e+01] [ 9.34652809e-01 3.55557099e-01 1.80973245e-03 -5.15781724e+01] [ 1.79265164e-03 3.77499199e-04 -9.99998322e-01 2.73973395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.89, Y:-51.58, Z:2.74 [[-4.26838760e-01 9.04327736e-01 -1.35493663e-04 9.58931092e+01] [ 9.04327047e-01 4.26838612e-01 1.17982903e-03 -5.15834806e+01] [ 1.12478604e-03 3.81066176e-04 -9.99999295e-01 2.74063052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.90, Y:-51.59, Z:2.74 [[-4.95883825e-01 8.68388871e-01 -9.00147741e-06 9.59036245e+01] [ 8.68388597e-01 4.95883677e-01 7.89692424e-04 -5.15898863e+01] [ 6.90223799e-04 3.83778919e-04 -9.99999688e-01 2.74159729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.967628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.91, Y:-51.60, Z:2.74 [[-5.62154001e-01 8.27032570e-01 8.88388507e-05 9.59110732e+01] [ 8.27032473e-01 5.62153876e-01 5.55183357e-04 -5.15973918e+01] [ 4.09213614e-04 3.85571160e-04 -9.99999842e-01 2.74169752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.92, Y:-51.60, Z:2.74 [[-6.25215918e-01 7.80451826e-01 5.35933249e-05 9.59195499e+01] [ 7.80451729e-01 6.25215802e-01 5.47718976e-04 -5.16046835e+01] [ 3.93960881e-04 3.84269625e-04 -9.99999849e-01 2.74182443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.027628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.93, Y:-51.61, Z:2.74 [[-6.84431641e-01 7.29077035e-01 -7.77604312e-05 9.59338587e+01] [ 7.29076853e-01 6.84431539e-01 6.40369978e-04 -5.16053646e+01] [ 5.20100736e-04 3.81596144e-04 -9.99999792e-01 2.74114576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.95, Y:-51.61, Z:2.74 [[-7.39722869e-01 6.72911497e-01 -4.41010785e-04 9.59460288e+01] [ 6.72910987e-01 7.39722904e-01 9.10054567e-04 -5.16055909e+01] [ 9.38611960e-04 3.76427172e-04 -9.99999489e-01 2.74089551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.97, Y:-51.59, Z:2.74 [[-7.85393523e-01 6.18996445e-01 -6.43674820e-04 9.59738615e+01] [ 6.18995830e-01 7.85393715e-01 9.35499486e-04 -5.15923964e+01] [ 1.08460901e-03 3.36303208e-04 -9.99999355e-01 2.74068322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.00, Y:-51.57, Z:2.74 [[-8.27107263e-01 5.62044070e-01 -1.96415183e-04 9.59984733e+01] [ 5.62043908e-01 8.27107216e-01 5.46623355e-04 -5.15738796e+01] [ 4.69682831e-04 3.41722191e-04 -9.99999831e-01 2.74074042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.14762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.02, Y:-51.56, Z:2.74 [[-8.64539022e-01 5.02564832e-01 9.32409798e-04 9.60215428e+01] [ 5.02564940e-01 8.64539452e-01 -1.30987188e-04 -5.15561068e+01] [-8.71934609e-04 3.55352939e-04 -9.99999557e-01 2.74214427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.04, Y:-51.53, Z:2.74 [[-8.97596174e-01 4.40814361e-01 1.95111741e-03 9.60392243e+01] [ 4.40814175e-01 8.97598219e-01 -5.47770083e-04 -5.15343438e+01] [-1.99278443e-03 3.68403879e-04 -9.99997947e-01 2.74323719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.20762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.06, Y:-51.51, Z:2.74 [[-9.25984082e-01 3.77543124e-01 3.83001409e-03 9.60566062e+01] [ 3.77541630e-01 9.25991918e-01 -1.13344252e-03 -5.15113558e+01] [-3.97448553e-03 3.96440033e-04 -9.99992023e-01 2.74485499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.23762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.08, Y:-51.49, Z:2.75 [[-9.50350456e-01 3.11153068e-01 4.21658091e-03 9.60792195e+01] [ 3.11151846e-01 9.50359726e-01 -9.59469115e-04 -5.14886252e+01] [-4.30581044e-03 4.00165026e-04 -9.99990650e-01 2.74507344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.26762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.09, Y:-51.46, Z:2.75 [[-9.69910707e-01 2.43424283e-01 4.22358659e-03 9.60916073e+01] [ 2.43423754e-01 9.69919820e-01 -6.46607860e-04 -5.14626554e+01] [-4.25394040e-03 4.00969417e-04 -9.99990872e-01 2.74521236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.29762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.11, Y:-51.44, Z:2.74 [[-9.84485508e-01 1.75412857e-01 4.31440092e-03 9.61059931e+01] [ 1.75412970e-01 9.84494877e-01 -3.55168351e-04 -5.14371876e+01] [-4.30980670e-03 4.07143785e-04 -9.99990630e-01 2.74434646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.32762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.12, Y:-51.41, Z:2.74 [[-9.94310712e-01 1.06456636e-01 3.63219980e-03 9.61166882e+01] [ 1.06457390e-01 9.94317265e-01 1.43311595e-05 -5.14118378e+01] [-3.61003333e-03 4.00924135e-04 -9.99993403e-01 2.74331876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.12, Y:-51.39, Z:2.74 [[-9.99299042e-01 3.73466043e-02 2.57983695e-03 9.61210620e+01] [ 3.73474800e-02 9.99302297e-01 2.92082091e-04 -5.13868851e+01] [-2.56712871e-03 3.88227762e-04 -9.99996630e-01 2.74241552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.13, Y:-51.36, Z:2.74 [[-9.99553164e-01 -2.98758729e-02 9.50668663e-04 9.61264556e+01] [-2.98755126e-02 9.99553551e-01 3.90967094e-04 -5.13598179e+01] [-9.61924720e-04 3.62390682e-04 -9.99999472e-01 2.73939712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.12, Y:-51.33, Z:2.74 [[-9.95115905e-01 -9.87104465e-02 7.63709041e-04 9.61225025e+01] [-9.87101329e-02 9.95116133e-01 4.38129589e-04 -5.13317449e+01] [-8.03227155e-04 3.60603902e-04 -9.99999612e-01 2.73906269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.44762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.10, Y:-51.31, Z:2.74 [[-9.85831401e-01 -1.67738643e-01 4.43054892e-04 9.61046222e+01] [-1.67738453e-01 9.85831436e-01 4.37327543e-04 -5.13098761e+01] [-5.10134169e-04 3.56813883e-04 -9.99999806e-01 2.74013142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.06, Y:-51.29, Z:2.74 [[-9.71437536e-01 -2.37295203e-01 3.16414588e-04 9.60598034e+01] [-2.37295053e-01 9.71437520e-01 4.49662505e-04 -5.12947402e+01] [-4.14079758e-04 3.61735419e-04 -9.99999849e-01 2.74124987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.50762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.00, Y:-51.28, Z:2.74 [[-9.52671554e-01 -3.04001427e-01 2.05996673e-04 9.60001879e+01] [-3.04001316e-01 9.52671507e-01 4.46339907e-04 -5.12806030e+01] [-3.31935130e-04 3.62592073e-04 -9.99999879e-01 2.74116536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.93, Y:-51.28, Z:2.74 [[-9.28071826e-01 -3.72401183e-01 2.12469348e-04 9.59284715e+01] [-3.72401054e-01 9.28071778e-01 4.80137457e-04 -5.12770205e+01] [-3.75990563e-04 3.66478237e-04 -9.99999862e-01 2.74163326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.56762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.85, Y:-51.29, Z:2.74 [[-8.98158409e-01 -4.39671873e-01 3.41583752e-04 9.58471318e+01] [-4.39671644e-01 8.98158395e-01 5.85318652e-04 -5.12876040e+01] [-5.64144462e-04 3.75524179e-04 -9.99999770e-01 2.74214956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.76, Y:-51.31, Z:2.74 [[-8.62934071e-01 -5.05316399e-01 3.54092592e-04 9.57604256e+01] [-5.05316127e-01 8.62934060e-01 6.47682152e-04 -5.13065275e+01] [-6.32842971e-04 3.79978299e-04 -9.99999728e-01 2.74287523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.67, Y:-51.33, Z:2.74 [[-8.22038819e-01 -5.69431028e-01 6.95261243e-04 9.56671688e+01] [-5.69430346e-01 8.22039016e-01 9.67461842e-04 -5.13348524e+01] [-1.12243466e-03 3.99388340e-04 -9.99999290e-01 2.74244902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.57, Y:-51.37, Z:2.74 [[-7.75540628e-01 -6.31297536e-01 3.93158404e-04 9.55724528e+01] [-6.31297123e-01 7.75540631e-01 8.19306364e-04 -5.13705178e+01] [-8.22136406e-04 3.87205603e-04 -9.99999587e-01 2.74310047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.48, Y:-51.42, Z:2.74 [[-7.23990959e-01 -6.89808935e-01 8.51841811e-04 9.54754839e+01] [-6.89807673e-01 7.23991342e-01 1.38263797e-03 -5.14186786e+01] [-1.57048212e-03 4.13410373e-04 -9.99998681e-01 2.74435795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.717628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.38, Y:-51.48, Z:2.75 [[-6.67782364e-01 -7.44355543e-01 1.24099038e-03 9.53809061e+01] [-7.44352881e-01 6.67783374e-01 2.03834060e-03 -5.14797116e+01] [-2.34596287e-03 4.37433142e-04 -9.99997153e-01 2.74627315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.29, Y:-51.55, Z:2.75 [[-6.05896488e-01 -7.95542165e-01 1.45251215e-03 9.52889741e+01] [-7.95537884e-01 6.05898062e-01 2.64841940e-03 -5.15456925e+01] [-2.98700360e-03 4.49139573e-04 -9.99995438e-01 2.74771238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.777628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.20, Y:-51.63, Z:2.75 [[-5.41465987e-01 -8.40721008e-01 1.66480996e-03 9.51996828e+01] [-8.40714064e-01 5.41468344e-01 3.44885744e-03 -5.16286382e+01] [-3.80096880e-03 4.67809851e-04 -9.99992667e-01 2.74923485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.12, Y:-51.72, Z:2.75 [[-4.73501193e-01 -8.80791612e-01 1.66058328e-03 9.51164359e+01] [-8.80782208e-01 4.73503864e-01 4.09797249e-03 -5.17159414e+01] [-4.39575239e-03 4.77782649e-04 -9.99990224e-01 2.74992354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.04, Y:-51.80, Z:2.75 [[-4.01853367e-01 -9.15702660e-01 1.58402856e-03 9.50439968e+01] [-9.15690144e-01 4.01856199e-01 4.81203921e-03 -5.18037701e+01] [-5.04294880e-03 4.83254822e-04 -9.99987167e-01 2.75062505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.86762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.97, Y:-51.91, Z:2.75 [[-3.29242408e-01 -9.44244786e-01 1.10459040e-03 9.49743770e+01] [-9.44233711e-01 3.29243924e-01 4.59749353e-03 -5.19082962e+01] [-4.70483897e-03 4.70698351e-04 -9.99988821e-01 2.75038176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.92, Y:-52.01, Z:2.75 [[-2.54773682e-01 -9.67000509e-01 6.21466711e-04 9.49199172e+01] [-9.66991722e-01 2.54774033e-01 4.14742344e-03 -5.20106432e+01] [-4.16889416e-03 4.55701176e-04 -9.99991206e-01 2.75184598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.92762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.87, Y:-52.12, Z:2.75 [[-1.79168850e-01 -9.83818306e-01 2.53916543e-04 9.48669625e+01] [-9.83810707e-01 1.79168471e-01 3.89260587e-03 -5.21236356e+01] [-3.87511075e-03 4.47627903e-04 -9.99992392e-01 2.75162790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.82, Y:-52.24, Z:2.75 [[-1.03240969e-01 -9.94656369e-01 -1.01584419e-04 9.48233499e+01] [-9.94651257e-01 1.03240110e-01 3.21816372e-03 -5.22370256e+01] [-3.19047945e-03 4.33287412e-04 -9.99994817e-01 2.75159417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.98762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.79, Y:-52.36, Z:2.75 [[-2.65570261e-02 -9.99647239e-01 -3.49824024e-04 9.47914632e+01] [-9.99643075e-01 2.65558947e-02 2.91684308e-03 -5.23592673e+01] [-2.90652424e-03 4.27161840e-04 -9.99995685e-01 2.75227525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.01762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.77, Y:-52.48, Z:2.75 [[ 5.01321223e-02 -9.98742446e-01 -5.44972637e-04 9.47691304e+01] [-9.98739393e-01 -5.01333359e-02 2.50489394e-03 -5.24833737e+01] [-2.52906520e-03 4.18709991e-04 -9.99996714e-01 2.75286155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.04762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.75, Y:-52.60, Z:2.75 [[ 1.26723269e-01 -9.91937887e-01 -6.64118135e-04 9.47538342e+01] [-9.91935969e-01 -1.26724358e-01 1.99276118e-03 -5.26024309e+01] [-2.06085526e-03 4.06233455e-04 -9.99997794e-01 2.75276138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.07762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.75, Y:-52.73, Z:2.75 [[ 2.02553361e-01 -9.79270961e-01 -7.22273516e-04 9.47517382e+01] [-9.79269827e-01 -2.02554263e-01 1.54165708e-03 -5.27269334e+01] [-1.65599959e-03 3.95032838e-04 -9.99998551e-01 2.75254690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.76, Y:-52.85, Z:2.75 [[ 2.78099465e-01 -9.60552012e-01 -7.20712549e-04 9.47579052e+01] [-9.60551442e-01 -2.78100136e-01 1.11401711e-03 -5.28468132e+01] [-1.27050163e-03 3.82473917e-04 -9.99999120e-01 2.75303075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.77, Y:-52.97, Z:2.75 [[ 3.51934027e-01 -9.36024345e-01 -9.30500606e-04 9.47713445e+01] [-9.36023429e-01 -3.51935041e-01 1.36617027e-03 -5.29692485e+01] [-1.60624440e-03 3.90168565e-04 -9.99998634e-01 2.75300315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.80, Y:-53.09, Z:2.75 [[ 4.23824192e-01 -9.05743840e-01 -1.07241658e-03 9.47964869e+01] [-9.05742889e-01 -4.23825369e-01 1.36989925e-03 -5.30888851e+01] [-1.69529516e-03 3.90737248e-04 -9.99998487e-01 2.75459013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.83, Y:-53.21, Z:2.76 [[ 4.93765379e-01 -8.69593178e-01 -1.85896777e-03 9.48266137e+01] [-8.69589910e-01 -4.93768699e-01 2.42099582e-03 -5.32061751e+01] [-3.02318155e-03 4.21135699e-04 -9.99995341e-01 2.75713489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.87, Y:-53.32, Z:2.76 [[ 5.60104314e-01 -8.28419290e-01 -2.15337143e-03 9.48664995e+01] [-8.28415828e-01 -5.60108295e-01 2.43182733e-03 -5.33185601e+01] [-3.22069387e-03 4.21809998e-04 -9.99994725e-01 2.75842637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.91, Y:-53.42, Z:2.76 [[ 6.22516990e-01 -7.82602093e-01 -2.56147637e-03 9.49140125e+01] [-7.82598113e-01 -6.22522113e-01 2.53244664e-03 -5.34247103e+01] [-3.57647372e-03 4.28115515e-04 -9.99993513e-01 2.75974731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.28762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.97, Y:-53.53, Z:2.76 [[ 6.80754454e-01 -7.32502405e-01 -3.68778743e-03 9.49692098e+01] [-7.32495153e-01 -6.80764287e-01 3.29176312e-03 -5.35256575e+01] [-4.92173838e-03 4.60404014e-04 -9.99987782e-01 2.76142166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.02, Y:-53.61, Z:2.76 [[ 7.34402368e-01 -6.78697799e-01 -4.73909593e-03 9.50221912e+01] [-6.78687814e-01 -7.34417496e-01 3.71389334e-03 -5.36121984e+01] [-6.00108620e-03 4.88874599e-04 -9.99981874e-01 2.76309822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.02, Y:-53.61, Z:2.76 [[ 7.84286651e-01 -6.20373711e-01 -5.55956646e-03 9.50186708e+01] [-6.20362703e-01 -7.84306182e-01 3.73230608e-03 -5.36103692e+01] [-6.67582692e-03 5.21749838e-04 -9.99977580e-01 2.76364267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.01, Y:-53.61, Z:2.76 [[ 8.29473654e-01 -5.58515449e-01 -5.82674694e-03 9.50148906e+01] [-5.58506056e-01 -8.29493949e-01 3.28240250e-03 -5.36086183e+01] [-6.66652383e-03 5.31607057e-04 -9.99977637e-01 2.76366607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.01, Y:-53.60, Z:2.76 [[ 8.68559650e-01 -4.95558316e-01 -5.10774891e-03 9.50119909e+01] [-4.95553194e-01 -8.68574512e-01 2.31292122e-03 -5.36038058e+01] [-5.58264786e-03 5.22251237e-04 -9.99984281e-01 2.76164755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.00, Y:-53.61, Z:2.76 [[ 9.03595636e-01 -4.28360433e-01 -4.71863427e-03 9.50033081e+01] [-4.28357494e-01 -9.03607810e-01 1.66803059e-03 -5.36113914e+01] [-4.97831309e-03 5.14037191e-04 -9.99987476e-01 2.75953621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.467628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.00, Y:-53.62, Z:2.76 [[ 9.33398975e-01 -3.58816220e-01 -4.15630263e-03 9.49950627e+01] [-3.58814990e-01 -9.33408095e-01 1.06355902e-03 -5.36208747e+01] [-4.26114875e-03 4.98618782e-04 -9.99990797e-01 2.75849560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.99, Y:-53.61, Z:2.76 [[ 9.57019461e-01 -2.90014048e-01 -2.36689439e-03 9.49873864e+01] [-2.90014264e-01 -9.57022288e-01 2.59031217e-04 -5.36146069e+01] [-2.34029337e-03 4.38535218e-04 -9.99997165e-01 2.75864674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.527628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.98, Y:-53.63, Z:2.76 [[ 9.76190639e-01 -2.16909607e-01 -1.43503678e-03 9.49753844e+01] [-2.16909956e-01 -9.76191612e-01 -9.07547553e-05 -5.36300618e+01] [-1.38118529e-03 3.99867708e-04 -9.99998966e-01 2.75656425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.96, Y:-53.64, Z:2.76 [[ 9.89823546e-01 -1.42298923e-01 -6.04136210e-04 9.49647242e+01] [-1.42299110e-01 -9.89823664e-01 -2.78827346e-04 -5.36356640e+01] [-5.58311485e-04 3.61957917e-04 -9.99999779e-01 2.75616062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.96, Y:-53.65, Z:2.76 [[ 9.97780414e-01 -6.65897894e-02 2.13449336e-04 9.49550753e+01] [-6.65897155e-02 -9.97780385e-01 -3.36705092e-04 -5.36478427e+01] [ 2.35396682e-04 3.21744216e-04 -9.99999921e-01 2.75532152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.95, Y:-53.66, Z:2.75 [[ 9.99953932e-01 9.44405317e-03 1.71591351e-03 9.49469422e+01] [ 9.44445359e-03 -9.99955375e-01 -2.25400647e-04 -5.36588867e+01] [ 1.71370824e-03 2.41596128e-04 -9.99998502e-01 2.75445623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.64762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.94, Y:-53.67, Z:2.75 [[ 9.96142088e-01 8.77347392e-02 1.88595641e-03 9.49384622e+01] [ 8.77350206e-02 -9.96143846e-01 -6.68323026e-05 -5.36696843e+01] [ 1.87282036e-03 2.32038894e-04 -9.99998219e-01 2.75463552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.93, Y:-53.68, Z:2.76 [[ 9.86077790e-01 1.66279061e-01 1.36598903e-03 9.49321202e+01] [ 1.66279261e-01 -9.86078702e-01 -3.38081970e-05 -5.36833283e+01] [ 1.34135109e-03 2.60473158e-04 -9.99999066e-01 2.75506583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.70762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.93, Y:-53.70, Z:2.76 [[ 9.69395805e-01 2.45503004e-01 -2.17876074e-04 9.49261224e+01] [ 2.45502903e-01 -9.69395768e-01 -4.11384796e-04 -5.36981562e+01] [-3.12204347e-04 3.45305487e-04 -9.99999892e-01 2.75695886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.73762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.92, Y:-53.71, Z:2.76 [[ 9.46733335e-01 3.22015980e-01 -1.30444825e-03 9.49235455e+01] [ 3.22015061e-01 -9.46734148e-01 -8.68278719e-04 -5.37137020e+01] [-1.51456533e-03 4.01976424e-04 -9.99998772e-01 2.75835333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.76762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.92, Y:-53.73, Z:2.76 [[ 9.18091886e-01 3.96361601e-01 -2.18404518e-03 9.49219037e+01] [ 3.96359269e-01 -9.18094374e-01 -1.43165977e-03 -5.37287677e+01] [-2.57261455e-03 4.48728671e-04 -9.99996590e-01 2.75973780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.79762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.92, Y:-53.75, Z:2.76 [[ 8.83762018e-01 4.67930022e-01 -2.48780336e-03 9.49219304e+01] [ 4.67926613e-01 -8.83765396e-01 -1.84632281e-03 -5.37460476e+01] [-3.06258440e-03 4.67600573e-04 -9.99995201e-01 2.76055118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.82762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.92, Y:-53.76, Z:2.76 [[ 8.43576416e-01 5.37005950e-01 -1.85460355e-03 9.49232675e+01] [ 5.37003445e-01 -8.43578342e-01 -1.69708927e-03 -5.37629541e+01] [-2.47585043e-03 4.35695988e-04 -9.99996840e-01 2.76010350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.92, Y:-53.77, Z:2.76 [[ 7.98518939e-01 6.01968006e-01 -1.42251562e-03 9.49213434e+01] [ 6.01966040e-01 -7.98520098e-01 -1.59382432e-03 -5.37740044e+01] [-2.09533856e-03 4.16392812e-04 -9.99997718e-01 2.75995438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.93, Y:-53.79, Z:2.76 [[ 7.48474469e-01 6.63163185e-01 -7.48183446e-04 9.49260593e+01] [ 6.63162258e-01 -7.48474746e-01 -1.17211035e-03 -5.37904494e+01] [-1.33729685e-03 3.81127652e-04 -9.99999033e-01 2.75896085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.93, Y:-53.80, Z:2.76 [[ 6.94224828e-01 7.19757910e-01 -6.63017557e-04 9.49275212e+01] [ 7.19756950e-01 -6.94225040e-01 -1.23609051e-03 -5.38032068e+01] [-1.34996931e-03 3.80913224e-04 -9.99999016e-01 2.75907336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.93, Y:-53.82, Z:2.76 [[ 6.34203391e-01 7.73166255e-01 -7.69675564e-06 9.49309534e+01] [ 7.73166138e-01 -6.34203301e-01 -5.44015469e-04 -5.38174383e+01] [-4.25495710e-04 3.39065585e-04 -9.99999852e-01 2.75846794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.93, Y:-53.83, Z:2.76 [[ 5.70616076e-01 8.21216883e-01 3.52045843e-04 9.49336638e+01] [ 8.21216942e-01 -5.70616098e-01 -4.38856332e-05 -5.38292075e+01] [ 1.64843402e-04 3.14147858e-04 -9.99999937e-01 2.75798048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.00762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.94, Y:-53.84, Z:2.76 [[ 5.03271299e-01 8.64128208e-01 6.62890795e-04 9.49398122e+01] [ 8.64128071e-01 -5.03271653e-01 5.65198452e-04 -5.38422080e+01] [ 8.22018072e-04 2.88374385e-04 -9.99999621e-01 2.75736000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.95, Y:-53.86, Z:2.76 [[ 4.30433573e-01 9.02622014e-01 6.62482141e-04 9.49502981e+01] [ 9.02621770e-01 -4.30433987e-01 7.23179430e-04 -5.38551412e+01] [ 9.37912503e-04 2.86690097e-04 -9.99999519e-01 2.75726450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.06762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.96, Y:-53.87, Z:2.76 [[ 3.55958341e-01 9.34501653e-01 5.66215849e-04 9.49606102e+01] [ 9.34501460e-01 -3.55958672e-01 6.67190590e-04 -5.38670565e+01] [ 8.25040151e-04 2.91637481e-04 -9.99999617e-01 2.75780813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.97, Y:-53.88, Z:2.76 [[ 2.78852418e-01 9.60333860e-01 4.53977850e-04 9.49694940e+01] [ 9.60333782e-01 -2.78852626e-01 4.89756760e-04 -5.38778209e+01] [ 5.96922916e-04 2.99400409e-04 -9.99999777e-01 2.75868464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.98, Y:-53.89, Z:2.76 [[ 1.99400962e-01 9.79917926e-01 3.37838882e-04 9.49787315e+01] [ 9.79917971e-01 -1.99401005e-01 9.80722997e-05 -5.38863335e+01] [ 1.63468217e-04 3.11498681e-04 -9.99999938e-01 2.75915804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.99, Y:-53.90, Z:2.76 [[ 1.14746034e-01 9.93394831e-01 2.37843295e-04 9.49936192e+01] [ 9.93394561e-01 -1.14745810e-01 -8.03357997e-04 -5.38953535e+01] [-7.70760160e-04 3.28454380e-04 -9.99999649e-01 2.75938473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.00, Y:-53.90, Z:2.76 [[ 3.25647032e-02 9.99469587e-01 2.92389919e-04 9.50049020e+01] [ 9.99468988e-01 -3.25643494e-02 -1.14275597e-03 -5.39030169e+01] [-1.13262835e-03 3.29448166e-04 -9.99999304e-01 2.76054893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.217628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.02, Y:-53.91, Z:2.76 [[-4.99001126e-02 9.98754123e-01 4.24947136e-04 9.50158822e+01] [ 9.98752438e-01 4.99008215e-02 -1.86409556e-03 -5.39087215e+01] [-1.88297834e-03 3.31398410e-04 -9.99998172e-01 2.76171051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.03, Y:-53.91, Z:2.76 [[-1.31597372e-01 9.91303034e-01 6.52473791e-04 9.50291196e+01] [ 9.91300115e-01 1.31598582e-01 -2.42791210e-03 -5.39135619e+01] [-2.49266125e-03 3.27290495e-04 -9.99996840e-01 2.76279196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.277628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.04, Y:-53.92, Z:2.76 [[-2.14880661e-01 9.76639707e-01 1.08816680e-03 9.50412840e+01] [ 9.76633493e-01 2.14883191e-01 -3.49780841e-03 -5.39183029e+01] [-3.64992733e-03 3.11128761e-04 -9.99993291e-01 2.76338929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.05, Y:-53.92, Z:2.76 [[-2.92539315e-01 9.56252384e-01 1.45856836e-03 9.50499886e+01] [ 9.56245146e-01 2.92542795e-01 -3.73271452e-03 -5.39223305e+01] [-3.99611082e-03 3.02783170e-04 -9.99991970e-01 2.76388058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.06, Y:-53.92, Z:2.76 [[-3.67957412e-01 9.29840763e-01 1.87028760e-03 9.50593973e+01] [ 9.29832524e-01 3.67962047e-01 -3.92544849e-03 -5.39249163e+01] [-4.33823688e-03 2.94656371e-04 -9.99990546e-01 2.76412434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.36762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.07, Y:-53.93, Z:2.76 [[-4.40834665e-01 8.97584328e-01 2.67825693e-03 9.50661780e+01] [ 8.97571476e-01 4.40842709e-01 -4.81150926e-03 -5.39285578e+01] [-5.49942534e-03 2.82846953e-04 -9.99984838e-01 2.76460200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.07, Y:-53.93, Z:2.76 [[-5.09796871e-01 8.60289833e-01 2.92479058e-03 9.50744124e+01] [ 8.60278722e-01 5.09805183e-01 -4.38128958e-03 -5.39303169e+01] [-5.26025228e-03 2.82567382e-04 -9.99986125e-01 2.76385399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.42762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.08, Y:-53.93, Z:2.76 [[-5.75512705e-01 8.17786910e-01 3.11378316e-03 9.50826559e+01] [ 8.17777505e-01 5.75521059e-01 -3.93236595e-03 -5.39321266e+01] [-5.00788518e-03 2.83255256e-04 -9.99987420e-01 2.76337612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.09, Y:-53.93, Z:2.76 [[-6.37259417e-01 7.70645051e-01 2.57686453e-03 9.50890897e+01] [ 7.70640517e-01 6.37264561e-01 -2.65961697e-03 -5.39343833e+01] [-3.69176510e-03 2.90970256e-04 -9.99993143e-01 2.76321020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.48762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.10, Y:-53.94, Z:2.76 [[-6.95115979e-01 7.18893574e-01 2.40952536e-03 9.50979071e+01] [ 7.18890659e-01 6.95120092e-01 -2.06834010e-03 -5.39366512e+01] [-3.16182590e-03 2.94449016e-04 -9.99994958e-01 2.76344370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.51762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.11, Y:-53.94, Z:2.76 [[-7.49022827e-01 6.62539021e-01 2.61725314e-03 9.51062781e+01] [ 6.62536299e-01 7.49027342e-01 -1.92174579e-03 -5.39373243e+01] [-3.23362574e-03 2.94593751e-04 -9.99994728e-01 2.76333938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.54762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.13, Y:-53.92, Z:2.76 [[-7.93671759e-01 6.08339406e-01 2.88188874e-03 9.51263795e+01] [ 6.08336577e-01 7.93676947e-01 -1.87420967e-03 -5.39220993e+01] [-3.42744425e-03 2.65651047e-04 -9.99994091e-01 2.76401529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.57762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.15, Y:-53.91, Z:2.76 [[-8.34347440e-01 5.51228376e-01 3.40984644e-03 9.51471996e+01] [ 5.51225051e-01 8.34354365e-01 -1.93295457e-03 -5.39115805e+01] [-3.91051967e-03 2.66837082e-04 -9.99992318e-01 2.76399830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.17, Y:-53.89, Z:2.76 [[-8.71029171e-01 4.91216324e-01 3.83494577e-03 9.51659218e+01] [ 4.91212890e-01 8.71037572e-01 -1.85592233e-03 -5.38947168e+01] [-4.25204120e-03 2.67212311e-04 -9.99990924e-01 2.76403986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.18, Y:-53.87, Z:2.76 [[-9.03530042e-01 4.28507864e-01 3.80453147e-03 9.51801516e+01] [ 4.28505296e-01 9.03538012e-01 -1.50761657e-03 -5.38747112e+01] [-4.08356436e-03 2.68085017e-04 -9.99991626e-01 2.76418692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.20, Y:-53.86, Z:2.76 [[-9.31491968e-01 3.63738877e-01 4.09177369e-03 9.51999841e+01] [ 3.63736620e-01 9.31500916e-01 -1.30934053e-03 -5.38563661e+01] [-4.28774900e-03 2.68687748e-04 -9.99990771e-01 2.76401326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.21, Y:-53.84, Z:2.76 [[-9.54636642e-01 2.97744633e-01 4.12503782e-03 9.52146709e+01] [ 2.97743074e-01 9.54645515e-01 -1.00137275e-03 -5.38389924e+01] [-4.23610222e-03 2.72254317e-04 -9.99990991e-01 2.76360139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.23, Y:-53.82, Z:2.76 [[-9.73182947e-01 2.29990762e-01 4.38198812e-03 9.52267502e+01] [ 2.29989692e-01 9.73192773e-01 -7.53286912e-04 -5.38173026e+01] [-4.43776821e-03 2.74726123e-04 -9.99990115e-01 2.76386855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.43, Y:-52.96, Z:1.92 [[-9.56376783e-01 -2.91893674e-01 1.18967526e-02 9.54334464e+01] [ 2.91873769e-01 -9.56450752e-01 -3.41503059e-03 -5.29568863e+01] [ 1.23754838e-02 2.06294055e-04 9.99923399e-01 1.91725882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.78762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.17, Y:-53.81, Z:2.76 [[-9.74262853e-01 2.25375917e-01 4.19402177e-03 9.51734775e+01] [ 2.25375019e-01 9.74271842e-01 -6.91544176e-04 -5.38080392e+01] [-4.24197472e-03 2.71481936e-04 -9.99990966e-01 2.76342933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.19, Y:-53.78, Z:2.76 [[-9.87841108e-01 1.55403303e-01 4.44511529e-03 9.51884668e+01] [ 1.55402944e-01 9.87851073e-01 -4.28062358e-04 -5.37824591e+01] [-4.45763421e-03 2.67926409e-04 -9.99990029e-01 2.76370058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.33, Y:-52.91, Z:1.92 [[-9.75169146e-01 -2.21139565e-01 1.19343805e-02 9.53327990e+01] [ 2.21125777e-01 -9.75242146e-01 -2.47930223e-03 -5.29080026e+01] [ 1.21871827e-02 2.21260124e-04 9.99925709e-01 1.91808753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.13, Y:-53.77, Z:2.76 [[-9.88294830e-01 1.52485430e-01 4.63929234e-03 9.51270736e+01] [ 1.52485062e-01 9.88305680e-01 -4.35000786e-04 -5.37739434e+01] [-4.65137025e-03 2.77513753e-04 -9.99989144e-01 2.76382882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.14, Y:-53.75, Z:2.76 [[-9.96207588e-01 8.69000111e-02 4.33935339e-03 9.51359884e+01] [ 8.69004687e-02 9.96216995e-01 -8.33393324e-05 -5.37505536e+01] [-4.33017979e-03 2.94068568e-04 -9.99990581e-01 2.76306503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.14, Y:-53.73, Z:2.76 [[-9.99808857e-01 1.92082558e-02 3.64584767e-03 9.51442736e+01] [ 1.92092268e-02 9.99815459e-01 2.31504290e-04 -5.37254717e+01] [-3.64072807e-03 3.01493954e-04 -9.99993327e-01 2.76219080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.967628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.16, Y:-52.83, Z:1.92 [[-9.97908407e-01 -6.37943269e-02 1.04448360e-02 9.51631685e+01] [ 6.37914632e-02 -9.97963066e-01 -6.07434294e-04 -5.28251359e+01] [ 1.04623114e-02 6.01275809e-05 9.99945267e-01 1.92132085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.05, Y:-53.73, Z:2.76 [[-9.99710699e-01 2.39133855e-02 2.58248010e-03 9.50491441e+01] [ 2.39141555e-02 9.99713980e-01 2.67673221e-04 -5.37290681e+01] [-2.57534049e-03 3.29353613e-04 -9.99996630e-01 2.76244645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.027628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.06, Y:-53.70, Z:2.76 [[-9.99108132e-01 -4.21333983e-02 2.77817815e-03 9.50579855e+01] [-4.21322919e-02 9.99111937e-01 4.55625980e-04 -5.37027346e+01] [-2.79490802e-03 3.38168609e-04 -9.99996037e-01 2.76315551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.05, Y:-53.68, Z:2.76 [[-9.94164280e-01 -1.07841518e-01 2.75517248e-03 9.50497924e+01] [-1.07840106e-01 9.94168034e-01 6.56337965e-04 -5.36780173e+01] [-2.80988489e-03 3.55389668e-04 -9.99995989e-01 2.76365635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.02, Y:-53.66, Z:2.76 [[-9.85597435e-01 -1.69095479e-01 2.10119474e-03 9.50170908e+01] [-1.69094292e-01 9.85599607e-01 7.31655880e-04 -5.36578719e+01] [-2.19465641e-03 3.65818122e-04 -9.99997525e-01 2.76299535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.97, Y:-53.64, Z:2.76 [[-9.71678105e-01 -2.36300704e-01 1.90713084e-03 9.49659276e+01] [-2.36299481e-01 9.71679906e-01 8.46227237e-04 -5.36390597e+01] [-2.05308481e-03 3.71606450e-04 -9.99997823e-01 2.76226841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.14762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.90, Y:-53.63, Z:2.76 [[-9.52803639e-01 -3.03580820e-01 1.97774388e-03 9.48982965e+01] [-3.03579290e-01 9.52805611e-01 1.04014708e-03 -5.36312775e+01] [-2.20017417e-03 3.90653842e-04 -9.99997503e-01 2.76196239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.82, Y:-53.63, Z:2.76 [[-9.28867265e-01 -3.70407450e-01 1.98112159e-03 9.48227757e+01] [-3.70405639e-01 9.28869289e-01 1.22767518e-03 -5.36331359e+01] [-2.29494304e-03 4.06528681e-04 -9.99997284e-01 2.76228804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.20762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.74, Y:-53.64, Z:2.76 [[-9.00352348e-01 -4.35157023e-01 2.00382092e-03 9.47361356e+01] [-4.35154842e-01 9.00354477e-01 1.44225580e-03 -5.36421220e+01] [-2.43175688e-03 4.26566017e-04 -9.99996952e-01 2.76392414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.23762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.64, Y:-53.66, Z:2.77 [[-8.65080841e-01 -5.01627122e-01 2.31714209e-03 9.46441415e+01] [-5.01623825e-01 8.65083822e-01 1.87624973e-03 -5.36647128e+01] [-2.94569989e-03 4.60774020e-04 -9.99995555e-01 2.76517911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.26762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.55, Y:-53.70, Z:2.77 [[-8.24185064e-01 -5.66316302e-01 2.19700063e-03 9.45453867e+01] [-5.66312706e-01 8.24187862e-01 2.07037106e-03 -5.36975132e+01] [-2.98322613e-03 4.62179528e-04 -9.99995443e-01 2.76603444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.29762800000002 meters Centerline goodness [0,1] 0.9999772649766966 Centerline is valid? [True, True] Translation: X:94.45, Y:-53.74, Z:2.77 [[-7.77425941e-01 -6.28971692e-01 1.87514519e-03 9.44469447e+01] [-6.28968381e-01 7.77428076e-01 2.08869669e-03 -5.37395855e+01] [-2.77152160e-03 4.44399957e-04 -9.99996061e-01 2.76709570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.32762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.34, Y:-53.79, Z:2.77 [[-7.22531513e-01 -6.91335784e-01 1.74550852e-03 9.43449907e+01] [-6.91332212e-01 7.22533494e-01 2.26341101e-03 -5.37906109e+01] [-2.82596539e-03 4.28659511e-04 -9.99995915e-01 2.76825447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.25, Y:-53.85, Z:2.77 [[-6.63803975e-01 -7.47905107e-01 1.49478471e-03 9.42489653e+01] [-7.47901679e-01 6.63805532e-01 2.30103490e-03 -5.38514735e+01] [-2.71320211e-03 4.09484117e-04 -9.99996235e-01 2.76821575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.15, Y:-53.92, Z:2.77 [[-5.96168153e-01 -8.02859101e-01 8.93541299e-04 9.41487122e+01] [-8.02857174e-01 5.96168718e-01 1.79373355e-03 -5.39245907e+01] [-1.97281667e-03 3.51980774e-04 -9.99997992e-01 2.76820748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.06, Y:-54.00, Z:2.77 [[-5.28051588e-01 -8.49212073e-01 6.12160260e-04 9.40595918e+01] [-8.49210606e-01 5.28051839e-01 1.61333580e-03 -5.40023295e+01] [-1.69331659e-03 3.32071545e-04 -9.99998511e-01 2.76854641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.98, Y:-54.09, Z:2.77 [[-4.56539712e-01 -8.89703009e-01 2.17195405e-04 9.39752994e+01] [-8.89702391e-01 4.56539662e-01 1.09198702e-03 -5.40896624e+01] [-1.07070246e-03 3.05296170e-04 -9.99999380e-01 2.76932900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.90, Y:-54.18, Z:2.77 [[-3.82080966e-01 -9.24128849e-01 -7.81642593e-05 9.38986171e+01] [-9.24128724e-01 3.82080867e-01 5.59182331e-04 -5.41834258e+01] [-4.86891455e-04 2.85886762e-04 -9.99999841e-01 2.77000847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.50762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.83, Y:-54.29, Z:2.77 [[-3.05647411e-01 -9.52144753e-01 -1.68136164e-04 9.38288392e+01] [-9.52144714e-01 3.05647329e-01 3.92744730e-04 -5.42866067e+01] [-3.22559464e-04 2.80131370e-04 -9.99999909e-01 2.77104367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.76, Y:-54.40, Z:2.77 [[-2.24997937e-01 -9.74359199e-01 -2.82688625e-04 9.37644782e+01] [-9.74359237e-01 2.24997950e-01 -1.31650899e-05 -5.43953846e+01] [ 7.64318876e-05 2.72478155e-04 -9.99999960e-01 2.77239659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.56762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.71, Y:-54.51, Z:2.77 [[-1.47113515e-01 -9.89119574e-01 -2.86236730e-04 9.37124211e+01] [-9.89119608e-01 1.47113543e-01 -7.82300171e-05 -5.45061341e+01] [ 1.19488141e-04 2.71613670e-04 -9.99999956e-01 2.77335258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.67, Y:-54.62, Z:2.77 [[-6.91803775e-02 -9.97604132e-01 -2.66132105e-04 9.36713964e+01] [-9.97604164e-01 6.91803516e-02 1.05252706e-04 -5.46231576e+01] [-8.65894213e-05 2.72775918e-04 -9.99999959e-01 2.77445378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.64, Y:-54.74, Z:2.78 [[ 7.94157123e-03 -9.99968426e-01 -2.80197793e-04 9.36398747e+01] [-9.99968304e-01 -7.94172877e-03 5.65716218e-04 -5.47359491e+01] [-5.67923611e-04 2.75696236e-04 -9.99999801e-01 2.77539488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.62, Y:-54.86, Z:2.78 [[ 8.43665012e-02 -9.96434729e-01 -3.52772773e-04 9.36194921e+01] [-9.96434406e-01 -8.43667746e-02 8.49602674e-04 -5.48584417e+01] [-8.76335911e-04 2.79836924e-04 -9.99999577e-01 2.77593195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.61, Y:-54.98, Z:2.78 [[ 1.59386254e-01 -9.87216181e-01 -4.83602985e-04 9.36095837e+01] [-9.87215490e-01 -1.59386731e-01 1.20297177e-03 -5.49783175e+01] [-1.26467309e-03 2.85683194e-04 -9.99999159e-01 2.77751967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.717628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.61, Y:-55.10, Z:2.78 [[ 2.30546004e-01 -9.73061201e-01 -6.62853529e-04 9.36095019e+01] [-9.73060075e-01 -2.30546766e-01 1.50940724e-03 -5.50959163e+01] [-1.62156436e-03 2.97008498e-04 -9.99998641e-01 2.77820447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.62, Y:-55.22, Z:2.78 [[ 3.02295403e-01 -9.53214009e-01 -7.36907574e-04 9.36183029e+01] [-9.53213119e-01 -3.02296154e-01 1.33602865e-03 -5.52153969e+01] [-1.49628555e-03 2.98554648e-04 -9.99998836e-01 2.77861205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.777628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.64, Y:-55.34, Z:2.78 [[ 3.72311067e-01 -9.28107647e-01 -8.15261020e-04 9.36367743e+01] [-9.28106888e-01 -3.72311838e-01 1.22470232e-03 -5.53358415e+01] [-1.44018692e-03 3.00679141e-04 -9.99998918e-01 2.77874033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.66, Y:-55.45, Z:2.78 [[ 4.42863164e-01 -8.96588750e-01 -9.11194732e-04 9.36613427e+01] [-8.96588040e-01 -4.42864000e-01 1.16771721e-03 -5.54531283e+01] [-1.45049746e-03 2.99827361e-04 -9.99998903e-01 2.77925857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.69, Y:-55.56, Z:2.78 [[ 5.08375398e-01 -8.61134959e-01 -1.01862688e-03 9.36949087e+01] [-8.61134273e-01 -5.08376328e-01 1.12851696e-03 -5.55619638e+01] [-1.48965120e-03 3.03464259e-04 -9.99998844e-01 2.77984210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.86762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.74, Y:-55.67, Z:2.78 [[ 5.67464250e-01 -8.23397443e-01 -9.87710324e-04 9.37392094e+01] [-8.23397016e-01 -5.67465027e-01 8.93028856e-04 -5.56671692e+01] [-1.29580874e-03 3.06515784e-04 -9.99999113e-01 2.78021283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89762800000001 meters Centerline goodness [0,1] 0.9999778177059071 Centerline is valid? [True, True] Translation: X:93.79, Y:-55.76, Z:2.78 [[ 6.26275321e-01 -7.79600978e-01 -1.23968413e-03 9.37877020e+01] [-7.79600362e-01 -6.26276466e-01 1.03144114e-03 -5.57637939e+01] [-1.58049751e-03 3.20492066e-04 -9.99998700e-01 2.78092673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.92762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.84, Y:-55.86, Z:2.78 [[ 6.81322703e-01 -7.31981743e-01 -1.45030597e-03 9.38416421e+01] [-7.31981037e-01 -6.81324165e-01 1.06952337e-03 -5.58585237e+01] [-1.77100008e-03 3.32905912e-04 -9.99998376e-01 2.78131284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95762800000001 meters Centerline goodness [0,1] 0.999955448632273 Centerline is valid? [True, True] Translation: X:93.84, Y:-55.86, Z:2.78 [[ 7.33316329e-01 -6.79884671e-01 -1.99920229e-03 9.38373214e+01] [-6.79883440e-01 -7.33318959e-01 1.34610858e-03 -5.58637226e+01] [-2.38125153e-03 3.72101124e-04 -9.99997096e-01 2.78229660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.98762800000002 meters Centerline goodness [0,1] 0.999955337204109 Centerline is valid? [True, True] Translation: X:93.83, Y:-55.86, Z:2.78 [[ 7.79735355e-01 -6.26105937e-01 -2.03260102e-03 9.38340807e+01] [-6.26105019e-01 -7.79737909e-01 1.13902732e-03 -5.58632545e+01] [-2.29804784e-03 3.84481833e-04 -9.99997286e-01 2.78092836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.01762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.83, Y:-55.87, Z:2.78 [[ 8.24749942e-01 -5.65492606e-01 -2.37595364e-03 9.38257277e+01] [-5.65491612e-01 -8.24753264e-01 1.13584820e-03 -5.58682463e+01] [-2.60188928e-03 4.06791114e-04 -9.99996532e-01 2.78051273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.04762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.82, Y:-55.87, Z:2.78 [[ 8.65323260e-01 -5.01206700e-01 -2.73851392e-03 9.38178257e+01] [-5.01205701e-01 -8.65327486e-01 1.08947074e-03 -5.58713562e+01] [-2.91576141e-03 4.29814415e-04 -9.99995657e-01 2.78044349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.07762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.81, Y:-55.88, Z:2.78 [[ 9.00596931e-01 -4.34646611e-01 -2.73710200e-03 9.38099371e+01] [-4.34646013e-01 -9.00600986e-01 8.40994057e-04 -5.58790178e+01] [-2.83057198e-03 4.32273806e-04 -9.99995900e-01 2.77974398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.80, Y:-55.89, Z:2.78 [[ 9.31721926e-01 -3.63161207e-01 -2.86176650e-03 9.38032166e+01] [-3.63160894e-01 -9.31726219e-01 6.46734732e-04 -5.58865398e+01] [-2.90125185e-03 4.36704752e-04 -9.99995696e-01 2.78007433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.79, Y:-55.90, Z:2.78 [[ 9.57357847e-01 -2.88885867e-01 -3.30288713e-03 9.37924420e+01] [-2.88885772e-01 -9.57363434e-01 5.16168374e-04 -5.58984013e+01] [-3.31117711e-03 4.59999258e-04 -9.99994412e-01 2.78013406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.78, Y:-55.91, Z:2.78 [[ 9.77236345e-01 -2.12122411e-01 -3.63435006e-03 9.37821049e+01] [-2.12122724e-01 -9.77242988e-01 3.03585011e-04 -5.59057709e+01] [-3.61604030e-03 4.74253927e-04 -9.99993350e-01 2.78042702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19762800000001 meters Centerline goodness [0,1] 0.9999105605616797 Centerline is valid? [True, True] Translation: X:93.77, Y:-55.92, Z:2.78 [[ 9.91092581e-01 -1.33095249e-01 -4.59888148e-03 9.37732846e+01] [-1.33096237e-01 -9.91103114e-01 9.19233740e-05 -5.59188754e+01] [-4.57020033e-03 5.20989245e-04 -9.99989421e-01 2.78041430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.76, Y:-55.93, Z:2.78 [[ 9.98576531e-01 -5.32183842e-02 -3.56597517e-03 9.37647994e+01] [-5.32196666e-02 -9.98582794e-01 -2.65624426e-04 -5.59286306e+01] [-3.54678534e-03 4.55026327e-04 -9.99993607e-01 2.77835343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.76, Y:-55.95, Z:2.78 [[ 9.99637281e-01 2.67569625e-02 -3.06132735e-03 9.37581267e+01] [ 2.67555392e-02 -9.99641879e-01 -5.04954420e-04 -5.59454612e+01] [-3.07374207e-03 4.22863799e-04 -9.99995187e-01 2.77719723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.28762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.75, Y:-55.96, Z:2.78 [[ 9.94019658e-01 1.09179969e-01 -2.15734644e-03 9.37519827e+01] [ 1.09178905e-01 -9.94021931e-01 -6.05316304e-04 -5.59610670e+01] [-2.21053809e-03 3.66159582e-04 -9.99997490e-01 2.77624582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.75, Y:-55.97, Z:2.78 [[ 9.81939331e-01 1.89183813e-01 -2.15275298e-03 9.37481335e+01] [ 1.89182537e-01 -9.81941624e-01 -7.83816922e-04 -5.59746784e+01] [-2.26216324e-03 3.62397393e-04 -9.99997376e-01 2.77614112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.74, Y:-55.99, Z:2.78 [[ 9.63290356e-01 2.68456304e-01 -1.70401406e-03 9.37447944e+01] [ 2.68455248e-01 -9.63291804e-01 -8.24700126e-04 -5.59881203e+01] [-1.86285872e-03 3.36974161e-04 -9.99998208e-01 2.77614767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.74, Y:-56.00, Z:2.78 [[ 9.38214124e-01 3.46053772e-01 -1.02195118e-03 9.37417788e+01] [ 3.46053196e-01 -9.38214632e-01 -7.00390448e-04 -5.60008290e+01] [-1.20118231e-03 3.03466737e-04 -9.99999233e-01 2.77569882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.74, Y:-56.02, Z:2.78 [[ 9.05523796e-01 4.24294384e-01 -9.65244284e-04 9.37431013e+01] [ 4.24293773e-01 -9.05524262e-01 -7.78007744e-04 -5.60167497e+01] [-1.20415643e-03 2.94957386e-04 -9.99999232e-01 2.77522122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.74, Y:-56.03, Z:2.78 [[ 8.67919359e-01 4.96704168e-01 -9.77438030e-04 9.37442503e+01] [ 4.96703445e-01 -8.67919860e-01 -8.96950600e-04 -5.60306004e+01] [-1.29385698e-03 2.92983954e-04 -9.99999120e-01 2.77522936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.467628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.74, Y:-56.04, Z:2.78 [[ 8.24637389e-01 5.65660457e-01 -1.19286087e-03 9.37441263e+01] [ 5.65659306e-01 -8.24638198e-01 -1.17960187e-03 -5.60418555e+01] [-1.65093278e-03 2.97990955e-04 -9.99998593e-01 2.77604469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.75, Y:-56.06, Z:2.78 [[ 7.73846149e-01 6.33371660e-01 -1.57446376e-03 9.37505437e+01] [ 6.33369512e-01 -7.73847692e-01 -1.67656644e-03 -5.60592862e+01] [-2.28028481e-03 3.00187140e-04 -9.99997355e-01 2.77677994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.527628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.75, Y:-56.07, Z:2.78 [[ 7.19822472e-01 6.94156551e-01 -1.51395074e-03 9.37541639e+01] [ 6.94154096e-01 -7.19824004e-01 -1.86927915e-03 -5.60710766e+01] [-2.38735045e-03 2.94634034e-04 -9.99997107e-01 2.77720995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.76, Y:-56.08, Z:2.78 [[ 6.61217138e-01 7.50192694e-01 -1.67882608e-03 9.37588405e+01] [ 7.50189068e-01 -6.61219203e-01 -2.35098139e-03 -5.60823106e+01] [-2.87376111e-03 2.95072210e-04 -9.99995827e-01 2.77763812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.76, Y:-56.09, Z:2.78 [[ 5.97150871e-01 8.02126960e-01 -1.78223901e-03 9.37632900e+01] [ 8.02121853e-01 -5.97153461e-01 -2.87700083e-03 -5.60940057e+01] [-3.37199012e-03 2.88430696e-04 -9.99994273e-01 2.77803927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.77, Y:-56.10, Z:2.78 [[ 5.30974797e-01 8.47385948e-01 -1.67945392e-03 9.37698854e+01] [ 8.47379897e-01 -5.30977377e-01 -3.21494057e-03 -5.61048155e+01] [-3.61604750e-03 2.83916927e-04 -9.99993422e-01 2.77761559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.64762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.78, Y:-56.11, Z:2.78 [[ 4.61444152e-01 8.87168328e-01 -1.28580486e-03 9.37755275e+01] [ 8.87163068e-01 -4.61445861e-01 -3.06725744e-03 -5.61146586e+01] [-3.31450299e-03 2.74649422e-04 -9.99994469e-01 2.77806719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.78, Y:-56.12, Z:2.78 [[ 3.88232739e-01 9.21560326e-01 -1.38066864e-03 9.37837647e+01] [ 9.21551796e-01 -3.88235099e-01 -3.97422877e-03 -5.61237130e+01] [-4.19851559e-03 2.70568050e-04 -9.99991150e-01 2.77794266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.70762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.79, Y:-56.13, Z:2.78 [[ 3.14180161e-01 9.49362565e-01 -1.24325902e-03 9.37899543e+01] [ 9.49351390e-01 -3.14182506e-01 -4.61434256e-03 -5.61319077e+01] [-4.77129432e-03 2.69445212e-04 -9.99988581e-01 2.77810118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.73762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.80, Y:-56.14, Z:2.78 [[ 2.38852461e-01 9.71055423e-01 -9.31017603e-04 9.37959073e+01] [ 9.71043030e-01 -2.38854124e-01 -4.91343993e-03 -5.61393829e+01] [-4.99359989e-03 2.69529067e-04 -9.99987496e-01 2.77797800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.76762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.80, Y:-56.15, Z:2.78 [[ 1.64298553e-01 9.86410479e-01 -5.92883775e-04 9.38012638e+01] [ 9.86396392e-01 -1.64299380e-01 -5.27929643e-03 -5.61460970e+01] [-5.30496376e-03 2.82562347e-04 -9.99985889e-01 2.77778373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.79762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.81, Y:-56.15, Z:2.78 [[ 8.86293985e-02 9.96064653e-01 -1.91007903e-04 9.38066315e+01] [ 9.96049693e-01 -8.86291157e-02 -5.46714925e-03 -5.61526960e+01] [-5.46256299e-03 2.94296787e-04 -9.99985037e-01 2.77770997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.82762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.81, Y:-56.16, Z:2.78 [[ 1.33388315e-02 9.99911006e-01 2.37263930e-04 9.38117185e+01] [ 9.99895706e-01 -1.33373128e-02 -5.54015892e-03 -5.61589565e+01] [-5.53650141e-03 3.11138431e-04 -9.99984625e-01 2.77751719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.82, Y:-56.16, Z:2.78 [[-6.15547966e-02 9.98103460e-01 7.00204385e-04 9.38179742e+01] [ 9.98086094e-01 6.15578628e-02 -5.89734880e-03 -5.61649777e+01] [-5.92926733e-03 3.35854154e-04 -9.99982365e-01 2.77746757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.82, Y:-56.17, Z:2.78 [[-1.31541241e-01 9.91309822e-01 1.31843836e-03 9.38184873e+01] [ 9.91286331e-01 1.31547217e-01 -6.83658804e-03 -5.61725438e+01] [-6.95061377e-03 4.07656652e-04 -9.99975761e-01 2.77845765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.82, Y:-56.18, Z:2.78 [[-2.04592058e-01 9.78845200e-01 2.04042561e-03 9.38245302e+01] [ 9.78816465e-01 2.04601716e-01 -7.51441489e-03 -5.61794999e+01] [-7.77292353e-03 4.59812572e-04 -9.99969685e-01 2.77842716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.83, Y:-56.18, Z:2.78 [[-2.76211807e-01 9.61092650e-01 2.82058972e-03 9.38335246e+01] [ 9.61059950e-01 2.76225725e-01 -7.94493008e-03 -5.61845410e+01] [-8.41493335e-03 5.16272321e-04 -9.99964461e-01 2.77840852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.84, Y:-56.19, Z:2.78 [[-3.42783098e-01 9.39406298e-01 3.94393178e-03 9.38373569e+01] [ 9.39364009e-01 3.42805185e-01 -8.93667699e-03 -5.61925849e+01] [-9.74717091e-03 6.41445749e-04 -9.99952289e-01 2.77856843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.00762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.85, Y:-56.20, Z:2.78 [[-4.11885407e-01 9.11224510e-01 4.50597524e-03 9.38455893e+01] [ 9.11186457e-01 4.11909517e-01 -8.35404651e-03 -5.61986237e+01] [-9.46846602e-03 6.64873770e-04 -9.99954952e-01 2.77869747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.85, Y:-56.21, Z:2.78 [[-4.79004241e-01 8.77796962e-01 5.23740794e-03 9.38533137e+01] [ 8.77759635e-01 4.79032354e-01 -8.12564360e-03 -5.62063586e+01] [-9.64155312e-03 7.04967539e-04 -9.99953271e-01 2.77874922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.06762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.86, Y:-56.21, Z:2.78 [[-5.44255192e-01 8.38899772e-01 5.78426812e-03 9.38639875e+01] [ 8.38865743e-01 5.44285451e-01 -7.59029318e-03 -5.62112046e+01] [-9.51578820e-03 7.21167902e-04 -9.99954464e-01 2.77820747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.88, Y:-56.21, Z:2.78 [[-6.05959751e-01 7.95473574e-01 5.87988722e-03 9.38751254e+01] [ 7.95446937e-01 6.05987863e-01 -6.54833434e-03 -5.62146226e+01] [-8.77216721e-03 7.09111232e-04 -9.99961272e-01 2.77720660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.12762800000002 meters Centerline goodness [0,1] 0.9998418400777243 Centerline is valid? [True, True] Translation: X:93.89, Y:-56.21, Z:2.78 [[-6.65801604e-01 7.46100924e-01 6.45257431e-03 9.38891906e+01] [ 7.46075955e-01 6.65832479e-01 -6.14647878e-03 -5.62143580e+01] [-8.88222704e-03 7.21775111e-04 -9.99960292e-01 2.77842797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.90, Y:-56.22, Z:2.78 [[-7.22604001e-01 6.91234984e-01 6.13635515e-03 9.39020773e+01] [ 6.91217533e-01 7.22629754e-01 -4.95592626e-03 -5.62152446e+01] [-7.86002242e-03 6.60384125e-04 -9.99968891e-01 2.77633916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.93, Y:-56.20, Z:2.78 [[-7.70630502e-01 6.37254976e-01 5.89275780e-03 9.39260589e+01] [ 6.37242000e-01 7.70652807e-01 -4.10907737e-03 -5.61961577e+01] [-7.15980034e-03 5.88532413e-04 -9.99974195e-01 2.77597862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.217628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.95, Y:-56.18, Z:2.78 [[-8.14393122e-01 5.80284930e-01 5.76562866e-03 9.39501839e+01] [ 5.80275085e-01 8.14413342e-01 -3.42558979e-03 -5.61760322e+01] [-6.68342304e-03 5.55873898e-04 -9.99977511e-01 2.77590300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.97, Y:-56.15, Z:2.78 [[-8.54460622e-01 5.19481596e-01 5.99311972e-03 9.39683742e+01] [ 5.19473160e-01 8.54481468e-01 -3.00957921e-03 -5.61523776e+01] [-6.68443074e-03 5.41697913e-04 -9.99977512e-01 2.77585365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.277628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.98, Y:-56.12, Z:2.78 [[-8.91164685e-01 4.53630875e-01 6.67327096e-03 9.39807353e+01] [ 4.53622564e-01 8.91189510e-01 -2.79745150e-03 -5.61244386e+01] [-7.21615945e-03 5.34156302e-04 -9.99973821e-01 2.77684550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.01, Y:-56.10, Z:2.78 [[-9.21959016e-01 3.87220500e-01 7.20122977e-03 9.40056552e+01] [ 3.87213140e-01 9.21986985e-01 -2.44623696e-03 -5.61014542e+01] [-7.58667322e-03 5.33080573e-04 -9.99971079e-01 2.77719663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.02, Y:-56.08, Z:2.78 [[-9.47927714e-01 3.18394749e-01 7.60484926e-03 9.40212968e+01] [ 3.18388877e-01 9.47958074e-01 -2.00305357e-03 -5.60756964e+01] [-7.84683999e-03 5.22549422e-04 -9.99969077e-01 2.77759965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.36762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.03, Y:-56.05, Z:2.78 [[-9.68727717e-01 2.48007595e-01 7.67091878e-03 9.40321451e+01] [ 2.48003877e-01 9.68757959e-01 -1.44736068e-03 -5.60480004e+01] [-7.79022006e-03 5.00319187e-04 -9.99969531e-01 2.77864377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.04, Y:-56.01, Z:2.78 [[-9.84648861e-01 1.74368050e-01 7.89957803e-03 9.40382603e+01] [ 1.74366255e-01 9.84680436e-01 -9.20642762e-04 -5.60145453e+01] [-7.93909062e-03 4.70909992e-04 -9.99968374e-01 2.77865788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.42762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.04, Y:-55.98, Z:2.78 [[-9.94696688e-01 1.02584726e-01 7.40763678e-03 9.40440179e+01] [ 1.02585182e-01 9.94724172e-01 -3.19286126e-04 -5.59849676e+01] [-7.40130925e-03 4.42320918e-04 -9.99972512e-01 2.77850741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.11, Y:-55.13, Z:1.94 [[-9.94052985e-01 -1.08090688e-01 1.32312467e-02 9.41111847e+01] [ 1.08077966e-01 -9.94141010e-01 -1.67488889e-03 -5.51293799e+01] [ 1.33347648e-02 -2.34922070e-04 9.99911060e-01 1.94279301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.48762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.96, Y:-55.97, Z:2.78 [[-9.95543984e-01 9.40211745e-02 7.22460153e-03 9.39585497e+01] [ 9.40217475e-02 9.95570109e-01 -2.61041409e-04 -5.59746848e+01] [-7.21714075e-03 4.19391457e-04 -9.99973868e-01 2.77887363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.51762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.01, Y:-55.13, Z:1.94 [[-9.94373541e-01 -1.05187494e-01 1.25240798e-02 9.40145564e+01] [ 1.05176402e-01 -9.94452384e-01 -1.54281743e-03 -5.51253528e+01] [ 1.26168861e-02 -2.16899179e-04 9.99920380e-01 1.94343566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.54762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.87, Y:-55.97, Z:2.78 [[-9.96268131e-01 8.60644409e-02 6.53635080e-03 9.38673864e+01] [ 8.60651239e-02 9.96289498e-01 -1.77238474e-04 -5.59670936e+01] [-6.52735158e-03 3.85974798e-04 -9.99978622e-01 2.77843228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.57762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.87, Y:-55.94, Z:2.78 [[-9.99887424e-01 1.37068599e-02 6.10423774e-03 9.38678137e+01] [ 1.37088005e-02 9.99905992e-01 2.76179182e-04 -5.59380740e+01] [-6.09987834e-03 3.59829868e-04 -9.99981331e-01 2.77798854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.86, Y:-55.09, Z:1.95 [[-9.99356726e-01 -3.42409720e-02 1.06625156e-02 9.38606314e+01] [ 3.42373473e-02 -9.99413594e-01 -5.22354481e-04 -5.50940293e+01] [ 1.06741489e-02 -1.56962216e-04 9.99943017e-01 1.94509215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.76, Y:-55.93, Z:2.78 [[-9.99987416e-01 2.05358579e-03 4.57710959e-03 9.37635332e+01] [ 2.05495331e-03 9.99997845e-01 2.94089215e-04 -5.59330154e+01] [-4.57649579e-03 3.03491261e-04 -9.99989482e-01 2.77823652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.75, Y:-55.10, Z:1.94 [[-9.99422070e-01 -3.24435143e-02 1.01461343e-02 9.37540997e+01] [ 3.24415308e-02 -9.99473570e-01 -3.60057086e-04 -5.50981565e+01] [ 1.01524746e-02 -3.06928692e-05 9.99948462e-01 1.94464505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.66, Y:-55.93, Z:2.78 [[-9.99948076e-01 -9.23384113e-03 4.31065245e-03 9.36595638e+01] [-9.23256750e-03 9.99957329e-01 3.15267605e-04 -5.59300423e+01] [-4.31337964e-03 2.75452845e-04 -9.99990659e-01 2.77926593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.66, Y:-55.90, Z:2.78 [[-9.96753096e-01 -8.04046219e-02 4.28523533e-03 9.36571839e+01] [-8.04027190e-02 9.96762271e-01 6.14776121e-04 -5.59023017e+01] [-4.32079174e-03 2.68235429e-04 -9.99990629e-01 2.77936214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.65, Y:-55.87, Z:2.78 [[-9.87532356e-01 -1.57340985e-01 4.86411315e-03 9.36464578e+01] [-1.57337837e-01 9.87544304e-01 1.02567364e-03 -5.58730504e+01] [-4.96490774e-03 2.47576865e-04 -9.99987644e-01 2.78062252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.78762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.62, Y:-55.85, Z:2.78 [[-9.72944210e-01 -2.30985012e-01 5.04869223e-03 9.36225901e+01] [-2.30980644e-01 9.72957280e-01 1.43988181e-03 -5.58483402e+01] [-5.24475297e-03 2.34774491e-04 -9.99986219e-01 2.78142045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81762800000001 meters Centerline goodness [0,1] 0.9998449818407299 Centerline is valid? [True, True] Translation: X:93.57, Y:-55.83, Z:2.78 [[-9.52734325e-01 -3.03744586e-01 6.04413079e-03 9.35738691e+01] [-3.03736943e-01 9.52753470e-01 2.16685587e-03 -5.58314664e+01] [-6.41673733e-03 2.28612153e-04 -9.99979386e-01 2.78474963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.51, Y:-55.82, Z:2.78 [[-9.25798265e-01 -3.77952861e-01 7.01486048e-03 9.35131933e+01] [-3.77940421e-01 9.25824820e-01 3.07259557e-03 -5.58214954e+01] [-7.65582823e-03 1.93404326e-04 -9.99970675e-01 2.78357918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.44, Y:-55.82, Z:2.78 [[-8.94240370e-01 -4.47531853e-01 7.02861144e-03 9.34387983e+01] [-4.47516473e-01 8.94267974e-01 3.71442669e-03 -5.58243048e+01] [-7.94778637e-03 1.76170892e-04 -9.99968400e-01 2.78451006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.37, Y:-55.83, Z:2.79 [[-8.57426610e-01 -5.14559359e-01 6.94799222e-03 9.33650059e+01] [-5.14540911e-01 8.57454745e-01 4.36017020e-03 -5.58328374e+01] [-8.20115528e-03 1.63499700e-04 -9.99966357e-01 2.78529602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.28, Y:-55.85, Z:2.79 [[-8.15774055e-01 -5.78333766e-01 6.53801260e-03 9.32818771e+01] [-5.78313628e-01 8.15800239e-01 4.82887746e-03 -5.58546701e+01] [-8.12641513e-03 1.58251161e-04 -9.99966968e-01 2.78543187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.967628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.20, Y:-55.89, Z:2.78 [[-7.69803300e-01 -6.38255392e-01 5.73881928e-03 9.31958424e+01] [-6.38236058e-01 7.69824673e-01 4.97058153e-03 -5.58896913e+01] [-7.59038514e-03 1.63648662e-04 -9.99971179e-01 2.78491553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.11, Y:-55.93, Z:2.78 [[-7.19684780e-01 -6.94283317e-01 4.94911025e-03 9.31089172e+01] [-6.94265214e-01 7.19701775e-01 5.01672437e-03 -5.59328831e+01] [-7.04491147e-03 1.74465085e-04 -9.99975169e-01 2.78466101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.027628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.02, Y:-55.99, Z:2.78 [[-6.65324097e-01 -7.46542385e-01 4.27947823e-03 9.30209243e+01] [-7.46525136e-01 6.65337835e-01 5.07806744e-03 -5.59878604e+01] [-6.63829135e-03 1.83822566e-04 -9.99977949e-01 2.78396795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.94, Y:-56.05, Z:2.78 [[-6.08836936e-01 -7.93289051e-01 3.17281170e-03 9.29405744e+01] [-7.93276456e-01 6.08845167e-01 4.47504585e-03 -5.60517842e+01] [-5.48175595e-03 2.07656376e-04 -9.99984954e-01 2.78319578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.86, Y:-56.13, Z:2.78 [[-5.47921429e-01 -8.36524991e-01 2.83676421e-03 9.28592084e+01] [-8.36511637e-01 5.47928729e-01 4.73183222e-03 -5.61255390e+01] [-5.51264051e-03 2.19686007e-04 -9.99984781e-01 2.78306181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.78, Y:-56.21, Z:2.78 [[-4.84175176e-01 -8.74967693e-01 2.43618616e-03 9.27825281e+01] [-8.74954080e-01 4.84181248e-01 4.88633140e-03 -5.62071914e+01] [-5.45493777e-03 2.34289339e-04 -9.99985094e-01 2.78304345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.14762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.72, Y:-56.30, Z:2.78 [[-4.21170023e-01 -9.06979026e-01 2.20397964e-03 9.27154661e+01] [-9.06963008e-01 4.21175700e-01 5.39739806e-03 -5.63004390e+01] [-5.82358950e-03 2.74294262e-04 -9.99983005e-01 2.78446460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.65, Y:-56.39, Z:2.79 [[-3.53049569e-01 -9.35602647e-01 1.92057055e-03 9.26531795e+01] [-9.35583821e-01 3.53054664e-01 5.94285688e-03 -5.63942177e+01] [-6.23821902e-03 3.01268320e-04 -9.99980497e-01 2.78542414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.20762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.59, Y:-56.50, Z:2.79 [[-2.82614852e-01 -9.59232200e-01 1.55946309e-03 9.25927254e+01] [-9.59210547e-01 2.82618964e-01 6.45342756e-03 -5.65039817e+01] [-6.63106936e-03 3.27981033e-04 -9.99977960e-01 2.78508649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.23762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.54, Y:-56.61, Z:2.78 [[-2.07341480e-01 -9.78268240e-01 8.72539944e-04 9.25403084e+01] [-9.78252166e-01 2.07343082e-01 5.61659065e-03 -5.66074751e+01] [-5.67544737e-03 3.10988126e-04 -9.99983846e-01 2.78492338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.26762800000002 meters Centerline goodness [0,1] 0.9999085985878482 Centerline is valid? [True, True] Translation: X:92.49, Y:-56.73, Z:2.79 [[-1.30851312e-01 -9.91401860e-01 5.34773121e-04 9.24943021e+01] [-9.91380301e-01 1.30851997e-01 6.54631182e-03 -5.67259401e+01] [-6.56000185e-03 3.26429950e-04 -9.99978430e-01 2.78794061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.29762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.46, Y:-56.84, Z:2.79 [[-5.31445462e-02 -9.98586830e-01 2.90919845e-05 9.24584187e+01] [-9.98564493e-01 5.31435522e-02 6.68701205e-03 -5.68424002e+01] [-6.67910821e-03 3.26327998e-04 -9.99977641e-01 2.78611888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.32762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.43, Y:-56.97, Z:2.79 [[ 2.35613686e-02 -9.99722276e-01 -4.81680721e-04 9.24333706e+01] [-9.99701368e-01 -2.35639951e-02 6.47408875e-03 -5.69733298e+01] [-6.48364106e-03 3.28998484e-04 -9.99978927e-01 2.78692084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.41, Y:-57.08, Z:2.79 [[ 9.98440401e-02 -9.95002671e-01 -9.23467934e-04 9.24132291e+01] [-9.94985045e-01 -9.98477764e-02 5.93143007e-03 -5.70795157e+01] [-5.99399498e-03 3.26618842e-04 -9.99981983e-01 2.78654759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.41, Y:-57.20, Z:2.79 [[ 1.75189512e-01 -9.84533889e-01 -1.28726232e-03 9.24054256e+01] [-9.84519292e-01 -1.75193937e-01 5.37098970e-03 -5.72027783e+01] [-5.51344193e-03 3.26393527e-04 -9.99984748e-01 2.78718199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.41, Y:-57.32, Z:2.79 [[ 2.47163755e-01 -9.68972778e-01 -1.35400054e-03 9.24069862e+01] [-9.68964446e-01 -2.47167262e-01 4.03069945e-03 -5.73238309e+01] [-4.24030265e-03 3.15735569e-04 -9.99990960e-01 2.78758287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.42, Y:-57.45, Z:2.79 [[ 3.18869681e-01 -9.47797405e-01 -1.48543405e-03 9.24178834e+01] [-9.47791240e-01 -3.18872987e-01 3.43269996e-03 -5.74497978e+01] [-3.72716890e-03 3.13297435e-04 -9.99993005e-01 2.78741894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47762800000001 meters Centerline goodness [0,1] 0.9998181776858565 Centerline is valid? [True, True] Translation: X:92.43, Y:-57.56, Z:2.79 [[ 3.88286440e-01 -9.21536925e-01 -1.82653387e-03 9.24342599e+01] [-9.21530406e-01 -3.88290595e-01 3.48199550e-03 -5.75624810e+01] [-3.91801335e-03 3.31194860e-04 -9.99992270e-01 2.78977363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.50762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.47, Y:-57.68, Z:2.79 [[ 4.56358524e-01 -8.89794607e-01 -1.56706672e-03 9.24656144e+01] [-8.89791445e-01 -4.56361114e-01 2.39131059e-03 -5.76794505e+01] [-2.84292358e-03 3.03067592e-04 -9.99995913e-01 2.78630710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.50, Y:-57.79, Z:2.79 [[ 5.19123631e-01 -8.54698681e-01 -9.05637574e-04 9.25028300e+01] [-8.54698142e-01 -5.19124356e-01 9.94047531e-04 -5.77926656e+01] [-1.31974964e-03 2.58013189e-04 -9.99999096e-01 2.78517317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.56762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.54, Y:-57.90, Z:2.79 [[ 5.81709097e-01 -8.13396811e-01 -3.93645805e-04 9.25430314e+01] [-8.13396823e-01 -5.81709188e-01 1.71623055e-04 -5.78954174e+01] [-3.68585028e-04 2.20355555e-04 -9.99999908e-01 2.78519456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.59, Y:-58.00, Z:2.79 [[ 6.41427699e-01 -7.67183380e-01 -4.11088855e-04 9.25923175e+01] [-7.67183397e-01 -6.41427793e-01 1.48252978e-04 -5.79977224e+01] [-3.77421038e-04 2.20286978e-04 -9.99999905e-01 2.78514359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.65, Y:-58.10, Z:2.79 [[ 6.98031332e-01 -7.16066973e-01 -5.92073473e-04 9.26496213e+01] [-7.16066955e-01 -6.98031545e-01 2.78211265e-04 -5.80969108e+01] [-6.12503859e-04 2.29764070e-04 -9.99999786e-01 2.78600206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.64, Y:-58.10, Z:2.79 [[ 7.52581659e-01 -6.58497960e-01 -1.13310917e-03 9.26406637e+01] [-6.58497694e-01 -7.52582467e-01 6.45934745e-04 -5.81021719e+01] [-1.27810481e-03 2.60031137e-04 -9.99999149e-01 2.78763285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.63, Y:-58.11, Z:2.79 [[ 8.02652894e-01 -5.96444049e-01 -1.68158743e-03 9.26308718e+01] [-5.96443440e-01 -8.02654606e-01 8.97819237e-04 -5.81098252e+01] [-1.88523284e-03 2.82334585e-04 -9.99998183e-01 2.78854734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.717628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.62, Y:-58.11, Z:2.79 [[ 8.47898031e-01 -5.30154642e-01 -2.23289837e-03 9.26222047e+01] [-5.30153701e-01 -8.47900918e-01 1.04248150e-03 -5.81123015e+01] [-2.44595298e-03 2.99861322e-04 -9.99996964e-01 2.78988551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.61, Y:-58.12, Z:2.79 [[ 8.89318290e-01 -4.57276498e-01 -3.34413923e-03 9.26117705e+01] [-4.57274605e-01 -8.89324518e-01 1.35515401e-03 -5.81223309e+01] [-3.59370510e-03 3.24026698e-04 -9.99993490e-01 2.79117173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.777628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.60, Y:-58.13, Z:2.79 [[ 9.23568843e-01 -3.83411234e-01 -4.05185209e-03 9.26036231e+01] [-3.83409095e-01 -9.23577672e-01 1.32290445e-03 -5.81277581e+01] [-4.24941655e-03 3.31723615e-04 -9.99990916e-01 2.79222635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.60, Y:-58.13, Z:2.79 [[ 9.51646924e-01 -3.07159543e-01 -4.59867488e-03 9.25968002e+01] [-3.07157619e-01 -9.51657977e-01 1.13658075e-03 -5.81318862e+01] [-4.72547725e-03 3.30894449e-04 -9.99988780e-01 2.79321871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.59, Y:-58.14, Z:2.79 [[ 9.73949923e-01 -2.26712880e-01 -4.77681284e-03 9.25889484e+01] [-2.26711697e-01 -9.73961588e-01 7.94984118e-04 -5.81400949e+01] [-4.83266536e-03 3.08684624e-04 -9.99988275e-01 2.79340494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.86762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.58, Y:-58.14, Z:2.79 [[ 9.88972717e-01 -1.48025656e-01 -4.62285399e-03 9.25803976e+01] [-1.48025428e-01 -9.88983477e-01 3.93280433e-04 -5.81430954e+01] [-4.63014181e-03 2.95356324e-04 -9.99989237e-01 2.79379839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.57, Y:-58.15, Z:2.79 [[ 9.97585032e-01 -6.93382520e-02 -4.03875289e-03 9.25732329e+01] [-6.93388135e-02 -9.97593168e-01 9.89952818e-07 -5.81462260e+01] [-4.02910093e-03 2.79054771e-04 -9.99991844e-01 2.79384411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.92762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.57, Y:-58.15, Z:2.79 [[ 9.99948018e-01 9.37830643e-03 -4.00096436e-03 9.25656998e+01] [ 9.37712594e-03 -9.99955985e-01 -3.13707408e-04 -5.81497063e+01] [-4.00373030e-03 2.76173555e-04 -9.99991947e-01 2.79391150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.56, Y:-58.15, Z:2.79 [[ 9.96161222e-01 8.74642680e-02 -3.58070085e-03 9.25574911e+01] [ 8.74627290e-02 -9.96167621e-01 -5.84483223e-04 -5.81504281e+01] [-3.61809965e-03 2.69061653e-04 -9.99993418e-01 2.79358876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.98762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.55, Y:-58.16, Z:2.79 [[ 9.86329006e-01 1.64754675e-01 -3.31484505e-03 9.25520632e+01] [ 1.64752833e-01 -9.86334541e-01 -8.23087147e-04 -5.81639185e+01] [-3.40515362e-03 2.65704615e-04 -9.99994167e-01 2.79288401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.01762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.55, Y:-58.17, Z:2.79 [[ 9.70452314e-01 2.41269359e-01 -3.37666294e-03 9.25457767e+01] [ 2.41266926e-01 -9.70458152e-01 -1.11637676e-03 -5.81724974e+01] [-3.54625758e-03 2.68713328e-04 -9.99993676e-01 2.79369995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.04762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.54, Y:-58.18, Z:2.79 [[ 9.48579971e-01 3.16522515e-01 -3.08792375e-03 9.25423351e+01] [ 3.16519920e-01 -9.48584961e-01 -1.30863278e-03 -5.81841295e+01] [-3.34336977e-03 2.63953470e-04 -9.99994376e-01 2.79287469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.07762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.54, Y:-58.19, Z:2.79 [[ 9.20821506e-01 3.89974794e-01 -2.72307072e-03 9.25358109e+01] [ 3.89972246e-01 -9.20825496e-01 -1.43283111e-03 -5.81894962e+01] [-3.06624097e-03 2.57459698e-04 -9.99995266e-01 2.79444671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.53, Y:-58.19, Z:2.79 [[ 8.87159060e-01 4.61455255e-01 -2.80181447e-03 9.25284966e+01] [ 4.61452013e-01 -8.87163446e-01 -1.74916279e-03 -5.81931079e+01] [-3.29282774e-03 2.58882686e-04 -9.99994545e-01 2.79398399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.53, Y:-58.21, Z:2.79 [[ 8.47923468e-01 5.30111697e-01 -2.71681498e-03 9.25275198e+01] [ 5.30107979e-01 -8.47927782e-01 -2.00195457e-03 -5.82069573e+01] [-3.36492244e-03 2.57298964e-04 -9.99994306e-01 2.79292015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.53, Y:-58.22, Z:2.79 [[ 8.02401590e-01 5.96777432e-01 -2.89567278e-03 9.25272088e+01] [ 5.96772366e-01 -8.02406774e-01 -2.47219355e-03 -5.82199586e+01] [-3.79885677e-03 2.55634536e-04 -9.99992752e-01 2.79268106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.53, Y:-58.23, Z:2.79 [[ 7.52323925e-01 6.58788186e-01 -2.61495093e-03 9.25265078e+01] [ 6.58783023e-01 -7.52328428e-01 -2.62014649e-03 -5.82321663e+01] [-3.69342348e-03 2.48513616e-04 -9.99993148e-01 2.79331963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.53, Y:-58.25, Z:2.79 [[ 6.97279938e-01 7.16794349e-01 -2.55910265e-03 9.25286961e+01] [ 7.16788188e-01 -6.97284591e-01 -2.98216711e-03 -5.82456551e+01] [-3.92202338e-03 2.45070742e-04 -9.99992279e-01 2.79383820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.53, Y:-58.26, Z:2.80 [[ 6.37869019e-01 7.70139769e-01 -2.80196759e-03 9.25292117e+01] [ 7.70130576e-01 -6.37875125e-01 -3.77107416e-03 -5.82584981e+01] [-4.69155961e-03 2.47570465e-04 -9.99988964e-01 2.79519653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.28762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.53, Y:-58.27, Z:2.80 [[ 5.73874542e-01 8.18935643e-01 -3.52446506e-03 9.25298696e+01] [ 8.18917401e-01 -5.73885309e-01 -5.47198909e-03 -5.82692637e+01] [-6.50384563e-03 2.53989461e-04 -9.99978818e-01 2.79664573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.53, Y:-58.28, Z:2.80 [[ 5.07605555e-01 8.61581549e-01 -3.71952431e-03 9.25316309e+01] [ 8.61554527e-01 -5.07619115e-01 -6.82862999e-03 -5.82802977e+01] [-7.77152324e-03 2.61677515e-04 -9.99969767e-01 2.79702533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.53, Y:-58.29, Z:2.80 [[ 4.38050203e-01 8.98943196e-01 -3.62631844e-03 9.25321744e+01] [ 8.98907214e-01 -4.38065132e-01 -8.04739413e-03 -5.82905470e+01] [-8.82271387e-03 2.65438828e-04 -9.99961044e-01 2.79773493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.53, Y:-58.30, Z:2.80 [[ 3.66184253e-01 9.30537785e-01 -2.91954853e-03 9.25331074e+01] [ 9.30502267e-01 -3.66195798e-01 -8.13443350e-03 -5.83021746e+01] [-8.63852413e-03 2.62054929e-04 -9.99962653e-01 2.79752116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.54, Y:-58.31, Z:2.80 [[ 2.92021843e-01 9.56409637e-01 -1.96172814e-03 9.25357034e+01] [ 9.56381923e-01 -2.92028324e-01 -7.28532299e-03 -5.83126339e+01] [-7.54063330e-03 2.51312123e-04 -9.99971537e-01 2.79697736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.54, Y:-58.32, Z:2.80 [[ 2.16201459e-01 9.76347974e-01 -1.25027322e-03 9.25380505e+01] [ 9.76324451e-01 -2.16204934e-01 -6.78175552e-03 -5.83232053e+01] [-6.89166850e-03 2.45553123e-04 -9.99976222e-01 2.79583554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.467628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.54, Y:-58.33, Z:2.79 [[ 1.39237861e-01 9.90258811e-01 -5.53384595e-04 9.25411998e+01] [ 9.90242817e-01 -1.39238760e-01 -5.63308454e-03 -5.83332006e+01] [-5.65526418e-03 2.36353520e-04 -9.99983981e-01 2.79472500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.55, Y:-58.34, Z:2.79 [[ 6.12244586e-02 9.98124023e-01 -2.93244861e-05 9.25477809e+01] [ 9.98115545e-01 -6.12240597e-02 -4.11982088e-03 -5.83435450e+01] [-4.11388756e-03 2.22964578e-04 -9.99991513e-01 2.79197807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.527628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.56, Y:-58.36, Z:2.79 [[-1.82563167e-02 9.99833303e-01 2.71463348e-04 9.25572907e+01] [ 9.99827980e-01 1.82571072e-02 -3.26931789e-03 -5.83550456e+01] [-3.27372904e-03 2.11730948e-04 -9.99994619e-01 2.79215447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.57, Y:-58.36, Z:2.79 [[-1.00070115e-01 9.94980275e-01 4.74051856e-04 9.25673863e+01] [ 9.94976525e-01 1.00071043e-01 -2.73864648e-03 -5.83645740e+01] [-2.77233809e-03 1.97613799e-04 -9.99996138e-01 2.79165917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.58, Y:-58.37, Z:2.79 [[-1.79579506e-01 9.83743230e-01 6.77698292e-04 9.25775829e+01] [ 9.83739696e-01 1.79580682e-01 -2.64360548e-03 -5.83738837e+01] [-2.72233052e-03 1.91941345e-04 -9.99996276e-01 2.79206972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.58, Y:-58.38, Z:2.79 [[-2.56116262e-01 9.66645581e-01 8.84077615e-04 9.25846068e+01] [ 9.66642131e-01 2.56117717e-01 -2.58960983e-03 -5.83831102e+01] [-2.72966284e-03 1.91345479e-04 -9.99996256e-01 2.79213135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.64762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.60, Y:-58.39, Z:2.79 [[-3.32147429e-01 9.43226802e-01 1.13397481e-03 9.25954940e+01] [ 9.43223083e-01 3.32149312e-01 -2.65532577e-03 -5.83903478e+01] [-2.88122339e-03 1.87631587e-04 -9.99995832e-01 2.79175176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.61, Y:-58.40, Z:2.79 [[-4.04688946e-01 9.14453567e-01 1.23737537e-03 9.26080053e+01] [ 9.14450614e-01 4.04690795e-01 -2.33155548e-03 -5.83956346e+01] [-2.63285365e-03 1.87963937e-04 -9.99996516e-01 2.79171141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.70762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.62, Y:-58.40, Z:2.79 [[-4.73836428e-01 8.80612047e-01 1.20927437e-03 9.26188810e+01] [ 8.80610132e-01 4.73837933e-01 -1.84607606e-03 -5.84019864e+01] [-2.19867689e-03 1.90161177e-04 -9.99997565e-01 2.79157992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.73762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.63, Y:-58.41, Z:2.79 [[-5.39121550e-01 8.42227008e-01 1.27341170e-03 9.26295031e+01] [ 8.42225457e-01 5.39123019e-01 -1.62776786e-03 -5.84067841e+01] [-2.05747561e-03 1.94935024e-04 -9.99997864e-01 2.79116531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.76762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.64, Y:-58.41, Z:2.79 [[-5.97619527e-01 8.01779351e-01 8.80097966e-04 9.26404613e+01] [ 8.01778927e-01 5.97620142e-01 -8.48161363e-04 -5.84107132e+01] [-1.20600254e-03 1.98766210e-04 -9.99999253e-01 2.79065234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.79762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.65, Y:-58.42, Z:2.79 [[-6.55151057e-01 7.55497680e-01 5.89968291e-04 9.26518836e+01] [ 7.55497608e-01 6.55151294e-01 -3.83169327e-04 -5.84155243e+01] [-6.76002026e-04 1.94685843e-04 -9.99999753e-01 2.79070433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.82762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.67, Y:-58.42, Z:2.79 [[-7.08908334e-01 7.05299937e-01 9.86023309e-04 9.26652852e+01] [ 7.05299633e-01 7.08908989e-01 -6.87061046e-04 -5.84160942e+01] [-1.18358490e-03 2.08378577e-04 -9.99999278e-01 2.79027228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.69, Y:-58.41, Z:2.79 [[-7.53581957e-01 6.57351925e-01 1.63752395e-03 9.26938125e+01] [ 6.57350974e-01 7.53583704e-01 -1.13937523e-03 -5.84075998e+01] [-1.98298187e-03 2.17815347e-04 -9.99998010e-01 2.79108955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.72, Y:-58.40, Z:2.79 [[-7.92037711e-01 6.10467761e-01 2.31879734e-03 9.27218185e+01] [ 6.10466090e-01 7.92041061e-01 -1.45276239e-03 -5.83985157e+01] [-2.72344731e-03 2.64904546e-04 -9.99996256e-01 2.79252264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.75, Y:-58.38, Z:2.79 [[-8.30660125e-01 5.56773895e-01 2.56644122e-03 9.27494604e+01] [ 5.56772263e-01 8.30664041e-01 -1.37784263e-03 -5.83820978e+01] [-2.89899725e-03 2.84404351e-04 -9.99995757e-01 2.79264901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.77, Y:-58.36, Z:2.79 [[-8.65606400e-01 5.00717022e-01 2.83263131e-03 9.27692707e+01] [ 5.00715471e-01 8.65610980e-01 -1.28367532e-03 -5.83626004e+01] [-3.09471485e-03 3.07184745e-04 -9.99995164e-01 2.79289517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.79, Y:-58.34, Z:2.79 [[-8.96995490e-01 4.42031874e-01 2.62921940e-03 9.27907382e+01] [ 4.42030945e-01 8.96999292e-01 -9.56087880e-04 -5.83424686e+01] [-2.78102926e-03 3.04589818e-04 -9.99996087e-01 2.79287621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.00762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.17, Y:-57.51, Z:1.96 [[-9.14305189e-01 -4.04977322e-01 6.27614321e-03 9.31707232e+01] [ 4.04965596e-01 -9.14326684e-01 -3.09514958e-03 -5.75079520e+01] [ 6.99191060e-03 -2.88289246e-04 9.99975515e-01 1.95948030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.75, Y:-58.33, Z:2.79 [[-8.94678597e-01 4.46705805e-01 2.03264840e-03 9.27539009e+01] [ 4.46705366e-01 8.94680859e-01 -6.90258601e-04 -5.83312441e+01] [-2.12691414e-03 2.90435351e-04 -9.99997696e-01 2.79257135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.06762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.78, Y:-58.30, Z:2.79 [[-9.23501226e-01 3.83589960e-01 2.05604947e-03 9.27761825e+01] [ 3.83589694e-01 9.23503469e-01 -5.38300124e-04 -5.83045582e+01] [-2.10525535e-03 2.91558563e-04 -9.99997741e-01 2.79267909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.79, Y:-58.28, Z:2.79 [[-9.48249795e-01 3.17514967e-01 2.56351107e-03 9.27934913e+01] [ 3.17514706e-01 9.48253206e-01 -5.19211551e-04 -5.82786416e+01] [-2.59571502e-03 3.21610215e-04 -9.99996579e-01 2.79308400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.80, Y:-58.25, Z:2.79 [[-9.69112510e-01 2.46597248e-01 3.27733930e-03 9.28024866e+01] [ 2.46597059e-01 9.69117986e-01 -4.67781474e-04 -5.82467211e+01] [-3.29148209e-03 3.54849355e-04 -9.99994520e-01 2.79466280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.98, Y:-57.37, Z:1.96 [[-9.79595263e-01 -2.00820639e-01 8.01194460e-03 9.29822332e+01] [ 2.00811284e-01 -9.79627976e-01 -1.96367824e-03 -5.73662591e+01] [ 8.24307219e-03 -3.14721020e-04 9.99965976e-01 1.95760294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.18762800000002 meters Centerline goodness [0,1] 0.999932408074982 Centerline is valid? [True, True] Translation: X:92.74, Y:-58.22, Z:2.80 [[-9.71696294e-01 2.36185708e-01 4.75649995e-03 9.27404749e+01] [ 2.36184946e-01 9.71707847e-01 -7.29506452e-04 -5.82245779e+01] [-4.79422732e-03 4.14554966e-04 -9.99988422e-01 2.79683440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.91, Y:-57.36, Z:1.96 [[-9.78903645e-01 -2.04144173e-01 8.53292619e-03 9.29055902e+01] [ 2.04133276e-01 -9.78940771e-01 -2.13828301e-03 -5.73606838e+01] [ 8.78974736e-03 -3.51318856e-04 9.99961308e-01 1.95735301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.247628 meters Centerline goodness [0,1] 0.999865927779764 Centerline is valid? [True, True] Translation: X:92.67, Y:-58.20, Z:2.80 [[-9.75629040e-01 2.19359318e-01 5.42828639e-03 9.26726258e+01] [ 2.19358061e-01 9.75644068e-01 -8.33279006e-04 -5.81983550e+01] [-5.47886293e-03 3.77767181e-04 -9.99984920e-01 2.79905956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.277628 meters Centerline goodness [0,1] 0.9999554674801273 Centerline is valid? [True, True] Translation: X:92.68, Y:-58.17, Z:2.80 [[-9.89408835e-01 1.45088179e-01 4.42473767e-03 9.26805656e+01] [ 1.45088142e-01 9.89418679e-01 -3.30943988e-04 -5.81688697e+01] [-4.42593415e-03 3.14538063e-04 -9.99990156e-01 2.79844935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30762800000001 meters Centerline goodness [0,1] 0.9999555466648885 Centerline is valid? [True, True] Translation: X:92.68, Y:-58.13, Z:2.80 [[-9.97518393e-01 7.02744605e-02 4.30772685e-03 9.26828566e+01] [ 7.02750644e-02 9.97527651e-01 -1.12066764e-05 -5.81329637e+01] [-4.29786419e-03 2.91546916e-04 -9.99990722e-01 2.79845824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.68, Y:-58.10, Z:2.80 [[-9.99980629e-01 -5.18767159e-03 3.43941705e-03 9.26845893e+01] [-5.18678010e-03 9.99986513e-01 2.68067409e-04 -5.81007921e+01] [-3.44076131e-03 2.50222717e-04 -9.99994049e-01 2.79725706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.36762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.66, Y:-57.28, Z:1.96 [[-9.99811991e-01 -1.79364812e-02 7.36651360e-03 9.26588153e+01] [ 1.79355448e-02 -9.99839127e-01 -1.93161813e-04 -5.72812205e+01] [ 7.36879316e-03 -6.10030625e-05 9.99972848e-01 1.95638501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.58, Y:-58.09, Z:2.80 [[-9.99717342e-01 -2.36304044e-02 2.61530662e-03 9.25758574e+01] [-2.36297946e-02 9.99720743e-01 2.63836688e-04 -5.80925233e+01] [-2.62081084e-03 2.01962954e-04 -9.99996545e-01 2.79730955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.42762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.55, Y:-57.29, Z:1.96 [[-9.99797345e-01 -1.89594929e-02 6.76804023e-03 9.25490902e+01] [ 1.89592545e-02 -9.99820252e-01 -9.93919849e-05 -5.72900674e+01] [ 6.76870811e-03 2.89451543e-05 9.99977092e-01 1.95771891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.47, Y:-58.09, Z:2.80 [[-9.99210598e-01 -3.96718114e-02 2.08036661e-03 9.24713335e+01] [-3.96713642e-02 9.99212749e-01 2.55810683e-04 -5.80854956e+01] [-2.08887731e-03 1.73077764e-04 -9.99997803e-01 2.79605027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.48762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.47, Y:-58.05, Z:2.80 [[-9.93531036e-01 -1.13548238e-01 1.69662008e-03 9.24666791e+01] [-1.13547794e-01 9.93532471e-01 3.56128611e-04 -5.80549425e+01] [-1.72608491e-03 1.61177361e-04 -9.99998497e-01 2.79635385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.51762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.45, Y:-58.03, Z:2.80 [[-9.82439285e-01 -1.86575038e-01 1.67498683e-03 9.24493766e+01] [-1.86574493e-01 9.82440701e-01 4.77630854e-04 -5.80270427e+01] [-1.73468923e-03 1.56733496e-04 -9.99998483e-01 2.79609332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.54762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.43, Y:-58.00, Z:2.80 [[-9.65952018e-01 -2.58716392e-01 1.58986941e-03 9.24274502e+01] [-2.58715775e-01 9.65953314e-01 5.85748205e-04 -5.80016841e+01] [-1.68728229e-03 1.54480364e-04 -9.99998565e-01 2.79655167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.57762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.38, Y:-57.99, Z:2.80 [[-9.43663418e-01 -3.30902864e-01 1.62713084e-03 9.23790386e+01] [-3.30902092e-01 9.43664809e-01 7.30778726e-04 -5.79851654e+01] [-1.77728289e-03 1.51188150e-04 -9.99998409e-01 2.79758738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.32, Y:-57.98, Z:2.80 [[-9.16372270e-01 -4.00323551e-01 1.70797323e-03 9.23177666e+01] [-4.00322545e-01 9.16373850e-01 9.09768757e-04 -5.79787779e+01] [-1.92934387e-03 1.49946670e-04 -9.99998128e-01 2.79780238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.25, Y:-57.98, Z:2.80 [[-8.83969859e-01 -4.67540317e-01 1.82765687e-03 9.22479496e+01] [-4.67538963e-01 8.83971736e-01 1.13488954e-03 -5.79815628e+01] [-2.14620364e-03 1.48707350e-04 -9.99997686e-01 2.79833808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.17, Y:-57.99, Z:2.80 [[-8.46677323e-01 -5.32103059e-01 1.96095222e-03 9.21709342e+01] [-5.32101218e-01 8.46679581e-01 1.40778280e-03 -5.79941140e+01] [-2.40938374e-03 1.48512709e-04 -9.99997086e-01 2.79881201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.09, Y:-58.02, Z:2.80 [[-8.05268725e-01 -5.92904268e-01 2.60956379e-03 9.20896633e+01] [-5.92900544e-01 8.05272940e-01 2.10669838e-03 -5.80190938e+01] [-3.35048156e-03 1.49246528e-04 -9.99994376e-01 2.79990538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.00, Y:-58.06, Z:2.80 [[-7.59104306e-01 -6.50963090e-01 2.77635707e-03 9.20028659e+01] [-6.50957986e-01 7.59109367e-01 2.58247398e-03 -5.80552043e+01] [-3.78865390e-03 1.53075310e-04 -9.99992811e-01 2.80034973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.92, Y:-58.10, Z:2.80 [[-7.08789013e-01 -7.05414764e-01 2.85403230e-03 9.19160132e+01] [-7.05408117e-01 7.08794741e-01 3.06654465e-03 -5.81012567e+01] [-4.18610896e-03 1.60275608e-04 -9.99991225e-01 2.80119451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.78762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.83, Y:-58.16, Z:2.80 [[-6.57118569e-01 -7.53781822e-01 2.85504420e-03 9.18335390e+01] [-7.53773453e-01 6.57124745e-01 3.55683182e-03 -5.81588592e+01] [-4.55719537e-03 1.85203708e-04 -9.99989599e-01 2.80214522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.75, Y:-58.23, Z:2.80 [[-6.00102079e-01 -7.99918120e-01 2.91477786e-03 9.17494604e+01] [-7.99906978e-01 6.00109123e-01 4.22700589e-03 -5.82265270e+01] [-5.13044339e-03 2.05083869e-04 -9.99986818e-01 2.80293270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.67, Y:-58.30, Z:2.80 [[-5.39610130e-01 -8.41910659e-01 2.71103783e-03 9.16716756e+01] [-8.41897871e-01 5.39616894e-01 4.64575315e-03 -5.82983311e+01] [-5.37423091e-03 2.24478487e-04 -9.99985534e-01 2.80283533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.60, Y:-58.38, Z:2.80 [[-4.76610489e-01 -8.79111816e-01 2.20388722e-03 9.15960779e+01] [-8.79099975e-01 4.76615524e-01 4.56907057e-03 -5.83831653e+01] [-5.06713078e-03 2.40229755e-04 -9.99987133e-01 2.80307002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.90762800000002 meters Centerline goodness [0,1] 0.9998666103465907 Centerline is valid? [True, True] Translation: X:91.53, Y:-58.47, Z:2.81 [[-4.14297544e-01 -9.10139901e-01 1.70476112e-03 9.15316519e+01] [-9.10129307e-01 4.14300963e-01 4.39960143e-03 -5.84736022e+01] [-4.71053698e-03 2.71191008e-04 -9.99988869e-01 2.80535811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.47, Y:-58.58, Z:2.80 [[-3.45739983e-01 -9.38329900e-01 9.29174117e-04 9.14664875e+01] [-9.38324310e-01 3.45741141e-01 3.24855398e-03 -5.85780464e+01] [-3.36946905e-03 2.51288338e-04 -9.99994292e-01 2.80273183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.41, Y:-58.68, Z:2.80 [[-2.75800850e-01 -9.61214584e-01 6.43567248e-04 9.14123103e+01] [-9.61209334e-01 2.75801477e-01 3.18767159e-03 -5.86768851e+01] [-3.24153322e-03 2.60559688e-04 -9.99994712e-01 2.80310861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.36, Y:-58.79, Z:2.80 [[-2.04117738e-01 -9.78946265e-01 3.99005523e-04 9.13647269e+01] [-9.78940911e-01 2.04117946e-01 3.24927799e-03 -5.87871340e+01] [-3.26231274e-03 2.72632442e-04 -9.99994641e-01 2.80318387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.02762800000002 meters Centerline goodness [0,1] 0.9998876656931027 Centerline is valid? [True, True] Translation: X:91.33, Y:-58.90, Z:2.81 [[-1.34664308e-01 -9.90891261e-01 1.82247362e-04 9.13262945e+01] [-9.90884578e-01 1.34664072e-01 3.65252713e-03 -5.89012185e+01] [-3.64379939e-03 3.11278939e-04 -9.99993313e-01 2.80532005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.30, Y:-59.02, Z:2.80 [[-5.94423693e-02 -9.98231731e-01 -1.26741890e-04 9.12958578e+01] [-9.98229395e-01 5.94419541e-02 2.17458350e-03 -5.90201966e+01] [-2.16320447e-03 2.55779876e-04 -9.99997628e-01 2.80327267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.27, Y:-59.14, Z:2.80 [[ 1.62459829e-02 -9.99867987e-01 -2.78560948e-04 9.12707830e+01] [-9.99866218e-01 -1.62464826e-02 1.89692579e-03 -5.91417331e+01] [-1.90120101e-03 2.47706258e-04 -9.99998162e-01 2.80269499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.26, Y:-59.27, Z:2.80 [[ 9.27369997e-02 -9.95690566e-01 -3.81796675e-04 9.12566906e+01] [-9.95689370e-01 -9.27374869e-02 1.56122780e-03 -5.92663591e+01] [-1.58990665e-03 2.35367309e-04 -9.99998708e-01 2.80210808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.25, Y:-59.39, Z:2.80 [[ 1.68926499e-01 -9.85628606e-01 -2.99805923e-04 9.12547935e+01] [-9.85628436e-01 -1.68926655e-01 6.09437536e-04 -5.93907059e+01] [-6.51324281e-04 1.92547094e-04 -9.99999769e-01 2.80190783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.177628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.25, Y:-59.51, Z:2.80 [[ 2.45421011e-01 -9.69416527e-01 -3.53648341e-04 9.12545251e+01] [-9.69416353e-01 -2.45421190e-01 6.11379604e-04 -5.95147067e+01] [-6.79474289e-04 1.92787084e-04 -9.99999751e-01 2.80231211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.207628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.27, Y:-59.64, Z:2.80 [[ 3.20852731e-01 -9.47129001e-01 -4.25955059e-04 9.12714631e+01] [-9.47128797e-01 -3.20852955e-01 6.50327184e-04 -5.96428352e+01] [-7.52612675e-04 1.94775050e-04 -9.99999698e-01 2.80313124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.237628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.29, Y:-59.76, Z:2.80 [[ 3.94437829e-01 -9.18922506e-01 -4.76112452e-04 9.12882408e+01] [-9.18922318e-01 -3.94438069e-01 6.19206601e-04 -5.97590096e+01] [-7.56799757e-04 1.93271850e-04 -9.99999695e-01 2.80335160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.32, Y:-59.88, Z:2.80 [[ 4.68037371e-01 -8.83708545e-01 -4.77081175e-04 9.13175131e+01] [-8.83708421e-01 -4.68037577e-01 5.03713277e-04 -5.98807661e+01] [-6.68427644e-04 1.85844014e-04 -9.99999759e-01 2.80360463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.36, Y:-60.00, Z:2.80 [[ 5.37139341e-01 -8.43493324e-01 -5.84456596e-04 9.13560427e+01] [-8.43493153e-01 -5.37139626e-01 5.68182022e-04 -5.99970311e+01] [-7.93192539e-04 1.87792220e-04 -9.99999668e-01 2.80380417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.40, Y:-60.11, Z:2.80 [[ 6.02878961e-01 -7.97832074e-01 -9.69352943e-04 9.14039048e+01] [-7.97831539e-01 -6.02879706e-01 9.45989099e-04 -6.01097756e+01] [-1.33914366e-03 2.03063425e-04 -9.99999083e-01 2.80415015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.45, Y:-60.21, Z:2.80 [[ 6.64778711e-01 -7.47039204e-01 -1.30166964e-03 9.14491484e+01] [-7.47038352e-01 -6.64779952e-01 1.14723749e-03 -6.02069306e+01] [-1.72235526e-03 2.09738083e-04 -9.99998495e-01 2.80430730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.50, Y:-60.31, Z:2.81 [[ 7.24175740e-01 -6.89612331e-01 -2.08089694e-03 9.15042487e+01] [-6.89610331e-01 -7.24178696e-01 1.67589349e-03 -6.03089651e+01] [-2.66265805e-03 2.21366619e-04 -9.99996431e-01 2.80573822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.50, Y:-60.32, Z:2.81 [[ 7.77737722e-01 -6.28584340e-01 -2.40069555e-03 9.14966134e+01] [-6.28582196e-01 -7.77741396e-01 1.65660604e-03 -6.03188346e+01] [-2.90843692e-03 2.20629473e-04 -9.99995746e-01 2.80695452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.49, Y:-60.33, Z:2.81 [[ 8.26084018e-01 -5.63538601e-01 -3.07267842e-03 9.14889960e+01] [-5.63535691e-01 -8.26089702e-01 1.82461894e-03 -6.03265238e+01] [-3.56655121e-03 2.24275414e-04 -9.99993615e-01 2.80759998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.48, Y:-60.33, Z:2.81 [[ 8.69105294e-01 -4.94612729e-01 -3.77302618e-03 9.14804019e+01] [-4.94609166e-01 -8.69113456e-01 1.89041230e-03 -6.03320772e+01] [-4.21420981e-03 2.23206000e-04 -9.99991095e-01 2.80824560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.47, Y:-60.34, Z:2.81 [[ 9.07578324e-01 -4.19856966e-01 -4.65980604e-03 9.14735196e+01] [-4.19852587e-01 -9.07590263e-01 1.92856727e-03 -6.03400227e+01] [-5.03891699e-03 2.06105773e-04 -9.99987283e-01 2.80945768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.47, Y:-60.34, Z:2.81 [[ 9.37615210e-01 -3.47641568e-01 -4.80186527e-03 9.14681652e+01] [-3.47638124e-01 -9.37627484e-01 1.56110527e-03 -6.03441413e+01] [-5.04506594e-03 2.05595385e-04 -9.99987252e-01 2.80952089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.46, Y:-60.36, Z:2.81 [[ 9.62669163e-01 -2.70635774e-01 -4.93558466e-03 9.14615808e+01] [-2.70633232e-01 -9.62681796e-01 1.18865859e-03 -6.03550846e+01] [-5.07309104e-03 1.91448253e-04 -9.99987113e-01 2.80902810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.45, Y:-60.36, Z:2.81 [[ 9.81345902e-01 -1.92178884e-01 -5.24381362e-03 9.14519757e+01] [-1.92177120e-01 -9.81359895e-01 8.42979493e-04 -6.03628971e+01] [-5.30807124e-03 1.80486530e-04 -9.99985896e-01 2.80996270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.44, Y:-60.37, Z:2.81 [[ 9.93784397e-01 -1.11181515e-01 -5.58963027e-03 9.14445938e+01] [-1.11180667e-01 -9.93800103e-01 4.63274870e-04 -6.03728392e+01] [-5.60648274e-03 1.61063482e-04 -9.99984271e-01 2.80976747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.44, Y:-60.38, Z:2.81 [[ 9.99474441e-01 -3.19398674e-02 -5.53950154e-03 9.14378223e+01] [-3.19402315e-02 -9.99489780e-01 2.27604189e-05 -6.03818808e+01] [-5.53740214e-03 1.54184504e-04 -9.99984657e-01 2.80975382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.43, Y:-60.39, Z:2.81 [[ 9.98852830e-01 4.75995554e-02 -5.22560724e-03 9.14307681e+01] [ 4.75981307e-02 -9.98866488e-01 -3.96750100e-04 -6.03905686e+01] [-5.23856908e-03 1.47565824e-04 -9.99986268e-01 2.81066168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.43, Y:-60.40, Z:2.81 [[ 9.91939643e-01 1.26611662e-01 -5.02313600e-03 9.14253194e+01] [ 1.26609311e-01 -9.91952351e-01 -7.84583871e-04 -6.03988858e+01] [-5.08204903e-03 1.42284057e-04 -9.99987076e-01 2.80980665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.42, Y:-60.41, Z:2.81 [[ 9.78591726e-01 2.05757831e-01 -4.68494210e-03 9.14200371e+01] [ 2.05754820e-01 -9.78602931e-01 -1.12101096e-03 -6.04072662e+01] [-4.81535486e-03 1.33062634e-04 -9.99988397e-01 2.80895227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.42, Y:-60.42, Z:2.81 [[ 9.59226392e-01 2.82607481e-01 -4.21207016e-03 9.14156898e+01] [ 2.82604157e-01 -9.59235630e-01 -1.37677602e-03 -6.04154607e+01] [-4.42945498e-03 1.30291359e-04 -9.99990181e-01 2.80869574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.41, Y:-60.42, Z:2.81 [[ 9.33713360e-01 3.57993793e-01 -4.45025624e-03 9.14114957e+01] [ 3.57989102e-01 -9.33723958e-01 -1.83687756e-03 -6.04244106e+01] [-4.81290163e-03 1.21973886e-04 -9.99988410e-01 2.80889590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.41, Y:-60.43, Z:2.81 [[ 9.02421549e-01 4.30830025e-01 -4.56494439e-03 9.14082950e+01] [ 4.30823866e-01 -9.02433087e-01 -2.30642274e-03 -6.04347359e+01] [-5.11323302e-03 1.14678585e-04 -9.99986921e-01 2.80905053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.40, Y:-60.44, Z:2.81 [[ 8.65214458e-01 5.01363853e-01 -6.18300172e-03 9.14046691e+01] [ 5.01350316e-01 -8.65236545e-01 -3.68525097e-03 -6.04447067e+01] [-7.19741067e-03 8.86825518e-05 -9.99974094e-01 2.81150743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.40, Y:-60.45, Z:2.81 [[ 8.22970762e-01 5.68037285e-01 -7.26409166e-03 9.14020713e+01] [ 5.68014422e-01 -8.23002818e-01 -5.09691301e-03 -6.04533669e+01] [-8.87360453e-03 6.85015638e-05 -9.99960626e-01 2.81213982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.927628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.40, Y:-60.46, Z:2.81 [[ 7.75772826e-01 6.30961676e-01 -7.99291418e-03 9.14004149e+01] [ 6.30927503e-01 -7.75813999e-01 -6.56695357e-03 -6.04632370e+01] [-1.03445107e-02 5.15147433e-05 -9.99946493e-01 2.81311654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.957628 meters Centerline goodness [0,1] 0.9999319002111093 Centerline is valid? [True, True] Translation: X:91.40, Y:-60.47, Z:2.82 [[ 7.24269770e-01 6.89459353e-01 -8.89383350e-03 9.13983432e+01] [ 6.89406735e-01 -7.24324374e-01 -8.51793979e-03 -6.04738565e+01] [-1.23147936e-02 3.78175787e-05 -9.99924169e-01 2.81627190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.987628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.40, Y:-60.48, Z:2.81 [[ 6.68091685e-01 7.44032683e-01 -8.29861889e-03 9.13968004e+01] [ 7.43974612e-01 -6.68143222e-01 -9.29579005e-03 -6.04838699e+01] [-1.24610376e-02 3.64782603e-05 -9.99922358e-01 2.81442892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.40, Y:-60.49, Z:2.81 [[ 6.08122102e-01 7.93811280e-01 -7.15267340e-03 9.13974468e+01] [ 7.93755465e-01 -6.08164163e-01 -9.41342310e-03 -6.04942757e+01] [-1.18224811e-02 4.70370436e-05 -9.99930111e-01 2.81409706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.40, Y:-60.51, Z:2.81 [[ 5.45118778e-01 8.38335069e-01 -6.31102552e-03 9.13983689e+01] [ 8.38277558e-01 -5.45155306e-01 -9.81977395e-03 -6.05050791e+01] [-1.16727499e-02 6.25521197e-05 -9.99931869e-01 2.81354366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.40, Y:-60.51, Z:2.81 [[ 4.82017095e-01 8.76148178e-01 -4.88775940e-03 9.13973194e+01] [ 8.76100550e-01 -4.82041860e-01 -9.13623810e-03 -6.05148535e+01] [-1.03608030e-02 1.21654243e-04 -9.99946318e-01 2.81138860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.40, Y:-60.52, Z:2.81 [[ 4.15121167e-01 9.09758018e-01 -3.84273061e-03 9.13969002e+01] [ 9.09715464e-01 -4.15138922e-01 -8.80051100e-03 -6.05244663e+01] [-9.60160248e-03 1.57486927e-04 -9.99953891e-01 2.80942837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.137628 meters Centerline goodness [0,1] 0.9999092064644998 Centerline is valid? [True, True] Translation: X:91.40, Y:-60.53, Z:2.81 [[ 3.47030202e-01 9.37849058e-01 -3.03026987e-03 9.13984629e+01] [ 9.37808104e-01 -3.47043374e-01 -8.76677091e-03 -6.05343107e+01] [-9.27354292e-03 2.00522641e-04 -9.99956980e-01 2.80995660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.167628 meters Centerline goodness [0,1] 0.9998181032718674 Centerline is valid? [True, True] Translation: X:91.40, Y:-60.55, Z:2.81 [[ 2.76879327e-01 9.60902409e-01 -2.09753202e-03 9.13994757e+01] [ 9.60868116e-01 -2.76887173e-01 -8.12138011e-03 -6.05454030e+01] [-8.38463342e-03 2.33190613e-04 -9.99964821e-01 2.81055430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.40, Y:-60.56, Z:2.81 [[ 2.05068166e-01 9.78747125e-01 -1.05501692e-03 9.14029944e+01] [ 9.78727503e-01 -2.05070740e-01 -6.20209404e-03 -6.05561718e+01] [-6.28663481e-03 2.39277976e-04 -9.99980210e-01 2.80701237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.41, Y:-60.57, Z:2.81 [[ 1.38329401e-01 9.90386195e-01 -4.02638463e-04 9.14065861e+01] [ 9.90374466e-01 -1.38329725e-01 -4.82745902e-03 -6.05669455e+01] [-4.83674564e-03 2.69016660e-04 -9.99988267e-01 2.80601124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.41, Y:-60.58, Z:2.81 [[ 6.56431609e-02 9.97843162e-01 -5.66624660e-06 9.14132335e+01] [ 9.97833772e-01 -6.56425678e-02 -4.33789082e-03 -6.05771741e+01] [-4.32890664e-03 2.79098893e-04 -9.99990591e-01 2.80575570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.42, Y:-60.59, Z:2.81 [[-7.46152059e-03 9.99972116e-01 3.03695046e-04 9.14172904e+01] [ 9.99965543e-01 7.46257592e-03 -3.63636354e-03 -6.05889295e+01] [-3.63852849e-03 2.76551780e-04 -9.99993342e-01 2.80609803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.43, Y:-60.60, Z:2.81 [[-8.04724741e-02 9.96756590e-01 6.93222598e-04 9.14344149e+01] [ 9.96746632e-01 8.04747775e-02 -4.46796888e-03 -6.05976359e+01] [-4.50926436e-03 3.31418779e-04 -9.99989778e-01 2.80552605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.34762800000001 meters Centerline goodness [0,1] 0.9998630637210152 Centerline is valid? [True, True] Translation: X:91.45, Y:-60.61, Z:2.81 [[-1.48419799e-01 9.88923353e-01 1.47131414e-03 9.14451095e+01] [ 9.88901976e-01 1.48426292e-01 -6.52049821e-03 -6.06069504e+01] [-6.66665466e-03 4.87214431e-04 -9.99977659e-01 2.80980199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.46, Y:-60.61, Z:2.81 [[-2.22368821e-01 9.74960377e-01 2.09062972e-03 9.14600664e+01] [ 9.74936927e-01 2.22378017e-01 -6.78278991e-03 -6.06145763e+01] [-7.07786150e-03 5.29951124e-04 -9.99974811e-01 2.80825635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.47, Y:-60.62, Z:2.81 [[-2.95721757e-01 9.55269496e-01 2.97190519e-03 9.14738298e+01] [ 9.55239818e-01 2.95736072e-01 -7.55416218e-03 -6.06220739e+01] [-8.09516026e-03 6.04952058e-04 -9.99967051e-01 2.80890986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.49, Y:-60.63, Z:2.81 [[-3.68026781e-01 9.29807563e-01 3.76626819e-03 9.14883335e+01] [ 9.29775458e-01 3.68045481e-01 -7.75378949e-03 -6.06270375e+01] [-8.59569009e-03 6.48181550e-04 -9.99962846e-01 2.80892286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.46762800000002 meters Centerline goodness [0,1] 0.999864050391988 Centerline is valid? [True, True] Translation: X:91.51, Y:-60.63, Z:2.81 [[-4.39285505e-01 8.98336669e-01 4.41287130e-03 9.15056125e+01] [ 8.98305386e-01 4.39307177e-01 -7.52586060e-03 -6.06293993e+01] [-8.69936258e-03 6.58104571e-04 -9.99961943e-01 2.81223711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.52, Y:-60.63, Z:2.81 [[-5.10376285e-01 8.59939558e-01 4.47273286e-03 9.15230852e+01] [ 8.59916006e-01 5.10395548e-01 -6.39118061e-03 -6.06297920e+01] [-7.77889197e-03 5.84267558e-04 -9.99969573e-01 2.80971368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.54, Y:-60.63, Z:2.81 [[-5.78545226e-01 8.15637560e-01 4.55990739e-03 9.15396829e+01] [ 8.15619064e-01 5.78562955e-01 -5.51804985e-03 -6.06308177e+01] [-7.13892222e-03 5.26706004e-04 -9.99974379e-01 2.80973475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.56, Y:-60.63, Z:2.81 [[-6.46903464e-01 7.62561274e-01 4.02638039e-03 9.15591127e+01] [ 7.62550241e-01 6.46915868e-01 -4.12177651e-03 -6.06251810e+01] [-5.74783651e-03 4.03925836e-04 -9.99983399e-01 2.80844215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.58, Y:-60.62, Z:2.81 [[-7.07988085e-01 7.06215159e-01 3.60840556e-03 9.15755230e+01] [ 7.06208328e-01 7.07997201e-01 -3.12442861e-03 -6.06199209e+01] [-4.76125988e-03 3.36227828e-04 -9.99988609e-01 2.80750923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.60, Y:-60.60, Z:2.81 [[-7.59228682e-01 6.50816155e-01 3.18445104e-03 9.16035822e+01] [ 6.50811885e-01 7.59235312e-01 -2.37287790e-03 -6.05977940e+01] [-3.96205495e-03 2.70921628e-04 -9.99992114e-01 2.80644771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.63, Y:-60.57, Z:2.81 [[-8.06203763e-01 5.91630040e-01 3.06413036e-03 9.16258630e+01] [ 5.91626875e-01 8.06209550e-01 -1.94987308e-03 -6.05732570e+01] [-3.62393464e-03 2.40826854e-04 -9.99993405e-01 2.80605020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.677628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.65, Y:-60.55, Z:2.81 [[-8.48603340e-01 5.29022796e-01 2.69322773e-03 9.16456346e+01] [ 5.29020892e-01 8.48607588e-01 -1.43420639e-03 -6.05478862e+01] [-3.04422136e-03 2.07701402e-04 -9.99995345e-01 2.80556126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.707628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.66, Y:-60.52, Z:2.81 [[-8.88128598e-01 4.59590495e-01 2.04226013e-03 9.16643968e+01] [ 4.59589700e-01 8.88130930e-01 -8.70879942e-04 -6.05152277e+01] [-2.21404254e-03 1.65148340e-04 -9.99997535e-01 2.80542790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.737628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.68, Y:-60.49, Z:2.81 [[-9.19995418e-01 3.91923362e-01 2.12336955e-03 9.16801553e+01] [ 3.91922705e-01 9.19997855e-01 -7.34544454e-04 -6.04862612e+01] [-2.24138056e-03 1.56419206e-04 -9.99997476e-01 2.80598384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.69, Y:-60.46, Z:2.81 [[-9.46689689e-01 3.22138371e-01 2.34604309e-03 9.16931659e+01] [ 3.22137769e-01 9.46692584e-01 -6.40390760e-04 -6.04562061e+01] [-2.42727603e-03 1.49497757e-04 -9.99997043e-01 2.80654330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.94, Y:-59.71, Z:1.97 [[-9.28928721e-01 -3.70213941e-01 5.75053111e-03 9.19364426e+01] [ 3.70207235e-01 -9.28946518e-01 -2.22918741e-03 -5.97111758e+01] [ 6.16721211e-03 5.81320097e-05 9.99980981e-01 1.96933003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.64, Y:-60.43, Z:2.81 [[-9.50598168e-01 3.10414735e-01 2.41165229e-03 9.16438884e+01] [ 3.10414077e-01 9.50601218e-01 -6.51940884e-04 -6.04297265e+01] [-2.49489166e-03 1.28877012e-04 -9.99996879e-01 2.80752151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.66, Y:-60.40, Z:2.81 [[-9.70636065e-01 2.40538614e-01 2.60848181e-03 9.16567468e+01] [ 2.40538086e-01 9.70639562e-01 -5.19016864e-04 -6.04026367e+01] [-2.65673924e-03 1.23662736e-04 -9.99996463e-01 2.80730211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.66, Y:-60.37, Z:2.81 [[-9.85501394e-01 1.69651229e-01 2.33720296e-03 9.16646015e+01] [ 1.69651040e-01 9.85504158e-01 -2.80459588e-04 -6.03746016e+01] [-2.35090355e-03 1.20115598e-04 -9.99997229e-01 2.80782184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.67, Y:-60.35, Z:2.81 [[-9.95156039e-01 9.82792506e-02 2.37617182e-03 9.16678076e+01] [ 9.82792519e-02 9.95158869e-01 -1.16499116e-04 -6.03463180e+01] [-2.37611790e-03 1.17593590e-04 -9.99997170e-01 2.80816802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.75, Y:-59.59, Z:1.97 [[-9.85207500e-01 -1.71261369e-01 5.97709706e-03 9.17468270e+01] [ 1.71259023e-01 -9.85225622e-01 -9.05990664e-04 -5.95913966e+01] [ 6.04395037e-03 1.31043005e-04 9.99981727e-01 1.96836048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.60, Y:-60.34, Z:2.81 [[-9.95592922e-01 9.37380971e-02 2.81105164e-03 9.16040006e+01] [ 9.37380561e-02 9.95596884e-01 -1.46624784e-04 -6.03408502e+01] [-2.81241858e-03 1.17523919e-04 -9.99996038e-01 2.80921743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.61, Y:-60.31, Z:2.81 [[-9.99717090e-01 2.36524776e-02 2.51017226e-03 9.16070458e+01] [ 2.36527013e-02 9.99720234e-01 5.94635310e-05 -6.03148486e+01] [-2.50806354e-03 1.18819063e-04 -9.99996848e-01 2.80936201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.64, Y:-59.55, Z:1.97 [[-9.95763312e-01 -9.17788129e-02 5.66354005e-03 9.16351811e+01] [ 9.17778177e-02 -9.95779414e-01 -4.35910742e-04 -5.95470288e+01] [ 5.67964396e-03 8.57234221e-05 9.99983867e-01 1.96884824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.53, Y:-60.32, Z:2.81 [[-9.99715066e-01 2.37970648e-02 1.86734364e-03 9.15266331e+01] [ 2.37972702e-02 9.99716801e-01 8.78469798e-05 -6.03206930e+01] [-1.86472431e-03 1.32259630e-04 -9.99998253e-01 2.80803412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.55, Y:-59.54, Z:1.97 [[-9.96584542e-01 -8.24221494e-02 5.08334342e-03 9.15525672e+01] [ 8.24213992e-02 -9.96597504e-01 -3.57251034e-04 -5.95388357e+01] [ 5.09549276e-03 6.29454190e-05 9.99987016e-01 1.97019014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.44, Y:-60.32, Z:2.81 [[-9.99742400e-01 2.26618131e-02 1.25569021e-03 9.14440150e+01] [ 2.26619664e-02 9.99743179e-01 1.08063300e-04 -6.03248965e+01] [-1.25291881e-03 1.36491872e-04 -9.99999206e-01 2.80731612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.45, Y:-60.30, Z:2.81 [[-9.99032244e-01 -4.39496425e-02 1.73310576e-03 9.14494387e+01] [-4.39493248e-02 9.99033737e-01 2.21001388e-04 -6.03026078e+01] [-1.74114405e-03 1.44618685e-04 -9.99998474e-01 2.80714776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.45, Y:-60.28, Z:2.81 [[-9.93560050e-01 -1.13286674e-01 2.13449463e-03 9.14451722e+01] [-1.13286079e-01 9.93562331e-01 3.98242479e-04 -6.02779522e+01] [-2.16586903e-03 1.53869291e-04 -9.99997643e-01 2.80784575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.43, Y:-60.25, Z:2.81 [[-9.83189560e-01 -1.82575031e-01 2.15548827e-03 9.14262018e+01] [-1.82574234e-01 9.83191910e-01 5.62816131e-04 -6.02543365e+01] [-2.22201480e-03 1.59818326e-04 -9.99997519e-01 2.80847541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.39, Y:-60.24, Z:2.81 [[-9.67699297e-01 -2.52092410e-01 2.73641051e-03 9.13866353e+01] [-2.52090884e-01 9.67703150e-01 8.94671015e-04 -6.02387925e+01] [-2.87357284e-03 1.75948368e-04 -9.99995856e-01 2.80907964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.33, Y:-60.23, Z:2.81 [[-9.47627868e-01 -3.19362658e-01 2.98589892e-03 9.13322714e+01] [-3.19360418e-01 9.47632553e-01 1.21196821e-03 -6.02310420e+01] [-3.21659240e-03 1.94916924e-04 -9.99994808e-01 2.80918642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.26, Y:-60.23, Z:2.81 [[-9.21806201e-01 -3.87640517e-01 2.85598381e-03 9.12631701e+01] [-3.87637980e-01 9.21810604e-01 1.41654302e-03 -6.02315543e+01] [-3.18178564e-03 1.98690347e-04 -9.99994918e-01 2.80913730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.19, Y:-60.24, Z:2.81 [[-8.90574296e-01 -4.54828716e-01 2.87451111e-03 9.11852029e+01] [-4.54825590e-01 8.90578911e-01 1.69885159e-03 -6.02415413e+01] [-3.33266547e-03 2.05552344e-04 -9.99994426e-01 2.80924138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.10, Y:-60.26, Z:2.81 [[-8.54424245e-01 -5.19567487e-01 2.97264254e-03 9.11009787e+01] [-5.19563443e-01 8.54429388e-01 2.06134910e-03 -6.02628163e+01] [-3.61092312e-03 2.16790256e-04 -9.99993457e-01 2.80904908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.01, Y:-60.29, Z:2.81 [[-8.12904199e-01 -5.82389741e-01 2.99206532e-03 9.10143190e+01] [-5.82384756e-01 8.12909674e-01 2.42025562e-03 -6.02911458e+01] [-3.84181089e-03 2.24902731e-04 -9.99992595e-01 2.80903999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.427628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.92, Y:-60.33, Z:2.81 [[-7.66283105e-01 -6.42496962e-01 2.80304696e-03 9.09225299e+01] [-6.42491561e-01 7.66288198e-01 2.64395991e-03 -6.03297844e+01] [-3.84667801e-03 2.25087790e-04 -9.99992576e-01 2.80925867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.83, Y:-60.38, Z:2.81 [[-7.15343957e-01 -6.98768629e-01 2.32962594e-03 9.08316503e+01] [-6.98763903e-01 7.15347717e-01 2.57903588e-03 -6.03786903e+01] [-3.46864196e-03 2.17039220e-04 -9.99993961e-01 2.80907442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.487628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.74, Y:-60.44, Z:2.81 [[-6.59959767e-01 -7.51298744e-01 1.81770943e-03 9.07438841e+01] [-7.51295000e-01 6.59962238e-01 2.38056116e-03 -6.04396462e+01] [-2.98813219e-03 2.05438575e-04 -9.99995514e-01 2.80938770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.65, Y:-60.51, Z:2.81 [[-6.00266269e-01 -7.99798849e-01 1.48582869e-03 9.06517864e+01] [-7.99795536e-01 6.00268075e-01 2.31059039e-03 -6.05096179e+01] [-2.73990306e-03 1.98610317e-04 -9.99996227e-01 2.80872219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.57, Y:-60.59, Z:2.81 [[-5.35283421e-01 -8.44671880e-01 1.03652816e-03 9.05701768e+01] [-8.44669594e-01 5.35284394e-01 1.97341318e-03 -6.05861721e+01] [-2.22172397e-03 1.80811540e-04 -9.99997516e-01 2.80854389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.49, Y:-60.67, Z:2.81 [[-4.67323247e-01 -8.84086050e-01 9.15731244e-04 9.04890562e+01] [-8.84083537e-01 4.67324110e-01 2.11580108e-03 -6.06723494e+01] [-2.29849351e-03 1.79180113e-04 -9.99997342e-01 2.80876904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.41, Y:-60.77, Z:2.81 [[-3.96015128e-01 -9.18243602e-01 8.40504092e-04 9.04146001e+01] [-9.18240476e-01 3.96015979e-01 2.40261027e-03 -6.07685828e+01] [-2.53903456e-03 1.79685136e-04 -9.99996761e-01 2.80956869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.35, Y:-60.87, Z:2.81 [[-3.21602848e-01 -9.46874405e-01 6.84788516e-04 9.03497726e+01] [-9.46870956e-01 3.21603530e-01 2.56167060e-03 -6.08673924e+01] [-2.64581073e-03 1.75434204e-04 -9.99996484e-01 2.81051006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.29, Y:-60.98, Z:2.81 [[-2.42936094e-01 -9.70042104e-01 6.08882579e-04 9.02858669e+01] [-9.70037062e-01 2.42936797e-01 3.13226449e-03 -6.09805769e+01] [-3.18634842e-03 1.70301432e-04 -9.99994909e-01 2.81102778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.24, Y:-61.09, Z:2.81 [[-1.64462547e-01 -9.86383218e-01 4.66763330e-04 9.02358441e+01] [-9.86375820e-01 1.64463123e-01 3.82390832e-03 -6.10883246e+01] [-3.84860435e-03 1.68485639e-04 -9.99992580e-01 2.81171966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.19, Y:-61.21, Z:2.81 [[-8.50178399e-02 -9.96379410e-01 1.94528550e-04 9.01934448e+01] [-9.96370673e-01 8.50179097e-02 4.17573753e-03 -6.12083805e+01] [-4.17715730e-03 1.61189642e-04 -9.99991263e-01 2.81234709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.16, Y:-61.32, Z:2.81 [[-5.49281878e-03 -9.99984906e-01 -1.28856106e-04 9.01613806e+01] [-9.99976365e-01 5.49223892e-03 4.13586853e-03 -6.13245296e+01] [-4.13509839e-03 1.51570636e-04 -9.99991439e-01 2.81277004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.14, Y:-61.45, Z:2.81 [[ 7.56952320e-02 -9.97130894e-01 -4.61230639e-04 9.01379889e+01] [-9.97121753e-01 -7.56965140e-02 4.27171669e-03 -6.14459518e+01] [-4.29437423e-03 1.36554517e-04 -9.99990770e-01 2.81253317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.12, Y:-61.57, Z:2.81 [[ 1.54348729e-01 -9.88016137e-01 -7.63061760e-04 9.01246619e+01] [-9.88007843e-01 -1.54350561e-01 4.05055717e-03 -6.15721202e+01] [-4.11979486e-03 1.28712653e-04 -9.99991505e-01 2.81268597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.12, Y:-61.69, Z:2.81 [[ 2.32022333e-01 -9.72709788e-01 -1.14268473e-03 9.01202646e+01] [-9.72700445e-01 -2.32025114e-01 4.26498910e-03 -6.16918534e+01] [-4.41372820e-03 1.21917223e-04 -9.99990252e-01 2.81374099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.13, Y:-61.82, Z:2.81 [[ 3.08064390e-01 -9.51364298e-01 -1.51819452e-03 9.01280786e+01] [-9.51354518e-01 -3.08068109e-01 4.31527230e-03 -6.18205813e+01] [-4.57310332e-03 1.14959487e-04 -9.99989537e-01 2.81384478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.15, Y:-61.95, Z:2.82 [[ 3.82924730e-01 -9.23776977e-01 -2.17877995e-03 9.01483879e+01] [-9.23763480e-01 -3.82930916e-01 4.99475864e-03 -6.19526022e+01] [-5.44836524e-03 1.00060740e-04 -9.99985153e-01 2.81524242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.16, Y:-62.05, Z:2.82 [[ 4.54193363e-01 -8.90899879e-01 -2.40709821e-03 9.01643329e+01] [-8.90888473e-01 -4.54199731e-01 4.50914278e-03 -6.20520599e+01] [-5.11049811e-03 9.64333227e-05 -9.99986937e-01 2.81564146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.20, Y:-62.17, Z:2.82 [[ 5.22441897e-01 -8.52671036e-01 -2.56292948e-03 9.01989736e+01] [-8.52661643e-01 -5.22448175e-01 4.00341202e-03 -6.21699921e+01] [-4.75259130e-03 9.37614930e-05 -9.99988702e-01 2.81573134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.24, Y:-62.28, Z:2.82 [[ 5.87479765e-01 -8.09234737e-01 -2.58191160e-03 9.02381704e+01] [-8.09227600e-01 -5.87485431e-01 3.39995846e-03 -6.22753314e+01] [-4.26819994e-03 9.19473239e-05 -9.99990887e-01 2.81550308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.29, Y:-62.38, Z:2.82 [[ 6.48457401e-01 -7.61245843e-01 -2.78651779e-03 9.02878561e+01] [-7.61239404e-01 -6.48463382e-01 3.13245745e-03 -6.23804987e+01] [-4.19152497e-03 8.99419232e-05 -9.99991211e-01 2.81503357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.34, Y:-62.48, Z:2.82 [[ 7.05107723e-01 -7.09095345e-01 -2.62499893e-03 9.03431586e+01] [-7.09090919e-01 -7.05112603e-01 2.50707749e-03 -6.24799843e+01] [-3.62867680e-03 9.36032028e-05 -9.99993412e-01 2.81514661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.40, Y:-62.57, Z:2.82 [[ 7.57838446e-01 -6.52434917e-01 -3.09339190e-03 9.03994830e+01] [-6.52429950e-01 -7.57844754e-01 2.54752264e-03 -6.25669155e+01] [-4.00640355e-03 8.76109250e-05 -9.99991970e-01 2.81521696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.40, Y:-62.57, Z:2.81 [[ 8.07025989e-01 -5.90506663e-01 -3.30654867e-03 9.03954659e+01] [-5.90502138e-01 -8.07032758e-01 2.31336595e-03 -6.25689647e+01] [-4.03455111e-03 8.55776121e-05 -9.99991858e-01 2.81493751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.39, Y:-62.57, Z:2.82 [[ 8.50728814e-01 -5.25590688e-01 -3.86196891e-03 9.03902239e+01] [-5.25585700e-01 -8.50737576e-01 2.29112238e-03 -6.25734028e+01] [-4.48971466e-03 8.06718078e-05 -9.99989918e-01 2.81521108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.177628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.38, Y:-62.58, Z:2.82 [[ 8.89043304e-01 -4.57799961e-01 -4.60429423e-03 9.03826484e+01] [-4.57794263e-01 -8.89055223e-01 2.28523391e-03 -6.25785801e+01] [-5.13965183e-03 7.61475788e-05 -9.99986789e-01 2.81605697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.207628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.38, Y:-62.58, Z:2.82 [[ 9.21954742e-01 -3.87260987e-01 -5.32745928e-03 9.03758235e+01] [-3.87254976e-01 -9.21970131e-01 2.15879876e-03 -6.25837127e+01] [-5.74777687e-03 7.27703670e-05 -9.99983479e-01 2.81689985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.237628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.37, Y:-62.59, Z:2.82 [[ 9.49397163e-01 -3.14012173e-01 -6.43289587e-03 9.03691830e+01] [-3.14005421e-01 -9.49418954e-01 2.06029970e-03 -6.25908604e+01] [-6.75447246e-03 6.39214839e-05 -9.99977186e-01 2.81823627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.36, Y:-62.60, Z:2.82 [[ 9.70826794e-01 -2.39663354e-01 -7.53747600e-03 9.03638155e+01] [-2.39656623e-01 -9.70856052e-01 1.79717204e-03 -6.25979003e+01] [-7.74852047e-03 6.16632746e-05 -9.99969978e-01 2.81968522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.36, Y:-62.60, Z:2.82 [[ 9.86560214e-01 -1.63199447e-01 -8.05510794e-03 9.03554335e+01] [-1.63194512e-01 -9.86593096e-01 1.27063675e-03 -6.26029926e+01] [-8.15448109e-03 6.09897416e-05 -9.99966750e-01 2.81960482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.35, Y:-62.61, Z:2.82 [[ 9.96253249e-01 -8.61075318e-02 -8.05961651e-03 9.03462861e+01] [-8.61052527e-02 -9.96285847e-01 6.29988085e-04 -6.26081461e+01] [-8.08392858e-03 6.63476399e-05 -9.99967322e-01 2.81951675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.34, Y:-62.61, Z:2.82 [[ 9.99935825e-01 -8.04243629e-03 -7.97903313e-03 9.03391976e+01] [-8.04272210e-03 -9.99967657e-01 -3.73399842e-06 -6.26143570e+01] [-7.97874503e-03 6.79069049e-05 -9.99968167e-01 2.81915611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.33, Y:-62.62, Z:2.82 [[ 9.97550099e-01 6.95765843e-02 -7.27320286e-03 9.03322453e+01] [ 6.95741701e-02 -9.97576610e-01 -5.84740437e-04 -6.26230083e+01] [-7.29626129e-03 7.72808279e-05 -9.99973379e-01 2.81829299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.32, Y:-62.63, Z:2.82 [[ 9.89377640e-01 1.45255036e-01 -5.73241498e-03 9.03245430e+01] [ 1.45252021e-01 -9.89394241e-01 -9.41012232e-04 -6.26301098e+01] [-5.80830513e-03 9.83716016e-05 -9.99983127e-01 2.81686328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.32, Y:-62.64, Z:2.82 [[ 9.75405015e-01 2.20369385e-01 -4.73180486e-03 9.03185534e+01] [ 2.20366239e-01 -9.75416486e-01 -1.18274623e-03 -6.26366665e+01] [-4.87612153e-03 1.10926565e-04 -9.99988105e-01 2.81599909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.31, Y:-62.64, Z:2.81 [[ 9.56819176e-01 2.90662046e-01 -3.55514786e-03 9.03119504e+01] [ 2.90659519e-01 -9.56825772e-01 -1.21950358e-03 -6.26420270e+01] [-3.75612050e-03 1.33506848e-04 -9.99992937e-01 2.81497732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.31, Y:-62.65, Z:2.81 [[ 9.32353132e-01 3.61535169e-01 -3.15563844e-03 9.03068427e+01] [ 3.61532573e-01 -9.32358461e-01 -1.37762512e-03 -6.26509845e+01] [-3.44024613e-03 1.43567009e-04 -9.99994072e-01 2.81451324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.30, Y:-62.66, Z:2.81 [[ 9.02827745e-01 4.29994701e-01 -2.57286382e-03 9.03009063e+01] [ 4.29992475e-01 -9.02831398e-01 -1.39204105e-03 -6.26596643e+01] [-2.92143252e-03 1.50461197e-04 -9.99995721e-01 2.81429826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.30, Y:-62.67, Z:2.81 [[ 8.68378458e-01 4.95896106e-01 -2.43009084e-03 9.02966606e+01] [ 4.95893636e-01 -8.68381843e-01 -1.57342474e-03 -6.26690650e+01] [-2.89050197e-03 1.61261563e-04 -9.99995809e-01 2.81368776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.29, Y:-62.68, Z:2.81 [[ 8.31332024e-01 5.55772884e-01 -1.88894778e-03 9.02902557e+01] [ 5.55770966e-01 -8.31334152e-01 -1.47020861e-03 -6.26769912e+01] [-2.38744888e-03 1.72409165e-04 -9.99997135e-01 2.81384908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.29, Y:-62.69, Z:2.81 [[ 7.87511536e-01 6.16298076e-01 -1.50380252e-03 9.02865710e+01] [ 6.16296522e-01 -7.87512954e-01 -1.39452198e-03 -6.26874799e+01] [-2.04370518e-03 1.71413886e-04 -9.99997897e-01 2.81454692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.29, Y:-62.70, Z:2.82 [[ 7.39171122e-01 6.73516110e-01 -1.44979742e-03 9.02874063e+01] [ 6.73514314e-01 -7.39172522e-01 -1.56549208e-03 -6.27029326e+01] [-2.12603455e-03 1.80707224e-04 -9.99997724e-01 2.81516482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.28, Y:-62.71, Z:2.82 [[ 6.86888768e-01 7.26760303e-01 -1.81182538e-03 9.02838905e+01] [ 7.26756920e-01 -6.86891125e-01 -2.22762858e-03 -6.27145041e+01] [-2.86347879e-03 2.13376425e-04 -9.99995877e-01 2.81617017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.29, Y:-62.73, Z:2.82 [[ 6.33834811e-01 7.73464844e-01 -2.35932545e-03 9.02860030e+01] [ 7.73457731e-01 -6.33839138e-01 -3.32933630e-03 -6.27289317e+01] [-4.07055739e-03 2.85410732e-04 -9.99991675e-01 2.81589741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.29, Y:-62.74, Z:2.82 [[ 5.73983025e-01 8.18864399e-01 -2.14091840e-03 9.02887591e+01] [ 8.18856626e-01 -5.73986938e-01 -3.58070627e-03 -6.27433962e+01] [-4.16097209e-03 3.02159402e-04 -9.99991297e-01 2.81564250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.29, Y:-62.76, Z:2.82 [[ 5.10549478e-01 8.59846218e-01 -1.92690136e-03 9.02896926e+01] [ 8.59837549e-01 -5.10553013e-01 -3.87441189e-03 -6.27566898e+01] [-4.31518370e-03 3.21256830e-04 -9.99990638e-01 2.81555131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.29, Y:-62.77, Z:2.82 [[ 4.43768847e-01 8.96139956e-01 -1.54603628e-03 9.02939364e+01] [ 8.96131754e-01 -4.43771423e-01 -3.84761795e-03 -6.27709457e+01] [-4.13409090e-03 3.22000777e-04 -9.99991403e-01 2.81568010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.30, Y:-62.79, Z:2.82 [[ 3.73656768e-01 9.27566274e-01 -1.19492189e-03 9.03009663e+01] [ 9.27558443e-01 -3.73658541e-01 -3.82484454e-03 -6.27850226e+01] [-3.99428956e-03 3.20819156e-04 -9.99991971e-01 2.81582985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.31, Y:-62.80, Z:2.82 [[ 2.99983781e-01 9.53943937e-01 -8.34119079e-04 9.03114956e+01] [ 9.53936880e-01 -2.99984781e-01 -3.68239746e-03 -6.27986172e+01] [-3.76302376e-03 3.08962560e-04 -9.99992872e-01 2.81678054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.32, Y:-62.81, Z:2.82 [[ 2.23065726e-01 9.74803259e-01 -5.36113023e-04 9.03230114e+01] [ 9.74796302e-01 -2.23066166e-01 -3.69529152e-03 -6.28111850e+01] [-3.72177090e-03 3.01691894e-04 -9.99993029e-01 2.81629046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.927628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.34, Y:-62.82, Z:2.82 [[ 1.43788922e-01 9.89608364e-01 -1.77139916e-04 9.03361827e+01] [ 9.89603792e-01 -1.43788798e-01 -3.01934697e-03 -6.28227945e+01] [-3.01344175e-03 2.58850313e-04 -9.99995426e-01 2.81557099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.957628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.35, Y:-62.83, Z:2.82 [[ 6.29344346e-02 9.98017661e-01 6.96132841e-05 9.03504034e+01] [ 9.98014648e-01 -6.29340728e-02 -2.46278894e-03 -6.28336699e+01] [-2.45352581e-03 2.24469307e-04 -9.99996965e-01 2.81508576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.987628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.37, Y:-62.84, Z:2.82 [[-2.24345807e-02 9.99748288e-01 2.23949832e-04 9.03670416e+01] [ 9.99746640e-01 2.24349524e-02 -1.82450909e-03 -6.28439049e+01] [-1.82907414e-03 1.82960995e-04 -9.99998311e-01 2.81527041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.38, Y:-62.85, Z:2.82 [[-1.05254062e-01 9.94445292e-01 3.77855521e-04 9.03838165e+01] [ 9.94443518e-01 1.05254592e-01 -1.88686557e-03 -6.28509487e+01] [-1.91615561e-03 1.77155708e-04 -9.99998148e-01 2.81512172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.40, Y:-62.86, Z:2.82 [[-1.87434653e-01 9.82276920e-01 5.50175579e-04 9.04040722e+01] [ 9.82274960e-01 1.87435382e-01 -1.96987942e-03 -6.28556208e+01] [-2.03808946e-03 1.71200031e-04 -9.99997908e-01 2.81519615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.42, Y:-62.86, Z:2.82 [[-2.68711996e-01 9.63220257e-01 7.74347667e-04 9.04199448e+01] [ 9.63217859e-01 2.68713061e-01 -2.15582457e-03 -6.28608663e+01] [-2.28461122e-03 1.66569578e-04 -9.99997376e-01 2.81599715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.44, Y:-62.86, Z:2.82 [[-3.53196099e-01 9.35548430e-01 1.28448357e-03 9.04404003e+01] [ 9.35543748e-01 3.53198401e-01 -2.96415404e-03 -6.28616758e+01] [-3.22678720e-03 1.54762930e-04 -9.99994782e-01 2.81669626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.46, Y:-62.86, Z:2.82 [[-4.30050132e-01 9.02803384e-01 1.71266950e-03 9.04556060e+01] [ 9.02797488e-01 4.30053519e-01 -3.26585508e-03 -6.28620748e+01] [-3.68496456e-03 1.41712319e-04 -9.99993200e-01 2.81743421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.47, Y:-62.86, Z:2.82 [[-5.03455442e-01 8.64018566e-01 2.12979420e-03 9.04703729e+01] [ 8.64011862e-01 5.03459932e-01 -3.40586918e-03 -6.28614511e+01] [-4.01500024e-03 1.25464078e-04 -9.99991932e-01 2.81820571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.49, Y:-62.86, Z:2.82 [[-5.75896059e-01 8.17517903e-01 2.86501891e-03 9.04867179e+01] [ 8.17508560e-01 5.75903178e-01 -3.90935663e-03 -6.28574017e+01] [-4.84594253e-03 9.07944047e-05 -9.99988254e-01 2.81937124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.50, Y:-62.86, Z:2.82 [[-6.40265079e-01 7.68148601e-01 2.89062756e-03 9.04993935e+01] [ 7.68141333e-01 6.40271599e-01 -3.34247066e-03 -6.28564081e+01] [-4.41830089e-03 8.03432618e-05 -9.99990236e-01 2.81978105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.51, Y:-62.85, Z:2.82 [[-7.00010358e-01 7.14127357e-01 2.75982433e-03 9.05097766e+01] [ 7.14122227e-01 7.00015794e-01 -2.70787691e-03 -6.28548796e+01] [-3.86568960e-03 7.53100109e-05 -9.99992525e-01 2.81934098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.52, Y:-62.85, Z:2.82 [[-7.54455541e-01 6.56346173e-01 2.55670257e-03 9.05199782e+01] [ 6.56342745e-01 7.54459870e-01 -2.12265079e-03 -6.28515391e+01] [-3.32212321e-03 7.66275331e-05 -9.99994479e-01 2.81905110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.55, Y:-62.84, Z:2.82 [[-7.99352281e-01 6.00858245e-01 2.30246473e-03 9.05453451e+01] [ 6.00855999e-01 7.99355594e-01 -1.64432691e-03 -6.28365483e+01] [-2.82849544e-03 6.90532814e-05 -9.99995997e-01 2.81864324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.57, Y:-62.82, Z:2.82 [[-8.39876363e-01 5.42772382e-01 2.41583845e-03 9.05656052e+01] [ 5.42770371e-01 8.39879834e-01 -1.47936008e-03 -6.28172070e+01] [-2.83196979e-03 6.87659686e-05 -9.99995988e-01 2.81867739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.58, Y:-62.80, Z:2.82 [[-8.75312254e-01 4.83554557e-01 1.85672564e-03 9.05803999e+01] [ 4.83553661e-01 8.75314220e-01 -9.34267344e-04 -6.27969140e+01] [-2.07698759e-03 8.00508292e-05 -9.99997840e-01 2.81883001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.60, Y:-62.78, Z:2.82 [[-9.06608193e-01 4.21968482e-01 2.04582516e-03 9.06032281e+01] [ 4.21967611e-01 9.06610497e-01 -8.61029964e-04 -6.27798466e+01] [-2.21809407e-03 8.26551355e-05 -9.99997537e-01 2.81942418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.62, Y:-62.76, Z:2.82 [[-9.33389590e-01 3.58858121e-01 2.17307037e-03 9.06178097e+01] [ 3.58857364e-01 9.33392115e-01 -7.42248694e-04 -6.27592779e+01] [-2.29468872e-03 8.70150998e-05 -9.99997363e-01 2.81975926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.63, Y:-62.74, Z:2.82 [[-9.55831116e-01 2.93906469e-01 2.42195452e-03 9.06317624e+01] [ 2.93905766e-01 9.55834180e-01 -6.49038894e-04 -6.27378514e+01] [-2.50574364e-03 9.14548285e-05 -9.99996856e-01 2.82026301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.64, Y:-62.72, Z:2.82 [[-9.73312367e-01 2.29464900e-01 2.98261192e-03 9.06412817e+01] [ 2.29464144e-01 9.73316932e-01 -5.97848683e-04 -6.27178799e+01] [-3.04021197e-03 1.02508974e-04 -9.99995373e-01 2.82135221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.65, Y:-62.70, Z:2.82 [[-9.86795960e-01 1.61935100e-01 3.27964362e-03 9.06539096e+01] [ 1.61934574e-01 9.86801404e-01 -4.26925717e-04 -6.26951599e+01] [-3.30549119e-03 1.09799119e-04 -9.99994531e-01 2.82187695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.66, Y:-62.67, Z:2.82 [[-9.95595240e-01 9.36813847e-02 3.73053836e-03 9.06616009e+01] [ 9.36811760e-02 9.95602222e-01 -2.31046612e-04 -6.26715106e+01] [-3.73577705e-03 1.19452314e-04 -9.99993015e-01 2.82214818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.74, Y:-61.84, Z:1.97 [[-9.89229500e-01 -1.46223179e-01 6.61659621e-03 9.07421575e+01] [ 1.46220224e-01 -9.89251626e-01 -9.30698907e-04 -6.18429889e+01] [ 6.68156831e-03 4.68053662e-05 9.99977677e-01 1.97274284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.59, Y:-62.68, Z:2.82 [[-9.95370966e-01 9.60014930e-02 4.51149452e-03 9.05851914e+01] [ 9.60012310e-02 9.95381177e-01 -2.75105424e-04 -6.26752619e+01] [-4.51706726e-03 1.59277076e-04 -9.99989785e-01 2.82302126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.59, Y:-62.65, Z:2.82 [[-9.99598365e-01 2.78792750e-02 5.08467469e-03 9.05910044e+01] [ 2.78798271e-02 9.99611281e-01 3.77264807e-05 -6.26496111e+01] [-5.08164640e-03 1.79471180e-04 -9.99987072e-01 2.82268612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.677628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.61, Y:-61.79, Z:1.97 [[-9.98209058e-01 -5.92112987e-02 8.52638253e-03 9.06133620e+01] [ 5.92089804e-02 -9.98245472e-01 -5.24276996e-04 -6.17929724e+01] [ 8.54246588e-03 -1.84996291e-05 9.99963512e-01 1.97281374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.707628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.50, Y:-62.66, Z:2.82 [[-9.99458549e-01 3.21876931e-02 6.82362338e-03 9.04988594e+01] [ 3.21888819e-02 9.99481802e-01 6.44429281e-05 -6.26592149e+01] [-6.81801312e-03 2.84052843e-04 -9.99976717e-01 2.82331974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.737628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.51, Y:-61.78, Z:1.97 [[-9.99088167e-01 -4.16154362e-02 9.53883626e-03 9.05124040e+01] [ 4.16117509e-02 -9.99133685e-01 -5.84577782e-04 -6.17801895e+01] [ 9.55490008e-03 -1.87117067e-04 9.99954333e-01 1.97296375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.39, Y:-62.67, Z:2.82 [[-9.99431606e-01 3.30425703e-02 6.68237445e-03 9.03940786e+01] [ 3.30440303e-02 9.99453891e-01 1.08162516e-04 -6.26720715e+01] [-6.67515118e-03 3.28913621e-04 -9.99977667e-01 2.82477952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.40, Y:-62.64, Z:2.82 [[-9.99355614e-01 -3.53433015e-02 6.26154256e-03 9.04001429e+01] [-3.53405391e-02 9.99375176e-01 5.51291493e-04 -6.26387948e+01] [-6.27711466e-03 3.29649960e-04 -9.99980244e-01 2.82255188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.39, Y:-62.61, Z:2.82 [[-9.94502473e-01 -1.04591583e-01 5.04290626e-03 9.03893101e+01] [-1.04588718e-01 9.94515215e-01 8.29349891e-04 -6.26135273e+01] [-5.10199002e-03 2.97359417e-04 -9.99986941e-01 2.82220882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.36, Y:-62.59, Z:2.82 [[-9.84899436e-01 -1.73097865e-01 3.19845043e-03 9.03612467e+01] [-1.73096163e-01 9.84904601e-01 8.03569097e-04 -6.25920132e+01] [-3.28926464e-03 2.37795255e-04 -9.99994562e-01 2.82127246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.31, Y:-62.58, Z:2.82 [[-9.69847200e-01 -2.43703044e-01 2.28799365e-03 9.03077210e+01] [-2.43701863e-01 9.69849877e-01 7.85845860e-04 -6.25771109e+01] [-2.41052339e-03 2.04562091e-04 -9.99997074e-01 2.82070203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.24, Y:-62.57, Z:2.82 [[-9.49422633e-01 -3.13995626e-01 1.84695510e-03 9.02425939e+01] [-3.13994637e-01 9.49424410e-01 8.10323543e-04 -6.25731777e+01] [-2.00798231e-03 1.89405514e-04 -9.99997966e-01 2.82059142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.16, Y:-62.57, Z:2.82 [[-9.23804625e-01 -3.82862912e-01 1.00259342e-03 9.01642196e+01] [-3.82862502e-01 9.23805157e-01 5.80231766e-04 -6.25723903e+01] [-1.14835019e-03 1.52165364e-04 -9.99999329e-01 2.82023249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.08, Y:-62.58, Z:2.82 [[-8.92655861e-01 -4.50738492e-01 5.70807655e-04 9.00806367e+01] [-4.50738300e-01 8.92656034e-01 4.36507306e-04 -6.25824308e+01] [-7.06285542e-04 1.32365933e-04 -9.99999742e-01 2.82067698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.99, Y:-62.61, Z:2.82 [[-8.56236317e-01 -5.16584308e-01 1.46725659e-04 8.99907375e+01] [-5.16584274e-01 8.56236323e-01 2.17357208e-04 -6.26052782e+01] [-2.37915162e-04 1.10312968e-04 -9.99999966e-01 2.82120725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.89, Y:-62.64, Z:2.82 [[-8.14701702e-01 -5.79880237e-01 2.19461841e-04 8.98941454e+01] [-5.79880172e-01 8.14701723e-01 2.98632745e-04 -6.26353233e+01] [-3.51967167e-04 1.16035036e-04 -9.99999931e-01 2.82175919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.79, Y:-62.68, Z:2.82 [[-7.68496952e-01 -6.39853440e-01 1.05498737e-04 8.97925803e+01] [-6.39853407e-01 7.68496951e-01 2.31238047e-04 -6.26823319e+01] [-2.29033918e-04 1.10202008e-04 -9.99999968e-01 2.82314646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.71, Y:-62.73, Z:2.82 [[-7.17326744e-01 -6.96736924e-01 -1.42356080e-06 8.97058079e+01] [-6.96736917e-01 7.17326737e-01 1.43757392e-04 -6.27286187e+01] [-9.91399247e-05 1.04112869e-04 -9.99999990e-01 2.82336900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.61, Y:-62.79, Z:2.82 [[-6.61798283e-01 -7.49681952e-01 -6.17407648e-05 8.96124298e+01] [-7.49681954e-01 6.61798278e-01 8.13057755e-05 -6.27904935e+01] [-2.00935404e-05 1.00093960e-04 -9.99999995e-01 2.82324387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.52, Y:-62.86, Z:2.82 [[-6.02484266e-01 -7.98130750e-01 -1.26766918e-04 8.95184015e+01] [-7.98130755e-01 6.02484271e-01 -1.07765900e-05 -6.28581259e+01] [ 8.49762024e-05 9.46838503e-05 -9.99999992e-01 2.82297697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.43, Y:-62.94, Z:2.82 [[-5.39427148e-01 -8.42032247e-01 -2.19718871e-04 8.94313457e+01] [-8.42032231e-01 5.39427186e-01 -1.85127965e-04 -6.29398474e+01] [ 2.74406049e-04 8.51473211e-05 -9.99999959e-01 2.82315212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.35, Y:-63.03, Z:2.82 [[-4.73285213e-01 -8.80909242e-01 -1.23625049e-04 8.93502380e+01] [-8.80909246e-01 4.73285220e-01 -3.05550387e-05 -6.30276271e+01] [ 8.54261249e-05 9.44412011e-05 -9.99999992e-01 2.82344654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.27, Y:-63.13, Z:2.82 [[-4.03890292e-01 -9.14807425e-01 -8.13622435e-05 8.92738282e+01] [-9.14807429e-01 4.03890288e-01 6.27817771e-05 -6.31297879e+01] [-2.45718157e-05 9.97877351e-05 -9.99999995e-01 2.82446349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.21, Y:-63.23, Z:2.83 [[-3.31842182e-01 -9.43334910e-01 1.18774513e-04 8.92054708e+01] [-9.43334624e-01 3.31842175e-01 7.46905935e-04 -6.32303415e+01] [-7.43996836e-04 1.35810785e-04 -9.99999714e-01 2.82542437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.14, Y:-63.34, Z:2.83 [[-2.56405590e-01 -9.66569261e-01 1.93766296e-04 8.91446016e+01] [-9.66568295e-01 2.56405609e-01 1.37674404e-03 -6.33359164e+01] [-1.38040123e-03 1.65716508e-04 -9.99999034e-01 2.82633344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.09, Y:-63.45, Z:2.83 [[-1.79157872e-01 -9.83820327e-01 1.41814313e-04 8.90929600e+01] [-9.83818702e-01 1.79157835e-01 1.79768039e-03 -6.34519484e+01] [-1.79400166e-03 1.82549020e-04 -9.99998374e-01 2.82671312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.05, Y:-63.57, Z:2.83 [[-1.00532373e-01 -9.94933788e-01 2.21270934e-05 8.90483806e+01] [-9.94931471e-01 1.00532186e-01 2.15597813e-03 -6.35715539e+01] [-2.14727998e-03 1.94730655e-04 -9.99997676e-01 2.82708359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.01, Y:-63.69, Z:2.83 [[-2.06366114e-02 -9.99787031e-01 -1.54055594e-04 8.90138214e+01] [-9.99783708e-01 2.06361443e-02 2.58599120e-03 -6.36929984e+01] [-2.58226135e-03 2.07388369e-04 -9.99996644e-01 2.82786992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.427628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.98, Y:-63.82, Z:2.83 [[ 6.33194116e-02 -9.97993203e-01 -4.68551923e-04 8.89843488e+01] [-9.97986260e-01 -6.33207223e-02 3.72987522e-03 -6.38180358e+01] [-3.75205916e-03 2.31434877e-04 -9.99992934e-01 2.82904536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.97, Y:-63.95, Z:2.83 [[ 1.44298107e-01 -9.89533981e-01 -7.45778631e-04 8.89703383e+01] [-9.89527349e-01 -1.44299875e-01 3.62921262e-03 -6.39464105e+01] [-3.69884498e-03 2.14279842e-04 -9.99993136e-01 2.82966333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.487628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.96, Y:-64.07, Z:2.83 [[ 2.24292127e-01 -9.74521291e-01 -1.13766806e-03 8.89644879e+01] [-9.74513103e-01 -2.24294913e-01 4.00052180e-03 -6.40695612e+01] [-4.15376683e-03 2.11386892e-04 -9.99991351e-01 2.83044730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.97, Y:-64.20, Z:2.83 [[ 3.03171413e-01 -9.52934860e-01 -1.49905161e-03 8.89681478e+01] [-9.52926208e-01 -3.03175056e-01 4.06552279e-03 -6.41959555e+01] [-4.32865344e-03 1.95935277e-04 -9.99990612e-01 2.83035302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.98, Y:-64.33, Z:2.83 [[ 3.86037516e-01 -9.22480711e-01 -2.09128421e-03 8.89789762e+01] [-9.22469285e-01 -3.86043149e-01 4.59400418e-03 -6.43250868e+01] [-5.04520618e-03 1.55687485e-04 -9.99987261e-01 2.83064057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.00, Y:-64.45, Z:2.83 [[ 4.60966522e-01 -8.87413428e-01 -2.69679397e-03 8.90004613e+01] [-8.87399851e-01 -4.60974392e-01 4.91055370e-03 -6.44455784e+01] [-5.60084426e-03 1.29533711e-04 -9.99984307e-01 2.83142794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.03, Y:-64.56, Z:2.83 [[ 5.32516839e-01 -8.46413447e-01 -3.17690533e-03 8.90291250e+01] [-8.46399467e-01 -5.32526306e-01 4.86582793e-03 -6.45602723e+01] [-5.81028785e-03 9.77956668e-05 -9.99983115e-01 2.83182641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.07, Y:-64.68, Z:2.83 [[ 6.03845121e-01 -7.97092500e-01 -3.82327851e-03 8.90669438e+01] [-7.97076887e-01 -6.03857223e-01 4.98900275e-03 -6.46775654e+01] [-6.28541102e-03 3.48619633e-05 -9.99980246e-01 2.83190647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.11, Y:-64.78, Z:2.83 [[ 6.66013666e-01 -7.45926418e-01 -4.42433120e-03 8.91108048e+01] [-7.45910014e-01 -6.66028362e-01 4.94705317e-03 -6.47808264e+01] [-6.63686771e-03 5.34792523e-06 -9.99977976e-01 2.83201871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.16, Y:-64.88, Z:2.83 [[ 7.22825693e-01 -6.91016497e-01 -4.38389006e-03 8.91629916e+01] [-6.91003763e-01 -7.22838987e-01 4.19508758e-03 -6.48795413e+01] [-6.06772137e-03 -3.03255985e-06 -9.99981591e-01 2.83199043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.16, Y:-64.89, Z:2.83 [[ 7.75490583e-01 -6.31339153e-01 -5.02292386e-03 8.91599722e+01] [-6.31325768e-01 -7.75506850e-01 4.11105930e-03 -6.48869332e+01] [-6.49078456e-03 -1.69865119e-05 -9.99978934e-01 2.83208157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.16, Y:-64.89, Z:2.83 [[ 8.21944366e-01 -5.69541319e-01 -5.49048695e-03 8.91575810e+01] [-5.69528494e-01 -8.21962703e-01 3.82222997e-03 -6.48928267e+01] [-6.68989339e-03 -1.46716264e-05 -9.99977622e-01 2.83260665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.16, Y:-64.90, Z:2.83 [[ 8.63200076e-01 -5.04829020e-01 -5.76961876e-03 8.91556773e+01] [-5.04817707e-01 -8.63219358e-01 3.37973644e-03 -6.49004841e+01] [-6.68663563e-03 -4.78304192e-06 -9.99977644e-01 2.83278438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.15, Y:-64.91, Z:2.83 [[ 8.99166016e-01 -4.37563759e-01 -6.19941206e-03 8.91527680e+01] [-4.37553401e-01 -8.99187387e-01 3.01072902e-03 -6.49072262e+01] [-6.89181904e-03 5.42861326e-06 -9.99976251e-01 2.83353151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.15, Y:-64.91, Z:2.83 [[ 9.29746313e-01 -3.68143621e-01 -6.48590839e-03 8.91533709e+01] [-3.68134821e-01 -9.29768936e-01 2.54547253e-03 -6.49100642e+01] [-6.96749562e-03 2.10450307e-05 -9.99975726e-01 2.83339161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.16, Y:-64.91, Z:2.83 [[ 9.53937765e-01 -2.99906269e-01 -7.67918521e-03 8.91550754e+01] [-2.99897025e-01 -9.53968672e-01 2.35533027e-03 -6.49078635e+01] [-8.03208043e-03 5.61263087e-05 -9.99967741e-01 2.83391462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.15, Y:-64.91, Z:2.83 [[ 9.73814659e-01 -2.27185779e-01 -8.46360394e-03 8.91544274e+01] [-2.27177890e-01 -9.73851434e-01 1.89489390e-03 -6.49130443e+01] [-8.67278578e-03 7.74682275e-05 -9.99962388e-01 2.83415915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.15, Y:-64.92, Z:2.83 [[ 9.88130963e-01 -1.53313339e-01 -9.60307723e-03 8.91489935e+01] [-1.53307140e-01 -9.88177620e-01 1.38281613e-03 -6.49167422e+01] [-9.70155016e-03 1.05816868e-04 -9.99952933e-01 2.83480260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.15, Y:-64.92, Z:2.84 [[ 9.96846001e-01 -7.86604857e-02 -1.05156476e-02 8.91450293e+01] [-7.86575920e-02 -9.96901454e-01 6.89122058e-04 -6.49206503e+01] [-1.05372711e-02 1.40186954e-04 -9.99944472e-01 2.83529123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.14, Y:-64.92, Z:2.84 [[ 9.99937385e-01 -3.47426647e-03 -1.06374195e-02 8.91406073e+01] [-3.47591174e-03 -9.99993950e-01 -1.36183784e-04 -6.49240375e+01] [-1.06368820e-02 1.73149988e-04 -9.99943412e-01 2.83534584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.14, Y:-64.92, Z:2.83 [[ 9.97594102e-01 6.85567744e-02 -1.02944480e-02 8.91358782e+01] [ 6.85506883e-02 -9.97647189e-01 -9.43311620e-04 -6.49229241e+01] [-1.03348975e-02 2.35350616e-04 -9.99946566e-01 2.83421039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.13, Y:-64.93, Z:2.83 [[ 9.89628551e-01 1.43345253e-01 -9.35253308e-03 8.91299383e+01] [ 1.43336427e-01 -9.89672711e-01 -1.61073765e-03 -6.49268834e+01] [-9.48683837e-03 2.53473294e-04 -9.99954967e-01 2.83388925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.12, Y:-64.93, Z:2.83 [[ 9.76035688e-01 2.17432911e-01 -8.79007996e-03 8.91235388e+01] [ 2.17421558e-01 -9.76075230e-01 -2.23878634e-03 -6.49307335e+01] [-9.06656514e-03 2.73982489e-04 -9.99958860e-01 2.83332728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.12, Y:-64.93, Z:2.83 [[ 9.57587354e-01 2.88043595e-01 -7.57275498e-03 8.91182967e+01] [ 2.88032135e-01 -9.57617251e-01 -2.58639409e-03 -6.49343342e+01] [-7.99679506e-03 2.95501490e-04 -9.99967981e-01 2.83261008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.11, Y:-64.94, Z:2.83 [[ 9.33086633e-01 3.59574988e-01 -7.42720296e-03 8.91119632e+01] [ 3.59560852e-01 -9.33116138e-01 -3.20433193e-03 -6.49395440e+01] [-8.08264055e-03 3.19387870e-04 -9.99967284e-01 2.83299763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.177628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.11, Y:-64.95, Z:2.83 [[ 9.03267118e-01 4.29021734e-01 -6.99040743e-03 8.91091757e+01] [ 4.29005981e-01 -9.03294105e-01 -3.69179595e-03 -6.49506383e+01] [-7.89825452e-03 3.35751296e-04 -9.99968752e-01 2.83196024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.207628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.11, Y:-64.96, Z:2.83 [[ 8.66910769e-01 4.98418555e-01 -6.68311046e-03 8.91079234e+01] [ 4.98400723e-01 -8.66936464e-01 -4.22933421e-03 -6.49642790e+01] [-7.90181079e-03 3.35588285e-04 -9.99968724e-01 2.83199268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.237628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.10, Y:-64.97, Z:2.83 [[ 8.26870536e-01 5.62354104e-01 -6.55576165e-03 8.91030603e+01] [ 5.62332845e-01 -8.26896442e-01 -4.90354405e-03 -6.49735690e+01] [-8.17846411e-03 3.68076001e-04 -9.99966488e-01 2.83193857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.10, Y:-64.98, Z:2.83 [[ 7.83239291e-01 6.21688968e-01 -6.24822673e-03 8.90973676e+01] [ 6.21664915e-01 -7.83264105e-01 -5.48412992e-03 -6.49803531e+01] [-8.30343479e-03 4.11082689e-04 -9.99965441e-01 2.83148345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.10, Y:-64.99, Z:2.83 [[ 7.32717334e-01 6.80510436e-01 -5.55474890e-03 8.90989326e+01] [ 6.80486596e-01 -7.32738277e-01 -5.71051763e-03 -6.49949961e+01] [-7.95624398e-03 4.04263083e-04 -9.99968267e-01 2.83086703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.10, Y:-65.01, Z:2.83 [[ 6.76364879e-01 7.36551302e-01 -4.76766289e-03 8.91001077e+01] [ 7.36528975e-01 -6.76381578e-01 -5.74721362e-03 -6.50096708e+01] [-7.45787702e-03 3.75691588e-04 -9.99972119e-01 2.83069390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.10, Y:-65.02, Z:2.83 [[ 6.15392315e-01 7.88209700e-01 -4.21503310e-03 8.91030611e+01] [ 7.88187086e-01 -6.15406646e-01 -5.98145983e-03 -6.50242181e+01] [-7.30860404e-03 3.58709759e-04 -9.99973227e-01 2.83032320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.11, Y:-65.04, Z:2.83 [[ 5.47893512e-01 8.36538001e-01 -4.10758823e-03 8.91063468e+01] [ 8.36509568e-01 -5.47908799e-01 -6.90583480e-03 -6.50389724e+01] [-8.02757698e-03 3.47625228e-04 -9.99967718e-01 2.83067985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.11, Y:-65.05, Z:2.83 [[ 4.78516957e-01 8.78069975e-01 -3.82645999e-03 8.91104022e+01] [ 8.78035898e-01 -4.78532131e-01 -7.74355370e-03 -6.50525465e+01] [-8.63046605e-03 3.45652518e-04 -9.99962697e-01 2.83094723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.12, Y:-65.07, Z:2.83 [[ 4.06040657e-01 9.13848295e-01 -3.50414668e-03 8.91166903e+01] [ 9.13806589e-01 -4.06055630e-01 -8.73743495e-03 -6.50656661e+01] [-9.40756851e-03 3.45641504e-04 -9.99955688e-01 2.83109384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.12, Y:-65.08, Z:2.83 [[ 3.30990876e-01 9.43630160e-01 -2.67610603e-03 8.91237033e+01] [ 9.43591274e-01 -3.31001547e-01 -8.57223572e-03 -6.50780619e+01] [-8.97481540e-03 3.12181511e-04 -9.99959677e-01 2.83122987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.13, Y:-65.09, Z:2.83 [[ 2.54268322e-01 9.67131791e-01 -1.92856733e-03 8.91276400e+01] [ 9.67094743e-01 -2.54275472e-01 -8.47006892e-03 -6.50902631e+01] [-8.68206029e-03 2.88562882e-04 -9.99962269e-01 2.83259275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.14, Y:-65.10, Z:2.83 [[ 1.74649317e-01 9.84630177e-01 -1.01565180e-03 8.91411484e+01] [ 9.84605026e-01 -1.74652119e-01 -7.04132909e-03 -6.51021777e+01] [-7.11049085e-03 2.29747446e-04 -9.99974694e-01 2.83118067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.15, Y:-65.11, Z:2.83 [[ 9.58390677e-02 9.95396764e-01 -3.92909601e-04 8.91548079e+01] [ 9.95377379e-01 -9.58396547e-02 -6.21557896e-03 -6.51121390e+01] [-6.22462351e-03 2.04601963e-04 -9.99980606e-01 2.83036117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.16, Y:-65.12, Z:2.83 [[ 1.61360258e-02 9.99869801e-01 9.39778667e-05 8.91649423e+01] [ 9.99854379e-01 -1.61352547e-02 -5.55642359e-03 -6.51218906e+01] [-5.55418379e-03 1.83622776e-04 -9.99984559e-01 2.83054462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.17, Y:-65.13, Z:2.83 [[-6.40127376e-02 9.97948953e-01 5.06933260e-04 8.91725737e+01] [ 9.97935117e-01 6.40145209e-02 -5.25770657e-03 -6.51306349e+01] [-5.27937385e-03 1.69326312e-04 -9.99986050e-01 2.82996752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.18, Y:-65.14, Z:2.83 [[-1.45569724e-01 9.89347520e-01 9.69638558e-04 8.91844439e+01] [ 9.89332062e-01 1.45572872e-01 -5.53258090e-03 -6.51383829e+01] [-5.61479826e-03 1.53918242e-04 -9.99984225e-01 2.82861075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.19, Y:-65.15, Z:2.83 [[-2.24451843e-01 9.74484098e-01 1.45346503e-03 8.91945442e+01] [ 9.74467661e-01 2.24456502e-01 -5.66183816e-03 -6.51467664e+01] [-5.84361093e-03 1.45544652e-04 -9.99982915e-01 2.82913203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.21, Y:-65.15, Z:2.83 [[-3.01670112e-01 9.53410117e-01 2.07200572e-03 8.92068052e+01] [ 9.53390725e-01 3.01677194e-01 -6.08235249e-03 -6.51522564e+01] [-6.42405327e-03 1.40567079e-04 -9.99979356e-01 2.82987705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.22, Y:-65.16, Z:2.83 [[-3.77296429e-01 9.26088250e-01 2.82098474e-03 8.92193905e+01] [ 9.26064924e-01 3.77306952e-01 -6.57427045e-03 -6.51563975e+01] [-7.15273177e-03 1.31966253e-04 -9.99974410e-01 2.83115484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.23, Y:-65.16, Z:2.83 [[-4.52167162e-01 8.91924580e-01 3.92448434e-03 8.92324297e+01] [ 8.91893028e-01 4.52184180e-01 -7.50295935e-03 -6.51612103e+01] [-8.46666360e-03 1.07628388e-04 -9.99964151e-01 2.83385764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.24, Y:-65.17, Z:2.83 [[-5.22161460e-01 8.52835338e-01 4.39265341e-03 8.92416981e+01] [ 8.52806632e-01 5.22179928e-01 -6.99794401e-03 -6.51665860e+01] [-8.26184939e-03 9.20273017e-05 -9.99965866e-01 2.83491845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.25, Y:-65.17, Z:2.83 [[-5.88849664e-01 8.08226650e-01 5.07508209e-03 8.92536553e+01] [ 8.08197748e-01 5.88871528e-01 -6.83549158e-03 -6.51687539e+01] [-8.51319780e-03 7.65929952e-05 -9.99963759e-01 2.83368100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.26, Y:-65.17, Z:2.83 [[-6.52842335e-01 7.57473313e-01 5.57372201e-03 8.92645439e+01] [ 7.57446344e-01 6.52866126e-01 -6.39203895e-03 -6.51716502e+01] [-8.48069322e-03 4.88017284e-05 -9.99964037e-01 2.83328964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.27, Y:-65.18, Z:2.83 [[-7.11310967e-01 7.02852345e-01 5.94055427e-03 8.92746323e+01] [ 7.02828254e-01 7.11335772e-01 -5.81943426e-03 -6.51753872e+01] [-8.31593177e-03 3.57619754e-05 -9.99965421e-01 2.83327483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.927628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.30, Y:-65.16, Z:2.83 [[-7.60235706e-01 6.49617791e-01 6.19651303e-03 8.92950249e+01] [ 6.49596380e-01 7.60260959e-01 -5.27417124e-03 -6.51579537e+01] [-8.13716240e-03 1.56191382e-05 -9.99966893e-01 2.83207035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.957628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.33, Y:-65.15, Z:2.83 [[-8.04993629e-01 5.93247868e-01 6.49812047e-03 8.93273718e+01] [ 5.93228566e-01 8.05019855e-01 -4.78543631e-03 -6.51485172e+01] [-8.07006589e-03 2.62494975e-06 -9.99967436e-01 2.83195369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.987628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.35, Y:-65.13, Z:2.83 [[-8.46988058e-01 5.31571498e-01 6.55528894e-03 8.93469170e+01] [ 5.31555362e-01 8.47013425e-01 -4.14195592e-03 -6.51251677e+01] [-7.75416345e-03 -2.36882158e-05 -9.99969936e-01 2.83211491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.017628 meters Centerline goodness [0,1] 0.9999547951088308 Centerline is valid? [True, True] Translation: X:89.36, Y:-65.10, Z:2.83 [[-8.83398269e-01 4.68572302e-01 6.89177692e-03 8.93625730e+01] [ 4.68557687e-01 8.83425150e-01 -3.70105126e-03 -6.51016382e+01] [-7.82257917e-03 -4.03072277e-05 -9.99969402e-01 2.83210318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.047628 meters Centerline goodness [0,1] 0.9999773801714583 Centerline is valid? [True, True] Translation: X:89.38, Y:-65.08, Z:2.83 [[-9.14892580e-01 4.03635039e-01 7.09382041e-03 8.93847409e+01] [ 4.03622481e-01 9.14920080e-01 -3.18434668e-03 -6.50812622e+01] [-7.77559264e-03 -5.01097486e-05 -9.99969768e-01 2.83215965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.40, Y:-65.06, Z:2.83 [[-9.41510644e-01 3.36895140e-01 7.70537013e-03 8.94000413e+01] [ 3.36883289e-01 9.41542171e-01 -2.82652453e-03 -6.50569982e+01] [-8.20717330e-03 -6.53924992e-05 -9.99966318e-01 2.83291906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.71, Y:-64.27, Z:1.98 [[-9.02659041e-01 -4.30249173e-01 9.60753224e-03 8.97062845e+01] [ 4.30227717e-01 -9.02710135e-01 -4.30401435e-03 -6.42714223e+01] [ 1.05246153e-02 2.48369188e-04 9.99944584e-01 1.97667155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.36, Y:-65.04, Z:2.83 [[-9.42302859e-01 3.34652817e-01 8.53314592e-03 8.93590598e+01] [ 3.34638440e-01 9.42341492e-01 -3.10276827e-03 -6.50444671e+01] [-9.07948760e-03 -6.82287686e-05 -9.99958778e-01 2.83266339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.37, Y:-65.02, Z:2.83 [[-9.63312266e-01 2.68222170e-01 9.29222891e-03 8.93703311e+01] [ 2.68209027e-01 9.63357080e-01 -2.65613134e-03 -6.50192771e+01] [-9.66416782e-03 -6.64242323e-05 -9.99953299e-01 2.83354162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.39, Y:-65.00, Z:2.83 [[-9.79112655e-01 2.03074319e-01 9.96142232e-03 8.93862740e+01] [ 2.03063458e-01 9.79163326e-01 -2.10057653e-03 -6.49977829e+01] [-1.01804326e-02 -3.39002062e-05 -9.99948177e-01 2.83374637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.58, Y:-64.17, Z:1.98 [[-9.58019603e-01 -2.86468981e-01 1.15742505e-02 8.95773759e+01] [ 2.86450158e-01 -9.58089503e-01 -3.28808634e-03 -6.41674345e+01] [ 1.20311027e-02 1.65394714e-04 9.99927610e-01 1.97589646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.34, Y:-64.99, Z:2.83 [[-9.78903343e-01 2.04116707e-01 9.19867618e-03 8.93390999e+01] [ 2.04107907e-01 9.78946561e-01 -1.89549425e-03 -6.49898604e+01] [-9.39191445e-03 2.20168853e-05 -9.99955895e-01 2.83370645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.35, Y:-64.96, Z:2.83 [[-9.90509463e-01 1.37182362e-01 8.48551825e-03 8.93450191e+01] [ 1.37177777e-01 9.90545808e-01 -1.12286550e-03 -6.49648168e+01] [-8.55933187e-03 5.18156288e-05 -9.99963367e-01 2.83203376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.37, Y:-64.94, Z:2.83 [[-9.97481094e-01 7.04375249e-02 8.36789720e-03 8.93652248e+01] [ 7.04357635e-02 9.97516189e-01 -5.05377421e-04 -6.49412849e+01] [-8.38271046e-03 8.52948054e-05 -9.99964861e-01 2.83117274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.37, Y:-64.92, Z:2.83 [[-9.99914019e-01 1.03341844e-02 8.07212773e-03 8.93737960e+01] [ 1.03352517e-02 9.99946586e-01 9.05138292e-05 -6.49212676e+01] [-8.07076117e-03 1.73933518e-04 -9.99967416e-01 2.83093067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.38, Y:-64.90, Z:2.83 [[-9.98503352e-01 -5.41307957e-02 7.80473921e-03 8.93784556e+01] [-5.41273833e-02 9.98533828e-01 6.47950948e-04 -6.48961470e+01] [-7.82837022e-03 2.24531082e-04 -9.99969333e-01 2.82993871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.37, Y:-64.87, Z:2.83 [[-9.92940471e-01 -1.18404306e-01 7.04569884e-03 8.93718520e+01] [-1.18399439e-01 9.92965433e-01 1.10538929e-03 -6.48737603e+01] [-7.12701825e-03 2.63378969e-04 -9.99974568e-01 2.83004902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.34, Y:-64.85, Z:2.83 [[-9.83093697e-01 -1.83014189e-01 5.70869691e-03 8.93417221e+01] [-1.83009495e-01 9.83110235e-01 1.33845098e-03 -6.48522430e+01] [-5.85723388e-03 2.71076978e-04 -9.99982810e-01 2.82873644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.29, Y:-64.84, Z:2.83 [[-9.68554156e-01 -2.48768902e-01 4.10851248e-03 8.92943603e+01] [-2.48765570e-01 9.68562838e-01 1.31120032e-03 -6.48418047e+01] [-4.30553837e-03 2.47912068e-04 -9.99990700e-01 2.82857740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.99, Y:-63.99, Z:1.98 [[-9.62822313e-01 2.70097181e-01 4.55039579e-03 8.89895177e+01] [-2.70095344e-01 -9.62833035e-01 1.02531502e-03 -6.39907527e+01] [ 4.65820609e-03 -2.41844541e-04 9.99989121e-01 1.98362974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.09, Y:-64.90, Z:2.83 [[-9.69717994e-01 -2.44216857e-01 2.26686166e-03 8.90936189e+01] [-2.44215689e-01 9.69720622e-01 7.82721781e-04 -6.48960471e+01] [-2.38937636e-03 2.05416213e-04 -9.99997124e-01 2.82691387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.03, Y:-64.89, Z:2.83 [[-9.49827446e-01 -3.12750166e-01 3.89307411e-03 8.90312530e+01] [-3.12746175e-01 9.49835373e-01 1.61051504e-03 -6.48868907e+01] [-4.20146835e-03 3.12167350e-04 -9.99991125e-01 2.82722591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.95, Y:-64.89, Z:2.83 [[-9.23600554e-01 -3.83323204e-01 5.03378725e-03 8.89494243e+01] [-3.83315177e-01 9.23614189e-01 2.51112428e-03 -6.48899011e+01] [-5.61184953e-03 3.89748731e-04 -9.99984177e-01 2.82788361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.86, Y:-64.91, Z:2.83 [[-8.91568753e-01 -4.52847307e-01 5.87154439e-03 8.88562529e+01] [-4.52834117e-01 8.91587974e-01 3.48531449e-03 -6.49056918e+01] [-6.81331365e-03 4.48561876e-04 -9.99976689e-01 2.82881319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.77, Y:-64.92, Z:2.83 [[-8.53873940e-01 -5.20443002e-01 6.19486461e-03 8.87676983e+01] [-5.20425168e-01 8.53896278e-01 4.33476302e-03 -6.49221976e+01] [-7.54576892e-03 4.77377723e-04 -9.99971416e-01 2.82936290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.677628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.67, Y:-64.95, Z:2.83 [[-8.09445702e-01 -5.87163201e-01 6.08531564e-03 8.86652270e+01] [-5.87142242e-01 8.09468445e-01 4.98236721e-03 -6.49508186e+01] [-7.85133367e-03 4.60009854e-04 -9.99969072e-01 2.83104047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.707628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.57, Y:-64.99, Z:2.83 [[-7.60911901e-01 -6.48828694e-01 5.86562971e-03 8.85711994e+01] [-6.48804694e-01 7.60934372e-01 5.59907024e-03 -6.49918747e+01] [-8.09619669e-03 4.54751089e-04 -9.99967122e-01 2.83135768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.737628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.48, Y:-65.04, Z:2.83 [[-7.07520504e-01 -7.06674119e-01 5.14061916e-03 8.84753712e+01] [-7.06651052e-01 7.07539055e-01 5.72504526e-03 -6.50447676e+01] [-7.68293014e-03 4.17962977e-04 -9.99970399e-01 2.83114380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.38, Y:-65.11, Z:2.83 [[-6.49854316e-01 -7.60047913e-01 4.06666660e-03 8.83813756e+01] [-7.60029439e-01 6.49866940e-01 5.31151168e-03 -6.51079734e+01] [-6.67979555e-03 3.60922451e-04 -9.99977625e-01 2.82992683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.29, Y:-65.18, Z:2.83 [[-5.87273019e-01 -8.09385317e-01 2.41035877e-03 8.82858542e+01] [-8.09376654e-01 5.87277910e-01 3.75338782e-03 -6.51791285e+01] [-4.45348745e-03 2.53375281e-04 -9.99990051e-01 2.82651972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.21, Y:-65.26, Z:2.83 [[-5.22154077e-01 -8.52849125e-01 1.86843013e-03 8.82053784e+01] [-8.52842023e-01 5.22157370e-01 3.48793310e-03 -6.52596937e+01] [-3.95029525e-03 2.27762760e-04 -9.99992172e-01 2.82652263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.12, Y:-65.35, Z:2.83 [[-4.53874546e-01 -8.91064799e-01 1.19173429e-03 8.81217960e+01] [-8.91060567e-01 4.53876072e-01 2.75286688e-03 -6.53472735e+01] [-2.99388245e-03 1.87548772e-04 -9.99995501e-01 2.82591004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.05, Y:-65.44, Z:2.83 [[-3.82664605e-01 -9.23887001e-01 7.80778117e-04 8.80485284e+01] [-9.23884119e-01 3.82665367e-01 2.31323172e-03 -6.54437711e+01] [-2.43594146e-03 1.63843400e-04 -9.99997020e-01 2.82590096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.98, Y:-65.55, Z:2.83 [[-3.08319309e-01 -9.51282907e-01 1.86465001e-04 8.79797013e+01] [-9.51282463e-01 3.08319346e-01 9.25763307e-04 -6.55451691e+01] [-9.38153577e-04 1.08049817e-04 -9.99999554e-01 2.82571748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.92, Y:-65.65, Z:2.83 [[-2.32874993e-01 -9.72506658e-01 1.93160683e-04 8.79216610e+01] [-9.72505770e-01 2.32875043e-01 1.31994945e-03 -6.56546251e+01] [-1.32864193e-03 1.19533340e-04 -9.99999110e-01 2.82559953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.87, Y:-65.77, Z:2.83 [[-1.55576131e-01 -9.87823900e-01 1.01161636e-04 8.78719650e+01] [-9.87822896e-01 1.55576118e-01 1.41356234e-03 -6.57667293e+01] [-1.41208899e-03 1.19986779e-04 -9.99998996e-01 2.82562192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.83, Y:-65.89, Z:2.83 [[-7.51332958e-02 -9.97173499e-01 1.70285478e-05 8.78267214e+01] [-9.97171619e-01 7.51331873e-02 1.94053436e-03 -6.58874978e+01] [-1.93632884e-03 1.28818357e-04 -9.99998117e-01 2.82701916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.80, Y:-66.01, Z:2.83 [[ 4.41830904e-03 -9.99990226e-01 -1.61633528e-04 8.77953384e+01] [-9.99986002e-01 -4.41876080e-03 2.91043730e-03 -6.60078737e+01] [-2.91112307e-03 1.48772054e-04 -9.99995752e-01 2.82790234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.77, Y:-66.13, Z:2.83 [[ 8.38168439e-02 -9.96481091e-01 -4.14842897e-04 8.77720146e+01] [-9.96476094e-01 -8.38177388e-02 3.15933964e-03 -6.61313895e+01] [-3.18299340e-03 1.48575153e-04 -9.99994923e-01 2.82826981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.76, Y:-66.25, Z:2.83 [[ 1.62762217e-01 -9.86665080e-01 -6.93033698e-04 8.77587547e+01] [-9.86659546e-01 -1.62763627e-01 3.30795676e-03 -6.62538821e+01] [-3.37664610e-03 1.45377938e-04 -9.99994289e-01 2.82858925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.75, Y:-66.38, Z:2.83 [[ 2.42297842e-01 -9.70201422e-01 -9.77950311e-04 8.77529151e+01] [-9.70195585e-01 -2.42299779e-01 3.36799976e-03 -6.63763793e+01] [-3.50459530e-03 1.32744002e-04 -9.99993850e-01 2.82860708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.76, Y:-66.50, Z:2.83 [[ 3.16383236e-01 -9.48630656e-01 -1.23560324e-03 8.77609780e+01] [-9.48624976e-01 -3.16385621e-01 3.28530837e-03 -6.64972328e+01] [-3.50747133e-03 1.32707596e-04 -9.99993840e-01 2.82875136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.78, Y:-66.62, Z:2.83 [[ 3.90095410e-01 -9.20773080e-01 -1.58279119e-03 8.77788213e+01] [-9.20766804e-01 -3.90098600e-01 3.40230524e-03 -6.66228732e+01] [-3.75019570e-03 1.30157930e-04 -9.99992960e-01 2.82881518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.80, Y:-66.73, Z:2.83 [[ 4.61393062e-01 -8.87193701e-01 -1.94417009e-03 8.78005858e+01] [-8.87186942e-01 -4.61397141e-01 3.46545184e-03 -6.67342686e+01] [-3.97156157e-03 1.25906877e-04 -9.99992105e-01 2.82948909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.83, Y:-66.85, Z:2.83 [[ 5.29487027e-01 -8.48314213e-01 -2.54626886e-03 8.78330039e+01] [-8.48305533e-01 -5.29493134e-01 3.83968434e-03 -6.68480441e+01] [-4.60549067e-03 1.26950916e-04 -9.99989387e-01 2.83004000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.87, Y:-66.96, Z:2.83 [[ 5.94997636e-01 -8.03721710e-01 -3.03741154e-03 8.78704928e+01] [-8.03712233e-01 -5.95005377e-01 3.90485874e-03 -6.69562414e+01] [-4.94569594e-03 1.17823094e-04 -9.99987763e-01 2.83106915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.92, Y:-67.06, Z:2.83 [[ 6.55442253e-01 -7.55237031e-01 -3.53257620e-03 8.79169264e+01] [-7.55227003e-01 -6.55451763e-01 3.89371007e-03 -6.70581720e+01] [-5.25610733e-03 1.15794832e-04 -9.99986180e-01 2.83167696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.97, Y:-67.15, Z:2.83 [[ 7.11498805e-01 -7.02675698e-01 -4.03902727e-03 8.79691948e+01] [-7.02665288e-01 -7.11510260e-01 3.82655129e-03 -6.71537259e+01] [-5.56263394e-03 1.15497588e-04 -9.99984522e-01 2.83211961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.96, Y:-67.16, Z:2.83 [[ 7.64696584e-01 -6.44372232e-01 -4.85398491e-03 8.79649467e+01] [-6.44360222e-01 -7.64711980e-01 3.93593733e-03 -6.71618061e+01] [-6.24810914e-03 1.17916964e-04 -9.99980473e-01 2.83214162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.96, Y:-67.17, Z:2.83 [[ 8.12799368e-01 -5.82519624e-01 -5.29854479e-03 8.79611056e+01] [-5.82508189e-01 -8.12816630e-01 3.65185873e-03 -6.71679372e+01] [-6.43402469e-03 1.18217261e-04 -9.99979294e-01 2.83259314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.427628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.96, Y:-67.17, Z:2.83 [[ 8.55876270e-01 -5.17146562e-01 -5.93666628e-03 8.79586724e+01] [-5.17135092e-01 -8.55896851e-01 3.44638632e-03 -6.71727597e+01] [-6.86346081e-03 1.20378198e-04 -9.99976439e-01 2.83270221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.96, Y:-67.18, Z:2.83 [[ 8.93786381e-01 -4.48451908e-01 -6.06568964e-03 8.79571245e+01] [-4.48442470e-01 -8.93806955e-01 2.91171814e-03 -6.71776976e+01] [-6.72732114e-03 1.17658833e-04 -9.99977364e-01 2.83299844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.487628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.95, Y:-67.19, Z:2.83 [[ 9.26381667e-01 -3.76520331e-01 -7.03190734e-03 8.79534918e+01] [-3.76510442e-01 -9.26408348e-01 2.73141563e-03 -6.71880018e+01] [-7.54285118e-03 1.17253173e-04 -9.99971545e-01 2.83262223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.95, Y:-67.20, Z:2.83 [[ 9.53055375e-01 -3.02694668e-01 -7.83512907e-03 8.79508217e+01] [-3.02685460e-01 -9.53087574e-01 2.36403500e-03 -6.71967413e+01] [-8.18314495e-03 1.18523386e-04 -9.99966510e-01 2.83326235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.95, Y:-67.20, Z:2.83 [[ 9.73945045e-01 -2.26633622e-01 -8.26144209e-03 8.79500322e+01] [-2.26626464e-01 -9.73980076e-01 1.80486228e-03 -6.72033266e+01] [-8.45552247e-03 1.14424743e-04 -9.99964245e-01 2.83363436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.95, Y:-67.21, Z:2.83 [[ 9.88881891e-01 -1.48430499e-01 -8.99955822e-03 8.79464481e+01] [-1.48425326e-01 -9.88922836e-01 1.24367039e-03 -6.72084153e+01] [-9.08446726e-03 1.05919245e-04 -9.99958730e-01 2.83295670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.94, Y:-67.21, Z:2.83 [[ 9.97511303e-01 -6.99490051e-02 -8.85080602e-03 8.79430032e+01] [-6.99471366e-02 -9.97550564e-01 5.20862535e-04 -6.72145120e+01] [-8.86556035e-03 9.95222719e-05 -9.99960695e-01 2.83253281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.94, Y:-67.22, Z:2.83 [[ 9.99919880e-01 9.10785451e-03 -8.79096466e-03 8.79400756e+01] [ 9.10668585e-03 -9.99958518e-01 -1.72959046e-04 -6.72219479e+01] [-8.79217528e-03 9.28886351e-05 -9.99961344e-01 2.83201149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.94, Y:-67.23, Z:2.83 [[ 9.96109968e-01 8.76721730e-02 -8.86130019e-03 8.79366363e+01] [ 8.76678972e-02 -9.96149377e-01 -8.70570319e-04 -6.72288497e+01] [-8.90350346e-03 9.03322186e-05 -9.99960359e-01 2.83243958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.93, Y:-67.23, Z:2.83 [[ 9.86083978e-01 1.66000024e-01 -9.07633080e-03 8.79342704e+01] [ 1.65992200e-01 -9.86125745e-01 -1.61396986e-03 -6.72346261e+01] [-9.21832250e-03 8.49097090e-05 -9.99957507e-01 2.83233549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.93, Y:-67.24, Z:2.83 [[ 9.70018383e-01 2.42877420e-01 -8.65427463e-03 8.79323116e+01] [ 2.42866991e-01 -9.70056984e-01 -2.25223191e-03 -6.72419129e+01] [-8.94215582e-03 8.28687169e-05 -9.99960015e-01 2.83218274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.93, Y:-67.25, Z:2.83 [[ 9.47960256e-01 3.18290076e-01 -7.92337212e-03 8.79291912e+01] [ 3.18278255e-01 -9.47993366e-01 -2.74431618e-03 -6.72482482e+01] [-8.38479280e-03 7.96656194e-05 -9.99964844e-01 2.83208334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.92, Y:-67.25, Z:2.83 [[ 9.20027487e-01 3.91784920e-01 -7.34841888e-03 8.79244483e+01] [ 3.91771757e-01 -9.20056830e-01 -3.21242798e-03 -6.72503804e+01] [-8.01954382e-03 7.66190647e-05 -9.99967840e-01 2.83136331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.92, Y:-67.26, Z:2.83 [[ 8.86431513e-01 4.62810365e-01 -6.76300001e-03 8.79219943e+01] [ 4.62796251e-01 -8.86457309e-01 -3.61516624e-03 -6.72560819e+01] [-7.66824719e-03 7.47062278e-05 -9.99970596e-01 2.83040580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.92, Y:-67.26, Z:2.83 [[ 8.47498141e-01 5.30760316e-01 -6.35509919e-03 8.79195183e+01] [ 5.30744732e-01 -8.47521965e-01 -4.06793583e-03 -6.72615658e+01] [-7.54518506e-03 7.46326364e-05 -9.99971532e-01 2.83072039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.92, Y:-67.26, Z:2.83 [[ 8.03854485e-01 5.94790649e-01 -6.48472925e-03 8.79158417e+01] [ 5.94770471e-01 -8.03880636e-01 -4.89988658e-03 -6.72641527e+01] [-8.12735499e-03 8.18703325e-05 -9.99966969e-01 2.83168016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.91, Y:-67.27, Z:2.83 [[ 7.55482126e-01 6.55138732e-01 -6.32444427e-03 8.79115419e+01] [ 6.55114769e-01 -7.55508593e-01 -5.60405525e-03 -6.72690699e+01] [-8.44960564e-03 9.05267293e-05 -9.99964297e-01 2.83248057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.91, Y:-67.27, Z:2.83 [[ 7.02684825e-01 7.11474439e-01 -6.17735701e-03 8.79075637e+01] [ 7.11445667e-01 -7.02711970e-01 -6.39925420e-03 -6.72731454e+01] [-8.89380850e-03 1.01804936e-04 -9.99960444e-01 2.83280264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.90, Y:-67.28, Z:2.83 [[ 6.46060161e-01 7.63266501e-01 -5.52413265e-03 8.79021119e+01] [ 7.63237070e-01 -6.46083768e-01 -6.70369096e-03 -6.72773940e+01] [-8.68575518e-03 1.14764840e-04 -9.99962272e-01 2.83317041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.90, Y:-67.28, Z:2.83 [[ 5.85960507e-01 8.10324592e-01 -4.93345025e-03 8.79006808e+01] [ 8.10293958e-01 -5.85981260e-01 -7.04725174e-03 -6.72844176e+01] [-8.60147079e-03 1.31866268e-04 -9.99962998e-01 2.83202430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.90, Y:-67.29, Z:2.83 [[ 5.25360386e-01 8.50870788e-01 -3.91993629e-03 8.78997874e+01] [ 8.50844679e-01 -5.25374984e-01 -6.66774315e-03 -6.72923763e+01] [-7.73282434e-03 1.67711181e-04 -9.99970087e-01 2.83083740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.90, Y:-67.30, Z:2.83 [[ 4.59937031e-01 8.87946762e-01 -2.91127310e-03 8.78989787e+01] [ 8.87926499e-01 -4.59946211e-01 -6.00129907e-03 -6.73019858e+01] [-6.66786311e-03 1.75223145e-04 -9.99977754e-01 2.83158655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.90, Y:-67.31, Z:2.83 [[ 3.92223976e-01 9.19867117e-01 -2.19994277e-03 8.79013048e+01] [ 9.19849878e-01 -3.92230102e-01 -5.63459606e-03 -6.73115652e+01] [-6.04596340e-03 1.86406587e-04 -9.99981706e-01 2.83045457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.90, Y:-67.32, Z:2.83 [[ 3.21935937e-01 9.46760226e-01 -1.52553942e-03 8.78981624e+01] [ 9.46746661e-01 -3.21939496e-01 -5.07150334e-03 -6.73204953e+01] [-5.29262904e-03 1.88399826e-04 -9.99985976e-01 2.83062203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.90, Y:-67.33, Z:2.83 [[ 2.51504681e-01 9.67855847e-01 -6.75082595e-04 8.79000364e+01] [ 9.67850466e-01 -2.51505537e-01 -3.23108116e-03 -6.73302030e+01] [-3.29700780e-03 1.59253032e-04 -9.99994552e-01 2.82842871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.177628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.90, Y:-67.34, Z:2.83 [[ 1.76658090e-01 9.84272221e-01 -3.36761765e-04 8.79037849e+01] [ 9.84268487e-01 -1.76658349e-01 -2.71537046e-03 -6.73413451e+01] [-2.73215550e-03 1.48228167e-04 -9.99996257e-01 2.82809026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.207628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.91, Y:-67.35, Z:2.83 [[ 9.98869892e-02 9.94998785e-01 -8.11278487e-05 8.79104278e+01] [ 9.94996507e-01 -9.98869344e-02 -2.13342152e-03 -6.73520515e+01] [-2.13085543e-03 1.32379126e-04 -9.99997721e-01 2.82836484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.237628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.92, Y:-67.36, Z:2.83 [[ 2.15918683e-02 9.99766864e-01 8.91596251e-05 8.79166830e+01] [ 9.99763767e-01 -2.15915790e-02 -2.49289811e-03 -6.73639673e+01] [-2.49039183e-03 1.42964890e-04 -9.99996889e-01 2.82843759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.93, Y:-67.37, Z:2.83 [[-5.99644338e-02 9.98200472e-01 2.88941461e-04 8.79254453e+01] [ 9.98197262e-01 5.99649748e-02 -2.53534858e-03 -6.73742451e+01] [-2.54811252e-03 1.36389833e-04 -9.99996744e-01 2.82971223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.94, Y:-67.38, Z:2.83 [[-1.41256406e-01 9.89972931e-01 4.72293976e-04 8.79352241e+01] [ 9.89969983e-01 1.41257140e-01 -2.41952838e-03 -6.73842946e+01] [-2.46198249e-03 1.25782976e-04 -9.99996961e-01 2.83006673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.95, Y:-67.39, Z:2.83 [[-2.22015819e-01 9.75042899e-01 5.66248283e-04 8.79479140e+01] [ 9.75040859e-01 2.22016514e-01 -1.99749042e-03 -6.73925173e+01] [-2.07335532e-03 1.08640742e-04 -9.99997845e-01 2.83018280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.96, Y:-67.40, Z:2.83 [[-3.02073848e-01 9.53284200e-01 7.89766195e-04 8.79592506e+01] [ 9.53281774e-01 3.02074863e-01 -2.15337270e-03 -6.74007689e+01] [-2.29134468e-03 1.02392143e-04 -9.99997370e-01 2.83066172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.98, Y:-67.41, Z:2.83 [[-3.83226070e-01 9.23653849e-01 1.16020935e-03 8.79750570e+01] [ 9.23650285e-01 3.83227816e-01 -2.56739164e-03 -6.74051424e+01] [-2.81600566e-03 8.77362952e-05 -9.99996031e-01 2.83098515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.99, Y:-67.41, Z:2.83 [[-4.57472246e-01 8.89222981e-01 1.27812338e-03 8.79879591e+01] [ 8.89219970e-01 4.57474025e-01 -2.31553518e-03 -6.74093545e+01] [-2.64373534e-03 7.72397554e-05 -9.99996502e-01 2.83162680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.00, Y:-67.41, Z:2.83 [[-5.28263068e-01 8.49079146e-01 1.65383689e-03 8.80000383e+01] [ 8.49075390e-01 5.28265653e-01 -2.52649260e-03 -6.74146254e+01] [-3.01885740e-03 6.95794711e-05 -9.99995441e-01 2.83198459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.01, Y:-67.42, Z:2.83 [[-5.95543402e-01 8.03321176e-01 1.77325636e-03 8.80126859e+01] [ 8.03317914e-01 5.95546039e-01 -2.29000163e-03 -6.74171983e+01] [-2.89566261e-03 6.06932350e-05 -9.99995806e-01 2.83269616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.02, Y:-67.42, Z:2.83 [[-6.57186054e-01 7.53725943e-01 1.92179709e-03 8.80224082e+01] [ 7.53722978e-01 6.57188862e-01 -2.11499173e-03 -6.74211109e+01] [-2.85710777e-03 5.85595548e-05 -9.99995917e-01 2.83338312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.03, Y:-67.42, Z:2.83 [[-7.14721558e-01 6.99405882e-01 2.12284662e-03 8.80324376e+01] [ 6.99403028e-01 7.14724709e-01 -1.99872237e-03 -6.74236507e+01] [-2.91516911e-03 5.61953880e-05 -9.99995749e-01 2.83394779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.06, Y:-67.41, Z:2.83 [[-7.62585463e-01 6.46883646e-01 2.22718556e-03 8.80578039e+01] [ 6.46881072e-01 7.62588714e-01 -1.82545504e-03 -6.74076038e+01] [-2.87928358e-03 4.86587086e-05 -9.99995854e-01 2.83479648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.08, Y:-67.39, Z:2.84 [[-8.06832725e-01 5.90774074e-01 2.63568476e-03 8.80825500e+01] [ 5.90771104e-01 8.06837029e-01 -1.87392911e-03 -6.73898886e+01] [-3.23363680e-03 4.51390657e-05 -9.99994771e-01 2.83520300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.11, Y:-67.37, Z:2.84 [[-8.46795485e-01 5.31912324e-01 2.58583347e-03 8.81052703e+01] [ 5.31910004e-01 8.46799432e-01 -1.57138980e-03 -6.73716135e+01] [-3.02552392e-03 4.47849023e-05 -9.99995422e-01 2.83517375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.13, Y:-67.35, Z:2.84 [[-8.82531895e-01 4.70247070e-01 2.26898495e-03 8.81265379e+01] [ 4.70245648e-01 8.82534810e-01 -1.15727927e-03 -6.73513652e+01] [-2.54666538e-03 4.56444338e-05 -9.99996756e-01 2.83504305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.15, Y:-67.33, Z:2.84 [[-9.13694784e-01 4.06395584e-01 2.11457319e-03 8.81463618e+01] [ 4.06394612e-01 9.13697230e-01 -8.89979624e-04 -6.73294223e+01] [-2.29376345e-03 4.61814096e-05 -9.99997368e-01 2.83503073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.50, Y:-66.55, Z:1.98 [[-8.79147211e-01 -4.76543186e-01 2.60243151e-03 8.85010494e+01] [ 4.76541090e-01 -8.79151063e-01 -1.41329193e-03 -6.65458368e+01] [ 2.96142507e-03 -2.32611009e-06 9.99995615e-01 1.98480483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.11, Y:-67.31, Z:2.84 [[-9.15081648e-01 4.03267348e-01 1.01221079e-03 8.81081354e+01] [ 4.03267165e-01 9.15082206e-01 -3.87806364e-04 -6.73120255e+01] [-1.08264573e-03 5.33168895e-05 -9.99999413e-01 2.83611032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.13, Y:-67.29, Z:2.84 [[-9.41154118e-01 3.37976632e-01 8.49553967e-04 8.81256247e+01] [ 3.37976547e-01 9.41154500e-01 -2.47105269e-04 -6.72897677e+01] [-8.83077346e-04 5.45651748e-05 -9.99999609e-01 2.83636513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.14, Y:-67.27, Z:2.84 [[-9.62597361e-01 2.70934310e-01 9.59284075e-04 8.81405079e+01] [ 2.70934232e-01 9.62597837e-01 -2.13367432e-04 -6.72662642e+01] [-9.81213333e-04 5.45159666e-05 -9.99999517e-01 2.83656280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.15, Y:-67.24, Z:2.84 [[-9.79195072e-01 2.02917253e-01 1.26451507e-03 8.81507583e+01] [ 2.02917155e-01 9.79195887e-01 -2.06630442e-04 -6.72412346e+01] [-1.28013684e-03 5.42602903e-05 -9.99999179e-01 2.83697585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.16, Y:-67.22, Z:2.84 [[-9.90891425e-01 1.34642865e-01 2.34155028e-03 8.81615267e+01] [ 1.34642620e-01 9.90894190e-01 -2.62898057e-04 -6.72171510e+01] [-2.35562592e-03 5.47690336e-05 -9.99997224e-01 2.83750947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.29, Y:-66.36, Z:1.98 [[-9.79150981e-01 -2.03079073e-01 4.71654142e-03 8.82923062e+01] [ 2.03077223e-01 -9.79162336e-01 -8.72984103e-04 -6.63598099e+01] [ 4.79554452e-03 1.03038891e-04 9.99988496e-01 1.98262986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.10, Y:-67.21, Z:2.84 [[-9.91235764e-01 1.32051319e-01 3.75622064e-03 8.80987661e+01] [ 1.32050602e-01 9.91242879e-01 -4.39514676e-04 -6.72101880e+01] [-3.78136546e-03 6.03485308e-05 -9.99992849e-01 2.83857654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.957628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.11, Y:-67.18, Z:2.84 [[-9.97944016e-01 6.39424631e-02 4.37069048e-03 8.81072811e+01] [ 6.39421612e-02 9.97953584e-01 -2.08930598e-04 -6.71842522e+01] [-4.37510576e-03 7.09703552e-05 -9.99990427e-01 2.83938701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.987628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.17, Y:-66.31, Z:1.98 [[-9.92360780e-01 -1.23222512e-01 6.02453795e-03 8.81683942e+01] [ 1.23220430e-01 -9.92379066e-01 -7.16900788e-04 -6.63146738e+01] [ 6.06696367e-03 3.09219345e-05 9.99981595e-01 1.98159205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.02, Y:-67.18, Z:2.84 [[-9.98177177e-01 6.01873588e-02 4.45025010e-03 8.80231075e+01] [ 6.01871196e-02 9.98187094e-01 -1.87775369e-04 -6.71793043e+01] [-4.45348392e-03 8.04146470e-05 -9.99990080e-01 2.83931715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.03, Y:-67.15, Z:2.84 [[-9.99952169e-01 -8.86970874e-03 4.12175105e-03 8.80333084e+01] [-8.86927979e-03 9.99960660e-01 1.22336654e-04 -6.71528365e+01] [-4.12267399e-03 8.57738387e-05 -9.99991498e-01 2.83877597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.04, Y:-67.13, Z:2.84 [[-9.97007385e-01 -7.72279296e-02 3.48146151e-03 8.80356128e+01] [-7.72271379e-02 9.97013460e-01 3.61473260e-04 -6.71268904e+01] [-3.49897981e-03 9.15282017e-05 -9.99993874e-01 2.83806000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.03, Y:-67.11, Z:2.84 [[-9.90059584e-01 -1.40615363e-01 3.05615359e-03 8.80286239e+01] [-1.40614339e-01 9.90064294e-01 5.48158096e-04 -6.71066025e+01] [-3.10286800e-03 1.12970157e-04 -9.99995180e-01 2.83689217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.00, Y:-67.09, Z:2.84 [[-9.78337312e-01 -2.06995268e-01 3.01043217e-03 8.79980391e+01] [-2.06993880e-01 9.78341935e-01 7.68948952e-04 -6.70869562e+01] [-3.10440083e-03 1.29150415e-04 -9.99995173e-01 2.83589239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.94, Y:-67.08, Z:2.84 [[-9.61772349e-01 -2.73839316e-01 2.44515482e-03 8.79401856e+01] [-2.73838084e-01 9.61775448e-01 8.31576783e-04 -6.70809413e+01] [-2.57940829e-03 1.30211044e-04 -9.99996665e-01 2.83565904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.88, Y:-67.08, Z:2.84 [[-9.40223454e-01 -3.40549086e-01 2.48535852e-03 8.78826137e+01] [-3.40547482e-01 9.40226727e-01 1.05546945e-03 -6.70750966e+01] [-2.69623967e-03 1.45994543e-04 -9.99996354e-01 2.83544801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.81, Y:-67.08, Z:2.84 [[-9.15200080e-01 -4.02988023e-01 3.07674221e-03 8.78103328e+01] [-4.02985009e-01 9.15205231e-01 1.57110231e-03 -6.70817986e+01] [-3.44898597e-03 1.97991974e-04 -9.99994033e-01 2.83609786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.72, Y:-67.10, Z:2.84 [[-8.83831176e-01 -4.67794272e-01 3.31246822e-03 8.77249082e+01] [-4.67790001e-01 8.83837353e-01 2.01184821e-03 -6.70983728e+01] [-3.86881422e-03 2.28594655e-04 -9.99992490e-01 2.83693460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.63, Y:-67.10, Z:2.84 [[-8.47447037e-01 -5.30867861e-01 3.58248463e-03 8.76280502e+01] [-5.30861771e-01 8.47454568e-01 2.55654200e-03 -6.71047747e+01] [-4.39317894e-03 2.64729809e-04 -9.99990315e-01 2.83550449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.53, Y:-67.14, Z:2.84 [[-8.06667637e-01 -5.90993863e-01 3.68468882e-03 8.75330651e+01] [-5.90985959e-01 8.06675997e-01 3.07126303e-03 -6.71370803e+01] [-4.78744763e-03 2.99889130e-04 -9.99988495e-01 2.83564554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.34762800000001 meters Centerline goodness [0,1] 0.9997978345837639 Centerline is valid? [True, True] Translation: X:87.45, Y:-67.20, Z:2.84 [[-7.59321106e-01 -6.50707590e-01 3.33015015e-03 8.74517343e+01] [-6.50699583e-01 7.59328351e-01 3.24152967e-03 -6.72016842e+01] [-4.63796538e-03 2.94434582e-04 -9.99989201e-01 2.83819301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.34, Y:-67.24, Z:2.84 [[-7.07189279e-01 -7.07017069e-01 3.19164775e-03 8.73391789e+01] [-7.07007872e-01 7.07196417e-01 3.61900468e-03 -6.72414579e+01] [-4.81581993e-03 3.02801226e-04 -9.99988358e-01 2.83510341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.25, Y:-67.30, Z:2.83 [[-6.49999480e-01 -7.59929250e-01 2.86541706e-03 8.72460444e+01] [-7.59919790e-01 6.50005729e-01 3.80324490e-03 -6.73022763e+01] [-4.75273455e-03 2.94620071e-04 -9.99988662e-01 2.83453812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.15, Y:-67.38, Z:2.83 [[-5.87102549e-01 -8.09508795e-01 2.47132767e-03 8.71528370e+01] [-8.09499590e-01 5.87107687e-01 3.87007185e-03 -6.73760451e+01] [-4.58379267e-03 2.71590307e-04 -9.99989457e-01 2.83376447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.07, Y:-67.46, Z:2.83 [[-5.21299107e-01 -8.53371522e-01 2.07041938e-03 8.70692887e+01] [-8.53362755e-01 5.21303156e-01 3.87666943e-03 -6.74587869e+01] [-4.38755545e-03 2.54085521e-04 -9.99990342e-01 2.83381184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.99, Y:-67.55, Z:2.83 [[-4.52008476e-01 -8.92011877e-01 1.77453134e-03 8.69877648e+01] [-8.92002738e-01 4.52011893e-01 4.04537482e-03 -6.75525375e+01] [-4.41063165e-03 2.45656889e-04 -9.99990243e-01 2.83382430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.91, Y:-67.65, Z:2.83 [[-3.80120495e-01 -9.24935750e-01 1.50579817e-03 8.69119293e+01] [-9.24925768e-01 3.80123400e-01 4.30401959e-03 -6.76461106e+01] [-4.55333071e-03 2.43294524e-04 -9.99989604e-01 2.83361769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.84, Y:-67.75, Z:2.83 [[-3.03968986e-01 -9.52681307e-01 1.08793517e-03 8.68441062e+01] [-9.52672432e-01 3.03970857e-01 4.11781963e-03 -6.77520331e+01] [-4.25367037e-03 2.15243620e-04 -9.99990930e-01 2.83383229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.79, Y:-67.86, Z:2.83 [[-2.27964140e-01 -9.73669275e-01 7.02571124e-04 8.67851131e+01] [-9.73661620e-01 2.27965137e-01 3.86614685e-03 -6.78631908e+01] [-3.92451012e-03 1.97276302e-04 -9.99992280e-01 2.83323306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.74, Y:-67.97, Z:2.83 [[-1.50886681e-01 -9.88551018e-01 3.06098924e-04 8.67373295e+01] [-9.88546188e-01 1.50886902e-01 3.09481385e-03 -6.79721168e+01] [-3.10556770e-03 1.64373265e-04 -9.99995164e-01 2.83292155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.70, Y:-68.09, Z:2.83 [[-7.28535378e-02 -9.97342649e-01 4.54597519e-05 8.66955122e+01] [-9.97339268e-01 7.28534093e-02 2.60119052e-03 -6.80897694e+01] [-2.59759014e-03 1.44167136e-04 -9.99996616e-01 2.83193341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.67, Y:-68.21, Z:2.83 [[ 4.95200583e-03 -9.99987730e-01 -1.34802848e-04 8.66650078e+01] [-9.99985600e-01 -4.95227401e-03 2.06764110e-03 -6.82058745e+01] [-2.06828330e-03 1.24561936e-04 -9.99997853e-01 2.83161731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.707628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.64, Y:-68.33, Z:2.83 [[ 8.29759894e-02 -9.96551508e-01 -2.78662947e-04 8.66443606e+01] [-9.96549679e-01 -8.29763720e-02 1.91273220e-03 -6.83292692e+01] [-1.92925859e-03 1.18990624e-04 -9.99998132e-01 2.83136368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.737628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.63, Y:-68.45, Z:2.83 [[ 1.60995011e-01 -9.86955038e-01 -6.00098355e-04 8.66309488e+01] [-9.86951122e-01 -1.60996065e-01 2.78376307e-03 -6.84546678e+01] [-2.84406246e-03 1.44095778e-04 -9.99995945e-01 2.83213711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.63, Y:-68.58, Z:2.83 [[ 2.37533668e-01 -9.71378715e-01 -1.07158874e-03 8.66294743e+01] [-9.71371812e-01 -2.37536024e-01 3.66594659e-03 -6.85832214e+01] [-3.81556341e-03 1.70125355e-04 -9.99992706e-01 2.83307937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.64, Y:-68.70, Z:2.83 [[ 3.12993912e-01 -9.49753660e-01 -1.67196412e-03 8.66354207e+01] [-9.49743209e-01 -3.12998319e-01 4.45984326e-03 -6.87001495e+01] [-4.75907442e-03 1.92032778e-04 -9.99988657e-01 2.83428829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.65, Y:-68.82, Z:2.84 [[ 3.88770409e-01 -9.21330518e-01 -2.76496642e-03 8.66489347e+01] [-9.21311075e-01 -3.88780180e-01 5.98949007e-03 -6.88230568e+01] [-6.59326413e-03 2.18857682e-04 -9.99978240e-01 2.83608436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.857628 meters Centerline goodness [0,1] 0.9998690528153644 Centerline is valid? [True, True] Translation: X:86.67, Y:-68.94, Z:2.84 [[ 4.60091650e-01 -8.87863244e-01 -3.81234165e-03 8.66737124e+01] [-8.87836898e-01 -4.60107384e-01 6.84377588e-03 -6.89404002e+01] [-7.83042359e-03 2.35973450e-04 -9.99969314e-01 2.83923803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.71, Y:-69.06, Z:2.84 [[ 5.29479094e-01 -8.48311115e-01 -4.48786292e-03 8.67067332e+01] [-8.48284071e-01 -5.29498068e-01 6.77721748e-03 -6.90552378e+01] [-8.12550366e-03 2.18587649e-04 -9.99966964e-01 2.83774532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.75, Y:-69.17, Z:2.84 [[ 5.96369346e-01 -8.02693446e-01 -5.18019952e-03 8.67458392e+01] [-8.02665881e-01 -5.96391814e-01 6.65490765e-03 -6.91685139e+01] [-8.43127934e-03 1.89186486e-04 -9.99964438e-01 2.83747033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.79, Y:-69.27, Z:2.84 [[ 6.57558056e-01 -7.53382886e-01 -5.62399123e-03 8.67949455e+01] [-7.53357545e-01 -6.57582084e-01 6.18158193e-03 -6.92706291e+01] [-8.35533391e-03 1.72127222e-04 -9.99965079e-01 2.83874326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.85, Y:-69.37, Z:2.84 [[ 7.14412120e-01 -6.99697846e-01 -6.18445270e-03 8.68468621e+01] [-6.99673538e-01 -7.14438870e-01 5.83444286e-03 -6.93654521e+01] [-8.50076050e-03 1.58901212e-04 -9.99963855e-01 2.83911813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.84, Y:-69.37, Z:2.84 [[ 7.67964298e-01 -6.40460946e-01 -6.37280464e-03 8.68410403e+01] [-6.40440424e-01 -7.67990726e-01 5.12906491e-03 -6.93743253e+01] [-8.17922063e-03 1.42462975e-04 -9.99966539e-01 2.83798988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.84, Y:-69.38, Z:2.84 [[ 8.17891344e-01 -5.75335692e-01 -6.52613877e-03 8.68356420e+01] [-5.75318437e-01 -8.17917374e-01 4.45715852e-03 -6.93837587e+01] [-7.90220467e-03 1.09136583e-04 -9.99968771e-01 2.83692506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.83, Y:-69.39, Z:2.84 [[ 8.61323423e-01 -5.08017231e-01 -6.36027446e-03 8.68309234e+01] [-5.08004165e-01 -8.61346901e-01 3.64478823e-03 -6.93923702e+01] [-7.33001793e-03 9.17044392e-05 -9.99973131e-01 2.83699814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.83, Y:-69.40, Z:2.84 [[ 8.99137597e-01 -4.37622573e-01 -6.16970686e-03 8.68264388e+01] [-4.37612861e-01 -8.99158761e-01 2.91657942e-03 -6.93997846e+01] [-6.82390697e-03 7.75368594e-05 -9.99976714e-01 2.83695609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.82, Y:-69.41, Z:2.84 [[ 9.31026809e-01 -3.64899569e-01 -6.11435886e-03 8.68243310e+01] [-3.64892184e-01 -9.31046884e-01 2.32260545e-03 -6.94070264e+01] [-6.54027249e-03 6.86738180e-05 -9.99978610e-01 2.83640274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.82, Y:-69.41, Z:2.84 [[ 9.56977851e-01 -2.90109803e-01 -5.44931820e-03 8.68226639e+01] [-2.90105465e-01 -9.56993364e-01 1.58778074e-03 -6.94128467e+01] [-5.67559211e-03 6.14059845e-05 -9.99983892e-01 2.83624132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.82, Y:-69.42, Z:2.84 [[ 9.76828423e-01 -2.13958846e-01 -5.27677491e-03 8.68211230e+01] [-2.13956048e-01 -9.76842673e-01 1.09591263e-03 -6.94226769e+01] [-5.38905911e-03 5.84792948e-05 -9.99985477e-01 2.83514632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.82, Y:-69.43, Z:2.83 [[ 9.90520745e-01 -1.37240085e-01 -5.81486687e-03 8.68172482e+01] [-1.37238081e-01 -9.90537811e-01 7.44140728e-04 -6.94289116e+01] [-5.86197143e-03 6.09343426e-05 -9.99982817e-01 2.83474531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.81, Y:-69.44, Z:2.84 [[ 9.98159618e-01 -6.03313235e-02 -6.12434422e-03 8.68124448e+01] [-6.03306030e-02 -9.98178404e-01 3.02490390e-04 -6.94357310e+01] [-6.13143779e-03 6.75516872e-05 -9.99981200e-01 2.83544971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.81, Y:-69.44, Z:2.84 [[ 9.99845047e-01 1.64523765e-02 -6.26106010e-03 8.68094271e+01] [ 1.64515687e-02 -9.99864648e-01 -1.80495112e-04 -6.94399553e+01] [-6.26318222e-03 7.74628830e-05 -9.99980383e-01 2.83583552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.81, Y:-69.45, Z:2.84 [[ 9.95697870e-01 9.24530528e-02 -6.17939973e-03 8.68060904e+01] [ 9.24507058e-02 -9.95717041e-01 -6.65003051e-04 -6.94482277e+01] [-6.21441517e-03 9.08522554e-05 -9.99980686e-01 2.83571757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.80, Y:-69.45, Z:2.84 [[ 9.86370927e-01 1.64430771e-01 -5.90903709e-03 8.68019164e+01] [ 1.64427064e-01 -9.86388618e-01 -1.11117260e-03 -6.94514089e+01] [-6.01131789e-03 1.24422727e-04 -9.99981924e-01 2.83649372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.80, Y:-69.45, Z:2.84 [[ 9.71231251e-01 2.38079109e-01 -5.30985202e-03 8.67977337e+01] [ 2.38074783e-01 -9.71245756e-01 -1.44161763e-03 -6.94529769e+01] [-5.50039028e-03 1.36002222e-04 -9.99984863e-01 2.83597013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.79, Y:-69.46, Z:2.83 [[ 9.51655026e-01 3.07136336e-01 -4.47009607e-03 8.67933380e+01] [ 3.07132174e-01 -9.51665512e-01 -1.60653272e-03 -6.94560397e+01] [-4.74746083e-03 1.55954614e-04 -9.99988719e-01 2.83380681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.42762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.79, Y:-69.46, Z:2.83 [[ 9.25863662e-01 3.77838900e-01 -3.77413935e-03 8.67909451e+01] [ 3.77835071e-01 -9.25871342e-01 -1.70810243e-03 -6.94636604e+01] [-4.13975501e-03 1.55467761e-04 -9.99991419e-01 2.83322081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.79, Y:-69.47, Z:2.83 [[ 8.94652648e-01 4.46750933e-01 -3.20056718e-03 8.67866194e+01] [ 4.46747454e-01 -8.94658360e-01 -1.76979457e-03 -6.94705298e+01] [-3.65407156e-03 1.53506162e-04 -9.99993312e-01 2.83281173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.487628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.78, Y:-69.48, Z:2.83 [[ 8.58162281e-01 5.13368934e-01 -3.13635670e-03 8.67837325e+01] [ 5.13364793e-01 -8.58167997e-01 -2.06852143e-03 -6.94775554e+01] [-3.75343559e-03 1.65031959e-04 -9.99992942e-01 2.83267997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.78, Y:-69.49, Z:2.83 [[ 8.16451726e-01 5.77406691e-01 -2.84472445e-03 8.67814748e+01] [ 5.77402459e-01 -8.16456665e-01 -2.21687862e-03 -6.94859226e+01] [-3.60263479e-03 1.67423480e-04 -9.99993496e-01 2.83265759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.78, Y:-69.49, Z:2.83 [[ 7.70504931e-01 6.37429365e-01 -2.44028916e-03 8.67762607e+01] [ 6.37425467e-01 -7.70508778e-01 -2.23559934e-03 -6.94917588e+01] [-3.30530088e-03 1.67037863e-04 -9.99994524e-01 2.83343012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.78, Y:-69.50, Z:2.83 [[ 7.19141920e-01 6.94858846e-01 -2.46628305e-03 8.67765594e+01] [ 6.94853871e-01 -7.19146126e-01 -2.63570705e-03 -6.95027159e+01] [-3.60506226e-03 1.81741103e-04 -9.99993485e-01 2.83299412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.78, Y:-69.52, Z:2.83 [[ 6.63359284e-01 7.48297082e-01 -2.43665905e-03 8.67798423e+01] [ 7.48290916e-01 -6.63363730e-01 -3.04425117e-03 -6.95150730e+01] [-3.89439551e-03 1.96102446e-04 -9.99992398e-01 2.83248449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.78, Y:-69.53, Z:2.83 [[ 6.03513838e-01 7.97348685e-01 -2.47434265e-03 8.67802036e+01] [ 7.97340447e-01 -6.03518870e-01 -3.63098063e-03 -6.95261362e+01] [-4.38847011e-03 2.18453578e-04 -9.99990347e-01 2.83237925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.78, Y:-69.54, Z:2.83 [[ 5.40383654e-01 8.41414561e-01 -2.65398160e-03 8.67843207e+01] [ 8.41401948e-01 -5.40390108e-01 -4.61443694e-03 -6.95380564e+01] [-5.31683983e-03 2.60501004e-04 -9.99985832e-01 2.83311430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.79, Y:-69.55, Z:2.83 [[ 4.73046487e-01 8.81034068e-01 -2.44797607e-03 8.67903758e+01] [ 8.81019101e-01 -4.73052740e-01 -5.14283759e-03 -6.95504909e+01] [-5.68903692e-03 2.76087576e-04 -9.99983779e-01 2.83342203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.80, Y:-69.56, Z:2.83 [[ 4.02910850e-01 9.15236285e-01 -2.32153489e-03 8.67966866e+01] [ 9.15216411e-01 -4.02917420e-01 -6.03927332e-03 -6.95617615e+01] [-6.46274893e-03 3.08581911e-04 -9.99979069e-01 2.83372141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.80, Y:-69.57, Z:2.83 [[ 3.30488023e-01 9.43808339e-01 -1.86693679e-03 8.68045011e+01] [ 9.43787466e-01 -3.30493146e-01 -6.28492173e-03 -6.95728145e+01] [-6.54877136e-03 3.15099814e-04 -9.99978507e-01 2.83335624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.81, Y:-69.58, Z:2.83 [[ 2.56010460e-01 9.66673204e-01 -1.24940562e-03 8.68132366e+01] [ 9.66655412e-01 -2.56013338e-01 -5.87243839e-03 -6.95833412e+01] [-5.99659334e-03 2.95660945e-04 -9.99981977e-01 2.83338110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.82, Y:-69.59, Z:2.83 [[ 1.81111425e-01 9.83462354e-01 -6.71258476e-04 8.68243227e+01] [ 9.83448956e-01 -1.81112466e-01 -5.14064368e-03 -6.95931263e+01] [-5.17720281e-03 2.70880853e-04 -9.99986562e-01 2.83241644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.84, Y:-69.60, Z:2.83 [[ 1.04513253e-01 9.94523470e-01 -2.18876843e-04 8.68353412e+01] [ 9.94513739e-01 -1.04513200e-01 -4.40620568e-03 -6.96021794e+01] [-4.40495048e-03 2.42830861e-04 -9.99990269e-01 2.83186418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.85, Y:-69.61, Z:2.83 [[ 2.70885033e-02 9.99633033e-01 1.09315922e-04 8.68469196e+01] [ 9.99627385e-01 -2.70879821e-02 -3.36643293e-03 -6.96104720e+01] [-3.36223641e-03 2.00466818e-04 -9.99994328e-01 2.83124840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.86, Y:-69.62, Z:2.83 [[-4.88752960e-02 9.98804867e-01 2.05983956e-04 8.68579197e+01] [ 9.98803587e-01 4.88755642e-02 -1.60405318e-03 -6.96192946e+01] [-1.61220370e-03 1.27338941e-04 -9.99998692e-01 2.83089138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.87, Y:-69.63, Z:2.83 [[-1.25756722e-01 9.92061076e-01 2.61124173e-04 8.68680551e+01] [ 9.92060374e-01 1.25756946e-01 -1.18570136e-03 -6.96264697e+01] [-1.20912635e-03 1.09941027e-04 -9.99999263e-01 2.83017541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.88, Y:-69.63, Z:2.83 [[-2.03099872e-01 9.79157963e-01 3.53587086e-04 8.68793478e+01] [ 9.79157278e-01 2.03100150e-01 -1.16361512e-03 -6.96329665e+01] [-1.21117660e-03 1.09887288e-04 -9.99999260e-01 2.83019294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.89, Y:-69.64, Z:2.83 [[-2.77743103e-01 9.60655303e-01 3.97058546e-04 8.68903446e+01] [ 9.60654791e-01 2.77743367e-01 -9.97184281e-04 -6.96385900e+01] [-1.06823075e-03 1.04475137e-04 -9.99999424e-01 2.82999032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.90, Y:-69.64, Z:2.83 [[-3.50976535e-01 9.36384069e-01 5.89389488e-04 8.69004391e+01] [ 9.36383269e-01 3.50977009e-01 -1.22973696e-03 -6.96449096e+01] [-1.35836825e-03 1.20285640e-04 -9.99999070e-01 2.83007471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.91, Y:-69.65, Z:2.83 [[-4.21593949e-01 9.06784096e-01 1.07036479e-03 8.69141259e+01] [ 9.06782102e-01 4.21595275e-01 -1.90902375e-03 -6.96474780e+01] [-2.18233311e-03 1.65754774e-04 -9.99997605e-01 2.83111963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.93, Y:-69.65, Z:2.83 [[-4.91003378e-01 8.71156529e-01 1.40862480e-03 8.69261197e+01] [ 8.71153964e-01 4.91005364e-01 -2.12212334e-03 -6.96516951e+01] [-2.54034393e-03 1.85159351e-04 -9.99996756e-01 2.83224200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.94, Y:-69.65, Z:2.83 [[-5.57658452e-01 8.30068221e-01 1.94906493e-03 8.69372989e+01] [ 8.30064456e-01 5.57661815e-01 -2.50964740e-03 -6.96533527e+01] [-3.17009764e-03 2.18323439e-04 -9.99994951e-01 2.83322283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.96, Y:-69.64, Z:2.83 [[-6.21219236e-01 7.83633213e-01 2.37682013e-03 8.69587463e+01] [ 7.83628874e-01 6.21223738e-01 -2.61845929e-03 -6.96446216e+01] [-3.52844875e-03 2.35907607e-04 -9.99993747e-01 2.83381898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.17762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.97, Y:-69.64, Z:2.84 [[-6.81614017e-01 7.31705391e-01 3.09072700e-03 8.69703211e+01] [ 7.31699596e-01 6.81620972e-01 -2.92455518e-03 -6.96441551e+01] [-4.24661713e-03 2.68065891e-04 -9.99990947e-01 2.83529348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.207628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.99, Y:-69.62, Z:2.84 [[-7.32300582e-01 6.80971914e-01 3.62084800e-03 8.69928816e+01] [ 6.80965435e-01 7.32309479e-01 -2.98374002e-03 -6.96241562e+01] [-4.68342446e-03 2.80677787e-04 -9.99988993e-01 2.83568158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.237628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.02, Y:-69.61, Z:2.84 [[-7.79030741e-01 6.26971271e-01 4.25789113e-03 8.70184620e+01] [ 6.26963992e-01 7.79042318e-01 -3.03636412e-03 -6.96057896e+01] [-5.22079044e-03 3.04123433e-04 -9.99986325e-01 2.83622140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.04, Y:-69.58, Z:2.84 [[-8.22848855e-01 5.68237091e-01 5.13518711e-03 8.70391017e+01] [ 5.68228469e-01 8.22864813e-01 -3.14740722e-03 -6.95791808e+01] [-6.01403830e-03 3.28119086e-04 -9.99981862e-01 2.83821722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.06, Y:-69.55, Z:2.84 [[-8.61836732e-01 5.07156172e-01 5.48312033e-03 8.70624866e+01] [ 5.07148273e-01 8.61854112e-01 -2.84928969e-03 -6.95483602e+01] [-6.17068466e-03 3.25132493e-04 -9.99980908e-01 2.83780615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.08, Y:-69.52, Z:2.84 [[-8.96427247e-01 4.43156139e-01 5.55213337e-03 8.70784694e+01] [ 4.43149737e-01 8.96444389e-01 -2.40179710e-03 -6.95187046e+01] [-6.04154994e-03 3.07390081e-04 -9.99981702e-01 2.83762097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.09, Y:-69.49, Z:2.84 [[-9.27331151e-01 3.74206479e-01 5.14266241e-03 8.70899706e+01] [ 3.74202242e-01 9.27345376e-01 -1.79902873e-03 -6.94905157e+01] [-5.44223241e-03 2.56100416e-04 -9.99985158e-01 2.83679750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.36, Y:-68.76, Z:1.99 [[-9.29975949e-01 -3.67570712e-01 6.04205503e-03 8.73576968e+01] [ 3.67561365e-01 -9.29995549e-01 -2.63102683e-03 -6.87632144e+01] [ 6.58617269e-03 -2.25965681e-04 9.99978285e-01 1.99273587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.05, Y:-69.47, Z:2.84 [[-9.30982599e-01 3.65031616e-01 4.82911691e-03 8.70451261e+01] [ 3.65027878e-01 9.30995099e-01 -1.66539731e-03 -6.94665191e+01] [-5.10380685e-03 2.12306380e-04 -9.99986953e-01 2.83611923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.05, Y:-69.44, Z:2.84 [[-9.55518735e-01 2.94895406e-01 4.54384568e-03 8.70539955e+01] [ 2.94892974e-01 9.55529521e-01 -1.21155792e-03 -6.94360033e+01] [-4.69906156e-03 1.82281871e-04 -9.99988943e-01 2.83614031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.26, Y:-68.72, Z:1.99 [[-9.50339917e-01 -3.11175654e-01 4.87387886e-03 8.72565140e+01] [ 3.11170685e-01 -9.50352401e-01 -1.76581409e-03 -6.87184136e+01] [ 5.18138083e-03 -1.61515395e-04 9.99986564e-01 1.99303043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.01, Y:-69.41, Z:2.84 [[-9.60187611e-01 2.79336664e-01 3.28325454e-03 8.70059684e+01] [ 2.79335395e-01 9.60193219e-01 -8.48366606e-04 -6.94097221e+01] [-3.38953865e-03 1.02538099e-04 -9.99994250e-01 2.83635342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.01, Y:-69.38, Z:2.84 [[-9.78462097e-01 2.06407944e-01 2.77221602e-03 8.70108302e+01] [ 2.06407349e-01 9.78466021e-01 -5.02325649e-04 -6.93781509e+01] [-2.81620318e-03 8.06991516e-05 -9.99996031e-01 2.83625513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.01, Y:-69.35, Z:2.84 [[-9.91180040e-01 1.32496278e-01 2.62019809e-03 8.70130221e+01] [ 1.32495995e-01 9.91183501e-01 -2.81955853e-04 -6.93471619e+01] [-2.63445522e-03 6.76967398e-05 -9.99996528e-01 2.83611208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.10, Y:-68.64, Z:1.99 [[-9.81879817e-01 -1.89451508e-01 4.48901785e-03 8.70991195e+01] [ 1.89449778e-01 -9.81890077e-01 -8.11392971e-04 -6.86443789e+01] [ 4.56144170e-03 5.37530518e-05 9.99989595e-01 1.99239692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.95, Y:-69.33, Z:2.84 [[-9.93025825e-01 1.17841101e-01 3.63130559e-03 8.69529823e+01] [ 1.17840453e-01 9.93032463e-01 -3.92743581e-04 -6.93309015e+01] [-3.65228568e-03 3.79101774e-05 -9.99993330e-01 2.83782341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.04, Y:-68.64, Z:1.99 [[-9.81536701e-01 -1.91188149e-01 5.72681134e-03 8.70350167e+01] [ 1.91185556e-01 -9.81553401e-01 -1.00190548e-03 -6.86413792e+01] [ 5.81272360e-03 1.11476611e-04 9.99983100e-01 1.99070762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.89, Y:-69.32, Z:2.84 [[-9.94052971e-01 1.08783785e-01 4.97784722e-03 8.68935570e+01] [ 1.08782471e-01 9.94065435e-01 -5.34639422e-04 -6.93203393e+01] [-5.00646596e-03 1.00426155e-05 -9.99987468e-01 2.83987216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.98, Y:-68.64, Z:1.99 [[-9.81598182e-01 -1.90852990e-01 6.33601331e-03 8.69756233e+01] [ 1.90849635e-01 -9.81618626e-01 -1.13560285e-03 -6.86364133e+01] [ 6.43628188e-03 9.45201366e-05 9.99979282e-01 1.98935170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.84, Y:-69.31, Z:2.84 [[-9.94778048e-01 1.01939408e-01 4.99929861e-03 8.68364079e+01] [ 1.01938101e-01 9.94790610e-01 -5.16293073e-04 -6.93144085e+01] [-5.02588592e-03 -3.97801043e-06 -9.99987370e-01 2.84028310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.92, Y:-68.63, Z:1.99 [[-9.81985366e-01 -1.88847612e-01 6.42814867e-03 8.69155591e+01] [ 1.88844343e-01 -9.82006398e-01 -1.11740596e-03 -6.86267724e+01] [ 6.52350257e-03 1.16643206e-04 9.99978715e-01 1.98911517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.78, Y:-69.31, Z:2.84 [[-9.95314895e-01 9.65260586e-02 5.56593544e-03 8.67773427e+01] [ 9.65244567e-02 9.95330458e-01 -5.56359578e-04 -6.93134402e+01] [-5.59364826e-03 -1.65040806e-05 -9.99984355e-01 2.84084700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.86, Y:-68.62, Z:1.99 [[-9.82775524e-01 -1.84672909e-01 6.94167205e-03 8.68558381e+01] [ 1.84669202e-01 -9.82800031e-01 -1.17681088e-03 -6.86154374e+01] [ 7.03960060e-03 1.25372103e-04 9.99975214e-01 1.98850111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.72, Y:-69.32, Z:2.84 [[-9.95626511e-01 9.31964123e-02 6.50226282e-03 8.67173673e+01] [ 9.31942927e-02 9.95647743e-01 -6.28864643e-04 -6.93155398e+01] [-6.53257123e-03 -2.01405259e-05 -9.99978662e-01 2.84212560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.80, Y:-68.60, Z:1.99 [[-9.83810997e-01 -1.79038643e-01 7.81576526e-03 8.67975608e+01] [ 1.79033986e-01 -9.83842035e-01 -1.29722247e-03 -6.86013900e+01] [ 7.92173135e-03 1.23065869e-04 9.99968615e-01 1.98688147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.66, Y:-69.32, Z:2.84 [[-9.95899349e-01 9.02176883e-02 6.72718991e-03 8.66551015e+01] [ 9.02155375e-02 9.95922070e-01 -6.23104091e-04 -6.93158034e+01] [-6.75597190e-03 -1.36519053e-05 -9.99977178e-01 2.84287801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.957628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.66, Y:-69.30, Z:2.84 [[-9.99759469e-01 2.09551679e-02 6.47181749e-03 8.66585540e+01] [ 2.09547257e-02 9.99780416e-01 -1.36131404e-04 -6.92959660e+01] [-6.47324904e-03 -4.83499459e-07 -9.99979048e-01 2.84251569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.987628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.66, Y:-69.27, Z:2.84 [[-9.98780194e-01 -4.89559331e-02 6.43739223e-03 8.66610914e+01] [-4.89548680e-02 9.98800939e-01 3.23005453e-04 -6.92725280e+01] [-6.44548644e-03 7.46976221e-06 -9.99979228e-01 2.84203041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.65, Y:-69.25, Z:2.84 [[-9.92924625e-01 -1.18599596e-01 5.90121536e-03 8.66472736e+01] [-1.18597394e-01 9.92942161e-01 7.22921222e-04 -6.92506732e+01] [-5.94530370e-03 1.79375224e-05 -9.99982326e-01 2.84139644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.64, Y:-69.23, Z:2.84 [[-9.82152603e-01 -1.88011431e-01 5.28825376e-03 8.66404696e+01] [-1.88008548e-01 9.82166840e-01 1.04152408e-03 -6.92282346e+01] [-5.38976591e-03 2.86986786e-05 -9.99985475e-01 2.84068116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.62, Y:-69.21, Z:2.84 [[-9.66450444e-01 -2.56810238e-01 4.69479177e-03 8.66150877e+01] [-2.56807021e-01 9.66461846e-01 1.28608497e-03 -6.92100984e+01] [-4.86761691e-03 3.72818993e-05 -9.99988152e-01 2.84061607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.57, Y:-69.20, Z:2.84 [[-9.46271285e-01 -3.23345172e-01 4.30760062e-03 8.65713145e+01] [-3.23341553e-01 9.46281087e-01 1.53092253e-03 -6.92036376e+01] [-4.57121741e-03 5.58417552e-05 -9.99989550e-01 2.84149338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.51, Y:-69.20, Z:2.84 [[-9.20701584e-01 -3.90241252e-01 4.51213072e-03 8.65098200e+01] [-3.90236197e-01 9.20712637e-01 1.98748389e-03 -6.92030634e+01] [-4.92997398e-03 6.90828353e-05 -9.99987845e-01 2.84132700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.44, Y:-69.21, Z:2.84 [[-8.90109063e-01 -4.55727190e-01 4.31088050e-03 8.64370169e+01] [-4.55721407e-01 8.90119498e-01 2.29734183e-03 -6.92131734e+01] [-4.88415992e-03 8.03242641e-05 -9.99988069e-01 2.84139873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.36, Y:-69.23, Z:2.84 [[-8.54754776e-01 -5.19013847e-01 4.34740801e-03 8.63600024e+01] [-5.19006557e-01 8.54765826e-01 2.75255361e-03 -6.92313112e+01] [-5.14462924e-03 9.64250742e-05 -9.99986762e-01 2.84096653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.28, Y:-69.27, Z:2.84 [[-8.16430650e-01 -5.77420043e-01 5.20452414e-03 8.62799379e+01] [-5.77407146e-01 8.16447225e-01 3.86212631e-03 -6.92658535e+01] [-6.47928844e-03 1.48028870e-04 -9.99978998e-01 2.84201893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.19, Y:-69.31, Z:2.84 [[-7.72218830e-01 -6.35334625e-01 5.29088045e-03 8.61924047e+01] [-6.35318110e-01 7.72236934e-01 4.58440864e-03 -6.93075376e+01] [-6.99844684e-03 1.78774513e-04 -9.99975495e-01 2.84261736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.11, Y:-69.36, Z:2.84 [[-7.24062946e-01 -6.89715989e-01 4.97031577e-03 8.61056438e+01] [-6.89697750e-01 7.24079976e-01 5.02022944e-03 -6.93568157e+01] [-7.06143864e-03 2.06946522e-04 -9.99975046e-01 2.84262563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.02, Y:-69.42, Z:2.84 [[-6.71836322e-01 -7.40683247e-01 4.92786140e-03 8.60194245e+01] [-7.40660561e-01 6.71854349e-01 5.80232828e-03 -6.94169168e+01] [-7.60849246e-03 2.48342295e-04 -9.99971024e-01 2.84299771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.94, Y:-69.49, Z:2.84 [[-6.19595393e-01 -7.84906546e-01 4.82311754e-03 8.59422433e+01] [-7.84878437e-01 6.19614074e-01 6.65118081e-03 -6.94908211e+01] [-8.20902687e-03 3.35480030e-04 -9.99966249e-01 2.84348003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.86, Y:-69.57, Z:2.84 [[-5.58955793e-01 -8.29188489e-01 3.85620423e-03 8.58561709e+01] [-8.29164656e-01 5.58969003e-01 6.29498816e-03 -6.95725422e+01] [-7.37523036e-03 3.21191847e-04 -9.99972751e-01 2.84237934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.78, Y:-69.66, Z:2.84 [[-4.93987742e-01 -8.69464597e-01 2.72484500e-03 8.57768623e+01] [-8.69448156e-01 4.93995180e-01 5.35405636e-03 -6.96558983e+01] [-6.00122275e-03 2.75726755e-04 -9.99981954e-01 2.84187925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.70, Y:-69.75, Z:2.84 [[-4.26093606e-01 -9.04675845e-01 2.41936025e-03 8.57018405e+01] [-9.04657140e-01 4.26100374e-01 5.82495497e-03 -6.97536009e+01] [-6.30058637e-03 2.93284542e-04 -9.99980108e-01 2.84179040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.64, Y:-69.85, Z:2.84 [[-3.56449213e-01 -9.34312693e-01 1.93650426e-03 8.56373020e+01] [-9.34293968e-01 3.56454345e-01 5.92299210e-03 -6.98497936e+01] [-6.22420206e-03 3.01981619e-04 -9.99980584e-01 2.84188726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.49762800000002 meters Centerline goodness [0,1] 0.9999084102305772 Centerline is valid? [True, True] Translation: X:85.57, Y:-69.96, Z:2.84 [[-2.84164650e-01 -9.58774097e-01 1.63786294e-03 8.55685896e+01] [-9.58750605e-01 2.84169167e-01 6.72027762e-03 -6.99558849e+01] [-6.90865826e-03 3.39363251e-04 -9.99976077e-01 2.84240466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.52, Y:-70.07, Z:2.84 [[-2.10111288e-01 -9.77677004e-01 9.60282966e-04 8.55249179e+01] [-9.77659068e-01 2.10113258e-01 5.93007467e-03 -7.00684300e+01] [-5.99946582e-03 3.07146277e-04 -9.99981956e-01 2.84223418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.47, Y:-70.18, Z:2.84 [[-1.35675599e-01 -9.90753187e-01 5.04334503e-04 8.54720314e+01] [-9.90734855e-01 1.35676160e-01 6.03545777e-03 -7.01797547e+01] [-6.04807519e-03 3.19202574e-04 -9.99981659e-01 2.84083945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.45, Y:-70.30, Z:2.84 [[-6.19449076e-02 -9.98079570e-01 3.73139020e-05 8.54450089e+01] [-9.98059732e-01 6.19439120e-02 6.30262652e-03 -7.02955015e+01] [-6.29283414e-03 3.53174114e-04 -9.99980138e-01 2.84291322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.41, Y:-70.41, Z:2.84 [[ 1.40660237e-02 -9.99900975e-01 -4.32413700e-04 8.54099316e+01] [-9.99883159e-01 -1.40683587e-02 5.97903350e-03 -7.04142773e+01] [-5.98452478e-03 3.48261949e-04 -9.99982032e-01 2.84237579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.39, Y:-70.54, Z:2.84 [[ 9.02846554e-02 -9.95915576e-01 -9.19870131e-04 8.53935364e+01] [-9.95896965e-01 -9.02886020e-02 6.09952366e-03 -7.05384406e+01] [-6.15766440e-03 3.65402480e-04 -9.99980975e-01 2.84267537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.38, Y:-70.66, Z:2.84 [[ 1.66809783e-01 -9.85988267e-01 -1.27783428e-03 8.53834903e+01] [-9.85972921e-01 -1.66814329e-01 5.51162057e-03 -7.06640235e+01] [-5.64755429e-03 3.40517772e-04 -9.99983994e-01 2.84254320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.707628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.39, Y:-70.79, Z:2.84 [[ 2.43723241e-01 -9.69843326e-01 -1.70420471e-03 8.53860927e+01] [-9.69828316e-01 -2.43728969e-01 5.40620455e-03 -7.07909026e+01] [-5.65853546e-03 3.35168293e-04 -9.99983934e-01 2.84158761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.737628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.40, Y:-70.91, Z:2.84 [[ 3.19683338e-01 -9.47522308e-01 -2.00963989e-03 8.53980430e+01] [-9.47509247e-01 -3.19689503e-01 4.98486691e-03 -7.09101881e+01] [-5.36573338e-03 3.10573485e-04 -9.99985556e-01 2.84109162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.42, Y:-71.04, Z:2.84 [[ 3.93776004e-01 -9.19203133e-01 -2.46169194e-03 8.54186346e+01] [-9.19189785e-01 -3.93783578e-01 4.96322782e-03 -7.10378395e+01] [-5.53158842e-03 3.08362062e-04 -9.99984653e-01 2.84085289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.44, Y:-71.16, Z:2.84 [[ 4.67273413e-01 -8.84108649e-01 -2.73039593e-03 8.54447018e+01] [-8.84096850e-01 -4.67281309e-01 4.57578272e-03 -7.11555038e+01] [-5.32135206e-03 2.75792840e-04 -9.99985803e-01 2.84246047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.48, Y:-71.27, Z:2.84 [[ 5.35259764e-01 -8.44682607e-01 -2.87718416e-03 8.54781372e+01] [-8.44672856e-01 -5.35267437e-01 4.06665257e-03 -7.12695261e+01] [-4.97509369e-03 2.53563867e-04 -9.99987592e-01 2.84320392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.52, Y:-71.38, Z:2.84 [[ 5.98694305e-01 -8.00971286e-01 -3.18258304e-03 8.55230892e+01] [-8.00962147e-01 -5.98702710e-01 3.83453354e-03 -7.13762883e+01] [-4.97677235e-03 2.53415156e-04 -9.99987584e-01 2.84328725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.57, Y:-71.48, Z:2.84 [[ 6.58956498e-01 -7.52174005e-01 -3.25561865e-03 8.55733320e+01] [-7.52166554e-01 -6.58964498e-01 3.35644950e-03 -7.14795729e+01] [-4.66997117e-03 2.37013257e-04 -9.99989068e-01 2.84400526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.63, Y:-71.57, Z:2.84 [[ 7.14475259e-01 -6.99652249e-01 -3.44023239e-03 8.56277676e+01] [-6.99645676e-01 -7.14483503e-01 3.04169091e-03 -7.15734369e+01] [-4.58611517e-03 2.33730815e-04 -9.99989456e-01 2.84431122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.62, Y:-71.58, Z:2.84 [[ 7.66983704e-01 -6.41652983e-01 -4.17693874e-03 8.56213044e+01] [-6.41645283e-01 -7.66995033e-01 3.15441414e-03 -7.15788856e+01] [-5.22773051e-03 2.60728795e-04 -9.99986301e-01 2.84407563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.61, Y:-71.59, Z:2.84 [[ 8.14994309e-01 -5.79448529e-01 -4.86597804e-03 8.56110089e+01] [-5.79440226e-01 -8.15008787e-01 3.11476699e-03 -7.15903039e+01] [-5.77066201e-03 2.81026040e-04 -9.99983310e-01 2.84359073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.60, Y:-71.60, Z:2.84 [[ 8.58136603e-01 -5.13393256e-01 -5.37920949e-03 8.56020757e+01] [-5.13385260e-01 -8.58153413e-01 2.88003012e-03 -7.15995863e+01] [-6.09477502e-03 2.90147596e-04 -9.99981385e-01 2.84382054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.59, Y:-71.61, Z:2.85 [[ 8.96927614e-01 -4.42136003e-01 -6.05056210e-03 8.55941418e+01] [-4.42128112e-01 -8.96947975e-01 2.65763157e-03 -7.16076019e+01] [-6.60207402e-03 2.91420458e-04 -9.99978164e-01 2.84568274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.59, Y:-71.62, Z:2.85 [[ 9.29317013e-01 -3.69230285e-01 -6.23588750e-03 8.55862280e+01] [-3.69223982e-01 -9.29337892e-01 2.17557173e-03 -7.16216672e+01] [-6.59853351e-03 2.80643390e-04 -9.99978190e-01 2.84554736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.58, Y:-71.63, Z:2.85 [[ 9.55872391e-01 -2.93713824e-01 -6.33735563e-03 8.55800453e+01] [-2.93709207e-01 -9.55893362e-01 1.66820066e-03 -7.16311754e+01] [-6.54780977e-03 2.66752741e-04 -9.99978527e-01 2.84600493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.57, Y:-71.65, Z:2.85 [[ 9.76662035e-01 -2.14670608e-01 -6.91373441e-03 8.55707533e+01] [-2.14667101e-01 -9.76686471e-01 1.25424121e-03 -7.16467084e+01] [-7.02179958e-03 2.59181549e-04 -9.99975313e-01 2.84598797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.56, Y:-71.66, Z:2.85 [[ 9.90717727e-01 -1.35740231e-01 -7.27844551e-03 8.55625368e+01] [-1.35738449e-01 -9.90744430e-01 7.40452813e-04 -7.16572382e+01] [-7.31158858e-03 2.54385180e-04 -9.99973238e-01 2.84640046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.56, Y:-71.67, Z:2.85 [[ 9.98409984e-01 -5.58170857e-02 -7.87124742e-03 8.55557179e+01] [-5.58173636e-02 -9.98440979e-01 1.84539854e-04 -7.16671034e+01] [-7.86927646e-03 2.55105847e-04 -9.99969004e-01 2.84666759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.55, Y:-71.68, Z:2.85 [[ 9.99590739e-01 2.72517934e-02 -8.70020391e-03 8.55500176e+01] [ 2.72487026e-02 -9.99628573e-01 -4.73620880e-04 -7.16808797e+01] [-8.70987944e-03 2.36357777e-04 -9.99962040e-01 2.84747454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.55, Y:-71.69, Z:2.85 [[ 9.94133287e-01 1.07816334e-01 -8.63983214e-03 8.55461444e+01] [ 1.07810376e-01 -9.94170806e-01 -1.15376494e-03 -7.16920546e+01] [-8.71386359e-03 2.15532580e-04 -9.99962010e-01 2.84777295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.54, Y:-71.70, Z:2.85 [[ 9.82219488e-01 1.87550078e-01 -8.35740369e-03 8.55425824e+01] [ 1.87541618e-01 -9.82255023e-01 -1.79174348e-03 -7.17024230e+01] [-8.54514338e-03 1.92524351e-04 -9.99963471e-01 2.84764923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.54, Y:-71.71, Z:2.85 [[ 9.64016727e-01 2.65730613e-01 -7.68062387e-03 8.55400149e+01] [ 2.65720791e-01 -9.64047309e-01 -2.29079920e-03 -7.17137945e+01] [-8.01322024e-03 1.67467301e-04 -9.99967880e-01 2.84686097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.54, Y:-71.72, Z:2.85 [[ 9.39791841e-01 3.41689078e-01 -6.31422107e-03 8.55375975e+01] [ 3.41680372e-01 -9.39813043e-01 -2.44301525e-03 -7.17238994e+01] [-6.76893895e-03 1.38480392e-04 -9.99977081e-01 2.84607868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.54, Y:-71.73, Z:2.84 [[ 9.09223934e-01 4.16276850e-01 -5.04191124e-03 8.55364902e+01] [ 4.16269783e-01 -9.09237907e-01 -2.42806868e-03 -7.17339379e+01] [-5.59504561e-03 1.08862860e-04 -9.99984342e-01 2.84454996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.54, Y:-71.74, Z:2.84 [[ 8.73668211e-01 4.86497586e-01 -4.89451580e-03 8.55359934e+01] [ 4.86489258e-01 -8.73681914e-01 -2.84860823e-03 -7.17435408e+01] [-5.66209096e-03 1.07609102e-04 -9.99983964e-01 2.84478730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.42762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.53, Y:-71.75, Z:2.85 [[ 8.32874499e-01 5.53442860e-01 -4.59013671e-03 8.55348023e+01] [ 5.53433748e-01 -8.32887141e-01 -3.17767650e-03 -7.17523835e+01] [-5.58172821e-03 1.06269157e-04 -9.99984416e-01 2.84604404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.53, Y:-71.76, Z:2.85 [[ 7.87160564e-01 6.16729181e-01 -4.83353617e-03 8.55347156e+01] [ 6.16716648e-01 -7.87175396e-01 -3.93352699e-03 -7.17617721e+01] [-6.23076163e-03 1.15395096e-04 -9.99980582e-01 2.84669382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.487628 meters Centerline goodness [0,1] 0.9998892482168963 Centerline is valid? [True, True] Translation: X:85.53, Y:-71.77, Z:2.85 [[ 7.37355501e-01 6.75485795e-01 -5.07997556e-03 8.55340928e+01] [ 6.75468504e-01 -7.37372987e-01 -4.83501772e-03 -7.17693861e+01] [-7.01182255e-03 1.33763423e-04 -9.99975408e-01 2.84918618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.53, Y:-71.78, Z:2.85 [[ 6.82949425e-01 7.30454680e-01 -4.00536739e-03 8.55332334e+01] [ 7.30441020e-01 -6.82961159e-01 -4.46897937e-03 -7.17762978e+01] [-5.99989725e-03 1.26402247e-04 -9.99981992e-01 2.84670012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.53, Y:-71.78, Z:2.85 [[ 6.27303737e-01 7.78769531e-01 -2.83545542e-03 8.55273593e+01] [ 7.78760625e-01 -6.27310131e-01 -3.72658382e-03 -7.17814134e+01] [-4.68085985e-03 1.29558918e-04 -9.99989036e-01 2.84512874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.52, Y:-71.79, Z:2.84 [[ 5.66722105e-01 8.23906690e-01 -1.95523261e-03 8.55234132e+01] [ 8.23901039e-01 -5.66725465e-01 -3.05363507e-03 -7.17880558e+01] [-3.62399047e-03 1.19644314e-04 -9.99993426e-01 2.84447082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.52, Y:-71.80, Z:2.84 [[ 5.03049393e-01 8.64256715e-01 -1.28027735e-03 8.55242154e+01] [ 8.64253348e-01 -5.03051011e-01 -2.41491578e-03 -7.17972107e+01] [-2.73115199e-03 1.08337929e-04 -9.99996265e-01 2.84374625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.53, Y:-71.81, Z:2.84 [[ 4.39014020e-01 8.98479856e-01 -7.99455892e-04 8.55261295e+01] [ 8.98477915e-01 -4.39014736e-01 -1.87003368e-03 -7.18066835e+01] [-2.03116050e-03 1.02677539e-04 -9.99997932e-01 2.84318261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.53, Y:-71.82, Z:2.84 [[ 3.69565272e-01 9.29204558e-01 -6.32417393e-04 8.55321354e+01] [ 9.29202670e-01 -3.69565798e-01 -1.87610781e-03 -7.18178072e+01] [-1.97700777e-03 1.05700363e-04 -9.99998040e-01 2.84331770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.54, Y:-71.83, Z:2.84 [[ 2.97347082e-01 9.54769335e-01 -4.78698978e-04 8.55368896e+01] [ 9.54767447e-01 -2.97347447e-01 -1.90197386e-03 -7.18289453e+01] [-1.95828623e-03 1.08500174e-04 -9.99998077e-01 2.84340467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.54, Y:-71.84, Z:2.84 [[ 2.23918008e-01 9.74607885e-01 -4.43118331e-04 8.55424794e+01] [ 9.74604600e-01 -2.23918405e-01 -2.53415954e-03 -7.18394300e+01] [-2.56903422e-03 1.35578791e-04 -9.99996691e-01 2.84327046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.55, Y:-71.85, Z:2.84 [[ 1.47312086e-01 9.89090022e-01 -2.79291900e-04 8.55501213e+01] [ 9.89085826e-01 -1.47312276e-01 -2.88487547e-03 -7.18496256e+01] [-2.89454467e-03 1.48733364e-04 -9.99995800e-01 2.84305755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.56, Y:-71.86, Z:2.84 [[ 6.98028309e-02 9.97560807e-01 -4.64057180e-05 8.55568880e+01] [ 9.97557148e-01 -6.98027007e-02 -2.70544912e-03 -7.18609082e+01] [-2.70208925e-03 1.42555652e-04 -9.99996339e-01 2.84310072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.57, Y:-71.87, Z:2.84 [[-8.48644433e-03 9.99963977e-01 1.58378710e-04 8.55697372e+01] [ 9.99960746e-01 8.48682009e-03 -2.54554601e-03 -7.18698162e+01] [-2.54679845e-03 1.36769859e-04 -9.99996748e-01 2.84269235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.58, Y:-71.88, Z:2.84 [[-8.70368496e-02 9.96205053e-01 2.82078927e-04 8.55800889e+01] [ 9.96203194e-01 8.70372331e-02 -1.92791866e-03 -7.18798710e+01] [-1.94515368e-03 1.13207961e-04 -9.99998102e-01 2.84337131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.59, Y:-71.89, Z:2.84 [[-1.64911901e-01 9.86308215e-01 4.12386925e-04 8.55899580e+01] [ 9.86306570e-01 1.64912381e-01 -1.80448064e-03 -7.18876582e+01] [-1.84778178e-03 1.09159601e-04 -9.99998287e-01 2.84351347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.60, Y:-71.90, Z:2.84 [[-2.41835506e-01 9.70317144e-01 4.77611359e-04 8.55995672e+01] [ 9.70315977e-01 2.41835958e-01 -1.50827898e-03 -7.18961823e+01] [-1.57901255e-03 9.86785215e-05 -9.99998748e-01 2.84355523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.61, Y:-71.90, Z:2.84 [[-3.16581776e-01 9.48564576e-01 1.10593446e-03 8.56131842e+01] [ 9.48560379e-01 3.16583671e-01 -2.82599246e-03 -7.19014512e+01] [-3.03075713e-03 1.54387903e-04 -9.99995395e-01 2.84399469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.63, Y:-71.91, Z:2.85 [[-3.89364390e-01 9.21082582e-01 1.49984197e-03 8.56260206e+01] [ 9.21077362e-01 3.89367241e-01 -3.10568961e-03 -7.19071746e+01] [-3.44458594e-03 1.72225547e-04 -9.99994053e-01 2.84502251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.64, Y:-71.91, Z:2.85 [[-4.59752918e-01 8.88044093e-01 2.22331663e-03 8.56422424e+01] [ 8.88035852e-01 4.59758244e-01 -3.83167123e-03 -7.19093260e+01] [-4.42488115e-03 2.12762852e-04 -9.99990188e-01 2.84546868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.66, Y:-71.91, Z:2.85 [[-5.27406524e-01 8.49608385e-01 2.81973571e-03 8.56552225e+01] [ 8.49598555e-01 5.27414009e-01 -4.09381060e-03 -7.19131950e+01] [-4.96530393e-03 2.36540966e-04 -9.99987645e-01 2.84682432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.67, Y:-71.91, Z:2.85 [[-5.92348933e-01 8.05674821e-01 3.29007881e-03 8.56696734e+01] [ 8.05664635e-01 5.92358019e-01 -4.05884666e-03 -7.19143385e+01] [-5.21901512e-03 2.46446654e-04 -9.99986350e-01 2.84693875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.68, Y:-71.92, Z:2.85 [[-6.53130005e-01 7.57238099e-01 3.41431195e-03 8.56827170e+01] [ 7.57229614e-01 6.53138886e-01 -3.59260316e-03 -7.19169133e+01] [-4.95047589e-03 2.38981202e-04 -9.99987718e-01 2.84677271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.70, Y:-71.92, Z:2.85 [[-7.10040637e-01 7.04154078e-01 3.05424556e-03 8.56954600e+01] [ 7.04148785e-01 7.10047176e-01 -2.73797220e-03 -7.19174703e+01] [-4.09661273e-03 2.06571774e-04 -9.99991588e-01 2.84621762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.72, Y:-71.90, Z:2.85 [[-7.57686036e-01 6.52615593e-01 2.18130397e-03 8.57186383e+01] [ 6.52613443e-01 7.57689162e-01 -1.68190969e-03 -7.19010683e+01] [-2.75039086e-03 1.49188804e-04 -9.99996207e-01 2.84555161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.17762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.74, Y:-71.88, Z:2.85 [[-8.01949177e-01 5.97387853e-01 2.29577711e-03 8.57425654e+01] [ 5.97385927e-01 8.01952449e-01 -1.52417283e-03 -7.18837413e+01] [-2.75162641e-03 1.49155792e-04 -9.99996203e-01 2.84556390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.207628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.77, Y:-71.86, Z:2.85 [[-8.42263512e-01 5.39062790e-01 1.86681544e-03 8.57683114e+01] [ 5.39061785e-01 8.42265572e-01 -1.04825029e-03 -7.18636760e+01] [-2.13742710e-03 1.23425890e-04 -9.99997708e-01 2.84528892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.237628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.79, Y:-71.84, Z:2.84 [[-8.78663240e-01 4.77438963e-01 1.71670278e-03 8.57884841e+01] [ 4.77438297e-01 8.78664910e-01 -8.05638344e-04 -7.18409973e+01] [-1.89304963e-03 1.11734852e-04 -9.99998202e-01 2.84431696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.80, Y:-71.81, Z:2.84 [[-9.11811074e-01 4.10606672e-01 1.65128359e-03 8.58029198e+01] [ 4.10606194e-01 9.11812563e-01 -6.34366795e-04 -7.18143129e+01] [-1.76613637e-03 9.96046041e-05 -9.99998435e-01 2.84318603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.15, Y:-71.00, Z:1.99 [[-9.13167197e-01 -4.07577617e-01 2.48108418e-03 8.61464239e+01] [ 4.07575895e-01 -9.13170565e-01 -1.18704798e-03 -7.09978339e+01] [ 2.74946723e-03 -7.27431689e-05 9.99996218e-01 1.99287248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.76, Y:-71.79, Z:2.84 [[-9.15985555e-01 4.01205208e-01 2.20072427e-03 8.57590141e+01] [ 4.01204326e-01 9.15988193e-01 -8.48070287e-04 -7.17939368e+01] [-2.35608766e-03 1.06119965e-04 -9.99997219e-01 2.84307585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.77, Y:-71.77, Z:2.84 [[-9.43456560e-01 3.31482232e-01 3.04141681e-03 8.57738767e+01] [ 3.31480911e-01 9.43461454e-01 -9.43331638e-04 -7.17664397e+01] [-3.18215720e-03 1.18179193e-04 -9.99994930e-01 2.84311749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.78, Y:-71.73, Z:2.84 [[-9.66770081e-01 2.55611539e-01 4.28377825e-03 8.57832844e+01] [ 2.55609545e-01 9.66779566e-01 -1.01595527e-03 -7.17333599e+01] [-4.40115916e-03 1.12779452e-04 -9.99990308e-01 2.84486391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.80, Y:-71.70, Z:2.85 [[-9.83225202e-01 1.82324053e-01 5.11298288e-03 8.57959729e+01] [ 1.82322144e-01 9.83238490e-01 -8.41036846e-04 -7.17047373e+01] [-5.18062282e-03 1.05281379e-04 -9.99986575e-01 2.84546822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.80, Y:-71.67, Z:2.85 [[-9.94037732e-01 1.08860832e-01 6.18926700e-03 8.57974717e+01] [ 1.08859343e-01 9.94056995e-01 -5.77888239e-04 -7.16743953e+01] [-6.21539355e-03 9.93168268e-05 -9.99980679e-01 2.84614659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.89, Y:-70.83, Z:1.99 [[-9.87212065e-01 -1.59188101e-01 8.45499178e-03 8.58920655e+01] [ 1.59182591e-01 -9.87248270e-01 -1.32503828e-03 -7.08298862e+01] [ 8.55810634e-03 3.77937176e-05 9.99963378e-01 1.98854903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.73, Y:-71.66, Z:2.85 [[-9.95103889e-01 9.84894823e-02 8.25062482e-03 8.57310654e+01] [ 9.84867153e-02 9.95138089e-01 -7.41983307e-04 -7.16649381e+01] [-8.28358857e-03 7.42264640e-05 -9.99965688e-01 2.84789742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.81, Y:-70.82, Z:1.99 [[-9.87639769e-01 -1.56421348e-01 1.00024401e-02 8.58135248e+01] [ 1.56413702e-01 -9.87690417e-01 -1.54695621e-03 -7.08229779e+01] [ 1.01212912e-02 3.66832056e-05 9.99948778e-01 1.98716605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.66, Y:-71.66, Z:2.85 [[-9.95659078e-01 9.25559524e-02 9.81812733e-03 8.56561447e+01] [ 9.25521838e-02 9.95707482e-01 -8.38473376e-04 -7.16582379e+01] [-9.85358854e-03 7.38554961e-05 -9.99951449e-01 2.84911244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.74, Y:-70.81, Z:1.99 [[-9.88509308e-01 -1.50768832e-01 1.08677230e-02 8.57382364e+01] [ 1.50759661e-01 -9.88569046e-01 -1.66291566e-03 -7.08136307e+01] [ 1.09942104e-02 -5.39336733e-06 9.99939562e-01 1.98703627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.58, Y:-71.66, Z:2.85 [[-9.95942571e-01 8.94928178e-02 9.45682712e-03 8.55791884e+01] [ 8.94896597e-02 9.95987463e-01 -7.57429433e-04 -7.16569612e+01] [-9.48666575e-03 9.19320246e-05 -9.99954996e-01 2.84786602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.66, Y:-70.80, Z:1.99 [[-9.89610400e-01 -1.43426480e-01 1.00050981e-02 8.56634586e+01] [ 1.43418585e-01 -9.89660973e-01 -1.50590275e-03 -7.08009350e+01] [ 1.01176415e-02 -5.53400130e-05 9.99948814e-01 1.98901850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.50, Y:-71.65, Z:2.85 [[-9.96276569e-01 8.57916215e-02 8.53204081e-03 8.55039228e+01] [ 8.57893111e-02 9.96313098e-01 -6.37085454e-04 -7.16539579e+01] [-8.55524060e-03 9.72445931e-05 -9.99963399e-01 2.84667339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.52, Y:-71.63, Z:2.85 [[-9.99852310e-01 1.53180080e-02 7.79209119e-03 8.55156609e+01] [ 1.53182866e-02 9.99882668e-01 -2.39286692e-05 -7.16281360e+01] [-7.79154347e-03 9.54363512e-05 -9.99969641e-01 2.84659634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.52, Y:-70.76, Z:1.99 [[-9.97810174e-01 -6.57148162e-02 7.51125375e-03 8.55236525e+01] [ 6.57121242e-02 -9.97838439e-01 -6.04894025e-04 -7.07567743e+01] [ 7.53476822e-03 -1.09988973e-04 9.99971607e-01 1.98998197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.41, Y:-71.63, Z:2.85 [[-9.99927178e-01 1.01023368e-02 6.60165404e-03 8.54098508e+01] [ 1.01027352e-02 9.99948966e-01 2.69992116e-05 -7.16298228e+01] [-6.60104437e-03 9.36920079e-05 -9.99978208e-01 2.84648912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.43, Y:-70.75, Z:1.99 [[-9.98234161e-01 -5.90444345e-02 6.50492298e-03 8.54256066e+01] [ 5.90425398e-02 -9.98255351e-01 -4.83087331e-04 -7.07536476e+01] [ 6.52209778e-03 -9.81671031e-05 9.99978726e-01 1.99034465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.31, Y:-71.63, Z:2.85 [[-9.99972111e-01 4.79845092e-03 5.72301965e-03 8.53098167e+01] [ 4.79889250e-03 9.99988483e-01 6.34299561e-05 -7.16326540e+01] [-5.72264938e-03 9.08923432e-05 -9.99983621e-01 2.84574546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.31, Y:-71.61, Z:2.85 [[-9.97796512e-01 -6.59735850e-02 7.04314290e-03 8.53140290e+01] [-6.59711891e-02 9.97821364e-01 5.72220590e-04 -7.16068200e+01] [-7.06554990e-03 1.06315197e-04 -9.99975033e-01 2.84637247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.89762800000003 meters Centerline goodness [0,1] 0.9998857116734097 Centerline is valid? [True, True] Translation: X:85.31, Y:-71.58, Z:2.85 [[-9.90521043e-01 -1.36968512e-01 1.03773489e-02 8.53072892e+01] [-1.36959481e-01 9.90575392e-01 1.57934383e-03 -7.15823527e+01] [-1.04958668e-02 1.43096977e-04 -9.99944907e-01 2.85057226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.29, Y:-71.56, Z:2.85 [[-9.77502799e-01 -2.10658514e-01 1.05483377e-02 8.52878660e+01] [-2.10644936e-01 9.77559705e-01 2.39473835e-03 -7.15560881e+01] [-1.08161019e-02 1.18909512e-04 -9.99941497e-01 2.84985044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.957628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.24, Y:-71.54, Z:2.85 [[-9.58829703e-01 -2.83750561e-01 1.14551527e-02 8.52376666e+01] [-2.83729024e-01 9.58898122e-01 3.49745308e-03 -7.15381034e+01] [-1.19767287e-02 1.03302595e-04 -9.99928271e-01 2.85071167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.987628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.17, Y:-71.53, Z:2.85 [[-9.34238554e-01 -3.56406435e-01 1.31444755e-02 8.51743340e+01] [-3.56370021e-01 9.34331016e-01 5.09515593e-03 -7.15276534e+01] [-1.40972375e-02 7.57941095e-05 -9.99900626e-01 2.85251516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.10, Y:-71.53, Z:2.85 [[-9.04862175e-01 -4.25482754e-01 1.37430130e-02 8.51002837e+01] [-4.25432495e-01 9.04966530e-01 6.53997886e-03 -7.15288049e+01] [-1.52196150e-02 7.10551992e-05 -9.99884172e-01 2.85314556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.02, Y:-71.54, Z:2.85 [[-8.70390348e-01 -4.92169253e-01 1.37865424e-02 8.50239537e+01] [-4.92106161e-01 8.70499524e-01 7.88067086e-03 -7.15371087e+01] [-1.58798025e-02 7.48173947e-05 -9.99873905e-01 2.85191996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.94, Y:-71.56, Z:2.85 [[-8.31301880e-01 -5.55658184e-01 1.34598315e-02 8.49358701e+01] [-5.55583571e-01 8.31410833e-01 9.10615787e-03 -7.15598726e+01] [-1.62505609e-02 9.19049247e-05 -9.99867947e-01 2.85212053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.107628 meters Centerline goodness [0,1] 0.999839820599071 Centerline is valid? [True, True] Translation: X:84.85, Y:-71.59, Z:2.85 [[-7.88952610e-01 -6.14355305e-01 1.10153702e-02 8.48520013e+01] [-6.14293034e-01 7.89029493e-01 8.74800588e-03 -7.15902597e+01] [-1.40658358e-02 1.35096897e-04 -9.99901062e-01 2.85284588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.76, Y:-71.63, Z:2.85 [[-7.40874096e-01 -6.71581241e-01 9.17658142e-03 8.47619771e+01] [-6.71527319e-01 7.40930912e-01 8.51142688e-03 -7.16323176e+01] [-1.25153275e-02 1.43570585e-04 -9.99921670e-01 2.84761236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.67, Y:-71.68, Z:2.85 [[-6.88949093e-01 -7.24772775e-01 7.31932357e-03 8.46713634e+01] [-7.24729507e-01 6.88987954e-01 7.92088621e-03 -7.16849464e+01] [-1.07837684e-02 1.52557604e-04 -9.99941842e-01 2.84562928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.59, Y:-71.74, Z:2.84 [[-6.32894021e-01 -7.74216892e-01 5.77599029e-03 8.45857463e+01] [-7.74182400e-01 6.32920359e-01 7.30965530e-03 -7.17436239e+01] [-9.31500045e-03 1.54567117e-04 -9.99956602e-01 2.84436889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.50, Y:-71.81, Z:2.84 [[-5.73825509e-01 -8.18968463e-01 3.86544642e-03 8.45013282e+01] [-8.18948161e-01 5.73838510e-01 5.76843596e-03 -7.18132766e+01] [-6.94230914e-03 1.44475459e-04 -9.99975891e-01 2.84178382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.42, Y:-71.89, Z:2.84 [[-5.09708646e-01 -8.60341143e-01 3.19589022e-03 8.44182640e+01] [-8.60322435e-01 5.09718645e-01 5.67553927e-03 -7.18948131e+01] [-6.51190478e-03 1.43375379e-04 -9.99978787e-01 2.84155410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.34, Y:-71.98, Z:2.84 [[-4.41744763e-01 -8.97136943e-01 2.62094874e-03 8.43407774e+01] [-8.97119251e-01 4.41752516e-01 5.63600318e-03 -7.19828440e+01] [-6.21407737e-03 1.38371323e-04 -9.99980683e-01 2.84200261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.27, Y:-72.08, Z:2.84 [[-3.70769966e-01 -9.28722283e-01 2.13373433e-03 8.42687249e+01] [-9.28704756e-01 3.70776082e-01 5.70738602e-03 -7.20792999e+01] [-6.09171423e-03 1.34518106e-04 -9.99981436e-01 2.84189050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.20, Y:-72.18, Z:2.84 [[-2.95663611e-01 -9.55290536e-01 1.73788031e-03 8.42014317e+01] [-9.55271483e-01 2.95668692e-01 6.03469230e-03 -7.21848464e+01] [-6.27872125e-03 1.24091411e-04 -9.99980281e-01 2.84284238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.14, Y:-72.29, Z:2.84 [[-2.19213633e-01 -9.75675812e-01 1.44677947e-03 8.41432308e+01] [-9.75650628e-01 2.19218371e-01 7.01123831e-03 -7.22907752e+01] [-7.15785627e-03 1.25407720e-04 -9.99974374e-01 2.84398918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.09, Y:-72.41, Z:2.85 [[-1.41224933e-01 -9.89977042e-01 9.87731925e-04 8.40938779e+01] [-9.89946497e-01 1.41228336e-01 7.77749728e-03 -7.24089751e+01] [-7.83903948e-03 1.20574772e-04 -9.99969267e-01 2.84576244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.05, Y:-72.52, Z:2.85 [[-6.08843658e-02 -9.98144706e-01 4.90653361e-04 8.40525582e+01] [-9.98095669e-01 6.08862385e-02 9.89450079e-03 -7.25217276e+01] [-9.90601761e-03 1.12701411e-04 -9.99950928e-01 2.84630461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.02, Y:-72.64, Z:2.85 [[ 1.81851367e-02 -9.99834594e-01 -2.91342570e-04 8.40223056e+01] [-9.99780227e-01 -1.81871862e-02 1.04271255e-02 -7.26449086e+01] [-1.04306995e-02 1.01659838e-04 -9.99945594e-01 2.84740062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.00, Y:-72.77, Z:2.85 [[ 9.70985648e-02 -9.95274133e-01 -1.12650684e-03 8.40010133e+01] [-9.95217293e-01 -9.71050591e-02 1.06370271e-02 -7.27703973e+01] [-1.06961474e-02 8.82790208e-05 -9.99942791e-01 2.84816287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.52762800000002 meters Centerline goodness [0,1] 0.9998640288258889 Centerline is valid? [True, True] Translation: X:83.99, Y:-72.89, Z:2.85 [[ 1.75969717e-01 -9.84393425e-01 -2.05977496e-03 8.39872413e+01] [-9.84330484e-01 -1.75981759e-01 1.11318863e-02 -7.28901792e+01] [-1.13206385e-02 6.86243992e-05 -9.99935917e-01 2.85199870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.99, Y:-73.01, Z:2.85 [[ 2.52745892e-01 -9.67528808e-01 -2.74206179e-03 8.39856338e+01] [-9.67474264e-01 -2.52760760e-01 1.02735638e-02 -7.30136558e+01] [-1.06330546e-02 5.62731568e-05 -9.99943466e-01 2.84877920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.99, Y:-73.13, Z:2.85 [[ 3.27278919e-01 -9.44922009e-01 -3.30225470e-03 8.39934912e+01] [-9.44875497e-01 -3.27295575e-01 9.37564485e-03 -7.31341675e+01] [-9.94006652e-03 5.17686302e-05 -9.99950595e-01 2.84868577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.01, Y:-73.26, Z:2.85 [[ 3.99554851e-01 -9.16702137e-01 -3.62123869e-03 8.40115991e+01] [-9.16665582e-01 -3.99571258e-01 8.18662297e-03 -7.32557722e+01] [-8.95163767e-03 4.84599508e-05 -9.99959932e-01 2.84701723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.04, Y:-73.37, Z:2.85 [[ 4.69159545e-01 -8.83106181e-01 -3.57695830e-03 8.40397253e+01] [-8.83081273e-01 -4.69173178e-01 6.63277354e-03 -7.33736966e+01] [-7.53565621e-03 4.69158742e-05 -9.99971605e-01 2.84596790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.07, Y:-73.48, Z:2.85 [[ 5.35680644e-01 -8.44412541e-01 -3.70252974e-03 8.40724950e+01] [-8.44392990e-01 -5.35693438e-01 5.74628523e-03 -7.34810319e+01] [-6.83565619e-03 4.82163855e-05 -9.99976635e-01 2.84537940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.707628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.12, Y:-73.60, Z:2.84 [[ 5.99387725e-01 -8.00447797e-01 -4.20458084e-03 8.41189436e+01] [-8.00428654e-01 -5.99402470e-01 5.53613943e-03 -7.35961932e+01] [-6.95162676e-03 4.71729606e-05 -9.99975836e-01 2.84469152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.737628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.16, Y:-73.69, Z:2.85 [[ 6.60162916e-01 -7.51108245e-01 -4.61838237e-03 8.41642170e+01] [-7.51090276e-01 -6.60179069e-01 5.19558968e-03 -7.36944176e+01] [-6.95140962e-03 3.88864542e-05 -9.99975838e-01 2.84631875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.22, Y:-73.79, Z:2.85 [[ 7.17743152e-01 -6.96262734e-01 -7.93554912e-03 8.42188475e+01] [-6.96220383e-01 -7.17787020e-01 7.67936955e-03 -7.37905811e+01] [-1.10428930e-02 1.30761427e-05 -9.99939025e-01 2.84852842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.21, Y:-73.79, Z:2.85 [[ 7.71840988e-01 -6.35738371e-01 -9.91022443e-03 8.42114599e+01] [-6.35685504e-01 -7.71904607e-01 8.19858406e-03 -7.37940677e+01] [-1.28619024e-02 -2.82172111e-05 -9.99917282e-01 2.85095432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.21, Y:-73.79, Z:2.85 [[ 8.19134123e-01 -5.73505529e-01 -1.05213070e-02 8.42070939e+01] [-5.73457781e-01 -8.19201689e-01 7.40033482e-03 -7.37945702e+01] [-1.28632054e-02 -2.83413808e-05 -9.99917265e-01 2.85096805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.20, Y:-73.80, Z:2.85 [[ 8.61175961e-01 -5.08188626e-01 -1.09674302e-02 8.42021826e+01] [-5.08147108e-01 -8.61245795e-01 6.49591184e-03 -7.37953332e+01] [-1.27468017e-02 -2.10551860e-05 -9.99918756e-01 2.85094884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.20, Y:-73.80, Z:2.85 [[ 8.98272402e-01 -4.39290055e-01 -1.14429070e-02 8.41971552e+01] [-4.39254116e-01 -8.98345283e-01 5.61910811e-03 -7.37961866e+01] [-1.27480998e-02 -2.11457440e-05 -9.99918739e-01 2.85096214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.19, Y:-73.80, Z:2.85 [[ 9.29869601e-01 -3.67698435e-01 -1.18484229e-02 8.41923236e+01] [-3.67668298e-01 -9.29945085e-01 4.70769327e-03 -7.37974837e+01] [-1.27493941e-02 -2.12513937e-05 -9.99918723e-01 2.85097546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.19, Y:-73.80, Z:2.85 [[ 9.55374963e-01 -2.95160529e-01 -1.17873396e-02 8.41874599e+01] [-2.95138029e-01 -9.55447676e-01 3.64440392e-03 -7.37971845e+01] [-1.23378704e-02 -2.88009106e-06 -9.99923886e-01 2.85055729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.18, Y:-73.80, Z:2.85 [[ 9.75010208e-01 -2.21883680e-01 -1.10781844e-02 8.41830924e+01] [-2.21869673e-01 -9.75073142e-01 2.49329627e-03 -7.37983663e+01] [-1.13552619e-02 2.69238438e-05 -9.99935527e-01 2.84942673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.18, Y:-73.80, Z:2.85 [[ 9.88938694e-01 -1.47976383e-01 -1.01612070e-02 8.41750664e+01] [-1.47969191e-01 -9.88990893e-01 1.46017400e-03 -7.38009015e+01] [-1.02654125e-02 5.95230172e-05 -9.99947307e-01 2.84746904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.17, Y:-73.80, Z:2.85 [[ 9.97247264e-01 -7.36204906e-02 -8.82705923e-03 8.41673692e+01] [-7.36183769e-02 -9.97286326e-01 5.64589566e-04 -7.38045840e+01] [-8.84467083e-03 8.67983728e-05 -9.99960881e-01 2.84612028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.16, Y:-73.81, Z:2.84 [[ 9.99973652e-01 1.12397210e-03 -7.17167159e-03 8.41597651e+01] [ 1.12321071e-03 -9.99999363e-01 -1.10192702e-04 -7.38098558e+01] [-7.17179088e-03 1.02134501e-04 -9.99974277e-01 2.84425957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.15, Y:-73.81, Z:2.84 [[ 9.97380480e-01 7.21797678e-02 -4.71792319e-03 8.41511775e+01] [ 7.21784248e-02 -9.97391632e-01 -4.54530001e-04 -7.38134211e+01] [-4.73842499e-03 1.12807087e-04 -9.99988767e-01 2.84216363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.14, Y:-73.82, Z:2.84 [[ 9.89201470e-01 1.46506741e-01 -4.02829276e-03 8.41424485e+01] [ 1.46505046e-01 -9.89209665e-01 -7.14130543e-04 -7.38187902e+01] [-4.08945107e-03 1.16253767e-04 -9.99991631e-01 2.84156532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.13, Y:-73.82, Z:2.84 [[ 9.76233865e-01 2.16686652e-01 -3.78624214e-03 8.41332061e+01] [ 2.16684465e-01 -9.76241197e-01 -9.83485546e-04 -7.38228304e+01] [-3.90939375e-03 1.39692044e-04 -9.99992349e-01 2.84130067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.13, Y:-73.83, Z:2.84 [[ 9.58036611e-01 2.86604600e-01 -4.86373074e-03 8.41262742e+01] [ 2.86599816e-01 -9.58048935e-01 -1.66859629e-03 -7.38303165e+01] [-5.13791943e-03 2.04631999e-04 -9.99986780e-01 2.84240287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.12, Y:-73.85, Z:2.84 [[ 9.34564727e-01 3.55731219e-01 -6.63863858e-03 8.41239491e+01] [ 3.55719845e-01 -9.34588253e-01 -2.86187822e-03 -7.38476874e+01] [-7.22245306e-03 3.13114956e-04 -9.99973869e-01 2.84379815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.12, Y:-73.86, Z:2.84 [[ 9.04671529e-01 4.26054266e-01 -6.86928718e-03 8.41204694e+01] [ 4.26039023e-01 -9.04697541e-01 -3.62084484e-03 -7.38613208e+01] [-7.75730361e-03 3.49090843e-04 -9.99969851e-01 2.84473096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.12, Y:-73.88, Z:2.84 [[ 8.68550790e-01 4.95556671e-01 -6.56593725e-03 8.41180693e+01] [ 4.95539434e-01 -8.68575537e-01 -4.14795154e-03 -7.38754909e+01] [-7.75855753e-03 3.49025756e-04 -9.99969841e-01 2.84474235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.11, Y:-73.88, Z:2.85 [[ 8.27969495e-01 5.60737556e-01 -6.31736760e-03 8.41117154e+01] [ 5.60717805e-01 -8.27993514e-01 -4.72063390e-03 -7.38846581e+01] [-7.87777612e-03 3.66280375e-04 -9.99968903e-01 2.84677849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.11, Y:-73.89, Z:2.85 [[ 7.81514908e-01 6.23858392e-01 -5.92927577e-03 8.41052201e+01] [ 6.23836814e-01 -7.81537314e-01 -5.20161734e-03 -7.38929287e+01] [-7.87902289e-03 3.66240988e-04 -9.99968893e-01 2.84678942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.11, Y:-73.91, Z:2.85 [[ 7.31164106e-01 6.82177349e-01 -5.75456523e-03 8.41114902e+01] [ 6.82151903e-01 -7.31186646e-01 -5.90513179e-03 -7.39128101e+01] [-8.23600839e-03 3.92132777e-04 -9.99966007e-01 2.84568737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.11, Y:-73.93, Z:2.85 [[ 6.75616011e-01 7.37232702e-01 -5.56322023e-03 8.41147457e+01] [ 7.37202534e-01 -6.75638788e-01 -6.68212057e-03 -7.39278416e+01] [-8.68500517e-03 4.13327590e-04 -9.99962199e-01 2.84551467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.42762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.12, Y:-73.94, Z:2.85 [[ 6.15333663e-01 7.88251171e-01 -4.95726268e-03 8.41183189e+01] [ 7.88220140e-01 -6.15353498e-01 -7.00592949e-03 -7.39417951e+01] [-8.57290106e-03 4.03569971e-04 -9.99963171e-01 2.84578405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.13, Y:-73.96, Z:2.85 [[ 5.50936142e-01 8.34535407e-01 -4.47461583e-03 8.41255134e+01] [ 8.34501729e-01 -5.50954165e-01 -7.50810050e-03 -7.39572527e+01] [-8.73108394e-03 4.02409277e-04 -9.99961802e-01 2.84565901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.487628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.13, Y:-73.97, Z:2.85 [[ 4.82695443e-01 8.75780487e-01 -3.69424284e-03 8.41297849e+01] [ 8.75748643e-01 -4.82709435e-01 -7.47768790e-03 -7.39711263e+01] [-8.33205903e-03 3.74217727e-04 -9.99965218e-01 2.84605095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.14, Y:-73.98, Z:2.84 [[ 4.08937899e-01 9.12559105e-01 -2.38225208e-03 8.41394291e+01] [ 9.12539577e-01 -4.08944749e-01 -5.97606528e-03 -7.39849636e+01] [-6.42772226e-03 2.69940273e-04 -9.99979306e-01 2.84448852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.15, Y:-74.00, Z:2.84 [[ 3.33887830e-01 9.42611359e-01 -1.65635120e-03 8.41508769e+01] [ 9.42596197e-01 -3.33891863e-01 -5.35107501e-03 -7.39986173e+01] [-5.59702627e-03 2.25388486e-04 -9.99984311e-01 2.84321117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.16, Y:-74.01, Z:2.84 [[ 2.56545890e-01 9.66531323e-01 -1.18645661e-03 8.41603055e+01] [ 9.66517002e-01 -2.56548552e-01 -5.26549080e-03 -7.40105630e+01] [-5.39364551e-03 2.04109541e-04 -9.99985433e-01 2.84393913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.17, Y:-74.02, Z:2.84 [[ 1.77237395e-01 9.84167612e-01 -1.00833685e-03 8.41713529e+01] [ 9.84143262e-01 -1.77240107e-01 -6.92704827e-03 -7.40213837e+01] [-6.99609429e-03 2.35384071e-04 -9.99975499e-01 2.84484648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.19, Y:-74.03, Z:2.85 [[ 9.70527900e-02 9.95279078e-01 -5.58937455e-04 8.41864320e+01] [ 9.95244096e-01 -9.70540672e-02 -8.34855614e-03 -7.40308331e+01] [-8.36339041e-03 2.53971464e-04 -9.99964994e-01 2.84588778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.20, Y:-74.04, Z:2.85 [[ 1.87784540e-02 9.99823665e-01 9.67931592e-05 8.41981573e+01] [ 9.99788679e-01 -1.87769868e-02 -8.36788920e-03 -7.40393432e+01] [-8.36459616e-03 2.53908727e-04 -9.99964984e-01 2.84589826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.21, Y:-74.05, Z:2.85 [[-6.47822721e-02 9.97899076e-01 8.30939256e-04 8.42129207e+01] [ 9.97856234e-01 6.47871929e-02 -9.24960137e-03 -7.40477520e+01] [-9.28400289e-03 2.29947725e-04 -9.99956876e-01 2.84725956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.22, Y:-74.05, Z:2.85 [[-1.45560039e-01 9.89348260e-01 1.51513597e-03 8.42249190e+01] [ 9.89307977e-01 1.45567788e-01 -8.93003023e-03 -7.40540730e+01] [-9.05546486e-03 1.99080559e-04 -9.99958979e-01 2.84706417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.24, Y:-74.06, Z:2.85 [[-2.25833567e-01 9.74163970e-01 1.93923575e-03 8.42368918e+01] [ 9.74133614e-01 2.25841841e-01 -7.69192342e-03 -7.40595892e+01] [-7.93115523e-03 1.51980225e-04 -9.99968536e-01 2.84623403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.25, Y:-74.06, Z:2.85 [[-3.04692930e-01 9.52447960e-01 2.25887173e-03 8.42488782e+01] [ 9.52424500e-01 3.04701282e-01 -6.68586130e-03 -7.40647002e+01] [-7.05621606e-03 1.14270108e-04 -9.99975098e-01 2.84526754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.817628 meters Centerline goodness [0,1] 0.9999779205581683 Centerline is valid? [True, True] Translation: X:84.26, Y:-74.07, Z:2.84 [[-3.81868799e-01 9.24213730e-01 2.28095864e-03 8.42643759e+01] [ 9.24198435e-01 3.81875603e-01 -5.31761706e-03 -7.40658560e+01] [-5.78565715e-03 7.74263704e-05 -9.99983260e-01 2.84449869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.28, Y:-74.06, Z:2.84 [[-4.59774931e-01 8.88031919e-01 2.51461656e-03 8.42814619e+01] [ 8.88019037e-01 4.59781807e-01 -4.78339476e-03 -7.40643021e+01] [-5.40398217e-03 3.37423747e-05 -9.99985398e-01 2.84445271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.29, Y:-74.06, Z:2.84 [[-5.30864446e-01 8.47452472e-01 2.69198858e-03 8.42940286e+01] [ 8.47441730e-01 5.30871272e-01 -4.26707030e-03 -7.40640368e+01] [-5.04523867e-03 1.60675423e-05 -9.99987273e-01 2.84455954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.31, Y:-74.06, Z:2.84 [[-5.98109588e-01 8.01408563e-01 3.03914360e-03 8.43059400e+01] [ 8.01398217e-01 5.98117309e-01 -4.07201484e-03 -7.40645220e+01] [-5.08111195e-03 5.31458293e-08 -9.99987091e-01 2.84443312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.32, Y:-74.06, Z:2.84 [[-6.62919849e-01 7.48686611e-01 2.37331910e-03 8.43169624e+01] [ 7.48681759e-01 6.62924097e-01 -2.69531578e-03 -7.40629476e+01] [-3.59127726e-03 -9.91760750e-06 -9.99993551e-01 2.84269420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.33, Y:-74.06, Z:2.84 [[-7.21520449e-01 6.92388874e-01 2.42675116e-03 8.43272156e+01] [ 6.92384876e-01 7.21524530e-01 -2.35290115e-03 -7.40611228e+01] [-3.38008307e-03 -1.74204882e-05 -9.99994287e-01 2.84147039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.99762800000002 meters Centerline goodness [0,1] 0.9998451532982348 Centerline is valid? [True, True] Translation: X:84.35, Y:-74.04, Z:2.85 [[-7.69867491e-01 6.38194275e-01 3.48057638e-03 8.43474919e+01] [ 6.38187485e-01 7.69875357e-01 -2.94427906e-03 -7.40405700e+01] [-4.55863202e-03 -4.54444496e-05 -9.99989608e-01 2.84538122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.37, Y:-74.02, Z:2.85 [[-8.15076169e-01 5.79322351e-01 6.03759031e-03 8.43692176e+01] [ 5.79305368e-01 8.15098521e-01 -4.43750385e-03 -7.40203737e+01] [-7.49197610e-03 -1.19295163e-04 -9.99971928e-01 2.84584715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.39, Y:-74.00, Z:2.85 [[-8.54419491e-01 5.19531263e-01 7.38918517e-03 8.43902156e+01] [ 5.19510303e-01 8.54451428e-01 -4.66916622e-03 -7.40025093e+01] [-8.73947766e-03 -1.50668796e-04 -9.99961799e-01 2.84691133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.40, Y:-73.98, Z:2.85 [[-8.89067576e-01 4.57710579e-01 7.73761699e-03 8.44033008e+01] [ 4.57691755e-01 8.89101233e-01 -4.15380536e-03 -7.39804372e+01] [-8.78076546e-03 -1.51570158e-04 -9.99961437e-01 2.84698722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.42, Y:-73.96, Z:2.85 [[-9.19052318e-01 3.94051272e-01 8.15060633e-03 8.44244373e+01] [ 3.94034320e-01 9.19088446e-01 -3.65821176e-03 -7.39635606e+01] [-8.93265110e-03 -1.50469380e-04 -9.99960092e-01 2.84626702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.44, Y:-73.95, Z:2.85 [[-9.43864724e-01 3.30240198e-01 7.79713229e-03 8.44402047e+01] [ 3.30227897e-01 9.43896921e-01 -2.85277048e-03 -7.39451770e+01] [-8.30178865e-03 -1.17798823e-04 -9.99965533e-01 2.84519708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.17762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.73, Y:-73.20, Z:2.00 [[-9.06138804e-01 -4.22906023e-01 7.93493850e-03 8.47276370e+01] [ 4.22891228e-01 -9.06173534e-01 -3.54042684e-03 -7.31978167e+01] [ 8.68769910e-03 1.47497748e-04 9.99962250e-01 1.99678980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.207628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.40, Y:-73.94, Z:2.84 [[-9.43479561e-01 3.31349252e-01 7.34782798e-03 8.43965977e+01] [ 3.31338616e-01 9.43508171e-01 -2.65580235e-03 -7.39374118e+01] [-7.81273386e-03 -7.10760752e-05 -9.99969478e-01 2.84394917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.237628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.41, Y:-73.92, Z:2.84 [[-9.63659306e-01 2.67049345e-01 6.73716936e-03 8.44114292e+01] [ 2.67042553e-01 9.63682855e-01 -1.90498885e-03 -7.39173005e+01] [-7.00122064e-03 -3.66493272e-05 -9.99975490e-01 2.84391546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.43, Y:-73.90, Z:2.84 [[-9.78617540e-01 2.05606416e-01 5.80627209e-03 8.44288083e+01] [ 2.05602912e-01 9.78634764e-01 -1.20043544e-03 -7.39027801e+01] [-5.92903695e-03 1.90192783e-05 -9.99982423e-01 2.84245700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.61, Y:-73.08, Z:2.00 [[-9.62979361e-01 -2.69518265e-01 5.53671218e-03 8.46109222e+01] [ 2.69513635e-01 -9.62995277e-01 -1.58007157e-03 -7.30810414e+01] [ 5.75768583e-03 -2.93568811e-05 9.99983424e-01 1.99971746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.38, Y:-73.90, Z:2.84 [[-9.77795087e-01 2.09528338e-01 3.82672711e-03 8.43797517e+01] [ 2.09526948e-01 9.77802573e-01 -7.65119584e-04 -7.39026680e+01] [-3.90209785e-03 5.36722826e-05 -9.99992385e-01 2.84030139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.39, Y:-73.88, Z:2.84 [[-9.89099696e-01 1.47225100e-01 2.56163366e-03 8.43911687e+01] [ 1.47224773e-01 9.89103011e-01 -3.16564985e-04 -7.38839885e+01] [-2.58032587e-03 6.40216044e-05 -9.99996669e-01 2.83932428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.40, Y:-73.86, Z:2.84 [[-9.96770990e-01 8.02642325e-02 2.29066684e-03 8.43958367e+01] [ 8.02641774e-02 9.96773619e-01 -1.16154723e-04 -7.38601971e+01] [-2.29259935e-03 6.80788314e-05 -9.99997370e-01 2.83984857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.40, Y:-73.83, Z:2.84 [[-9.99929398e-01 1.16199929e-02 2.48493580e-03 8.44045954e+01] [ 1.16201499e-02 9.99932483e-01 4.87559033e-05 -7.38339948e+01] [-2.48420148e-03 7.76277875e-05 -9.99996911e-01 2.84061957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.41, Y:-72.95, Z:2.00 [[-9.99322316e-01 -3.66336644e-02 3.58932451e-03 8.44070692e+01] [ 3.66333266e-02 -9.99328762e-01 -1.59820279e-04 -7.29536810e+01] [ 3.59277002e-03 -2.82230747e-05 9.99993546e-01 1.99975996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.30, Y:-73.83, Z:2.84 [[-9.99966273e-01 7.38726012e-03 3.58899333e-03 8.43036907e+01] [ 7.38760444e-03 9.99972708e-01 8.26891226e-05 -7.38345015e+01] [-3.58828454e-03 1.09200397e-04 -9.99993556e-01 2.84286959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.30, Y:-72.95, Z:2.00 [[-9.99607708e-01 -2.75057764e-02 5.27853301e-03 8.42988331e+01] [ 2.75051916e-02 -9.99621644e-01 -1.83362459e-04 -7.29513914e+01] [ 5.28157937e-03 -3.81034661e-05 9.99986052e-01 1.99743069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.20, Y:-73.84, Z:2.85 [[-9.99947382e-01 6.43257613e-03 7.99091712e-03 8.41967058e+01] [ 6.43441017e-03 9.99979278e-01 2.03827001e-04 -7.38407784e+01] [-7.98944040e-03 2.55233114e-04 -9.99968051e-01 2.84580462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.20, Y:-73.81, Z:2.85 [[-9.97996649e-01 -6.26317871e-02 8.94130258e-03 8.41973349e+01] [-6.26265508e-02 9.98036656e-01 8.64688861e-04 -7.38132833e+01] [-8.97790474e-03 3.02993646e-04 -9.99959652e-01 2.84664186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.18, Y:-73.79, Z:2.85 [[-9.91221098e-01 -1.31876943e-01 9.44491646e-03 8.41808158e+01] [-1.31867636e-01 9.91266035e-01 1.60422708e-03 -7.37886652e+01] [-9.57398546e-03 3.44664924e-04 -9.99954109e-01 2.84734143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.14, Y:-73.77, Z:2.85 [[-9.79451959e-01 -2.01458867e-01 9.39066942e-03 8.41399317e+01] [-2.01445973e-01 9.79496906e-01 2.30905490e-03 -7.37673593e+01] [-9.66331123e-03 3.69895802e-04 -9.99953241e-01 2.84727504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.65762800000002 meters Centerline goodness [0,1] 0.999885894246788 Centerline is valid? [True, True] Translation: X:84.09, Y:-73.75, Z:2.85 [[-9.63112947e-01 -2.68975109e-01 8.11428160e-03 8.40881304e+01] [-2.68962330e-01 9.63147058e-01 2.64755244e-03 -7.37533412e+01] [-8.52737216e-03 3.67455949e-04 -9.99963574e-01 2.84905182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.02, Y:-73.75, Z:2.85 [[-9.41069703e-01 -3.38152351e-01 6.38765348e-03 8.40198716e+01] [-3.38142270e-01 9.41091328e-01 2.63007067e-03 -7.37493484e+01] [-6.90072987e-03 3.15144181e-04 -9.99976140e-01 2.84533939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.94, Y:-73.75, Z:2.84 [[-9.13776513e-01 -4.06183558e-01 5.23456056e-03 8.39401376e+01] [-4.06175110e-01 9.13791463e-01 2.63477626e-03 -7.37543073e+01] [-5.85349955e-03 2.81448450e-04 -9.99982829e-01 2.84440167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.85, Y:-73.77, Z:2.84 [[-8.81292793e-01 -4.72552433e-01 4.14870750e-03 8.38537231e+01] [-4.72545871e-01 8.81302524e-01 2.50246309e-03 -7.37675971e+01] [-4.83881141e-03 2.44948082e-04 -9.99988263e-01 2.84313513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.76, Y:-73.79, Z:2.84 [[-8.43586155e-01 -5.36982495e-01 3.49267698e-03 8.37628867e+01] [-5.36976768e-01 8.43593355e-01 2.49030138e-03 -7.37913464e+01] [-4.28364734e-03 2.25297375e-04 -9.99990800e-01 2.84292489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.67, Y:-73.83, Z:2.84 [[-8.00073558e-01 -5.99892793e-01 3.30739028e-03 8.36671155e+01] [-5.99886482e-01 8.00080363e-01 2.76073254e-03 -7.38253100e+01] [-4.30232157e-03 2.24730384e-04 -9.99990720e-01 2.84337455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.57, Y:-73.87, Z:2.84 [[-7.51345423e-01 -6.59902917e-01 2.86277400e-03 8.35690873e+01] [-6.59897054e-01 7.51350848e-01 2.78932172e-03 -7.38709147e+01] [-3.99162921e-03 2.06607983e-04 -9.99992012e-01 2.84370775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.47, Y:-73.92, Z:2.84 [[-6.95842941e-01 -7.18189687e-01 2.48493312e-03 8.34709754e+01] [-7.18184152e-01 6.95847354e-01 2.82555898e-03 -7.39229055e+01] [-3.75842146e-03 1.81505688e-04 -9.99992921e-01 2.84320004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.38, Y:-73.99, Z:2.84 [[-6.36460448e-01 -7.71306212e-01 2.19655128e-03 8.33758987e+01] [-7.71300689e-01 6.36464217e-01 2.92369440e-03 -7.39854548e+01] [-3.65308994e-03 1.66614334e-04 -9.99993314e-01 2.84304239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.29, Y:-74.06, Z:2.84 [[-5.72681222e-01 -8.19775470e-01 2.09697670e-03 8.32853858e+01] [-8.19768896e-01 5.72685038e-01 3.28700591e-03 -7.40592929e+01] [-3.89551399e-03 1.63370288e-04 -9.99992399e-01 2.84349115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.957628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.19, Y:-74.14, Z:2.84 [[-5.01492153e-01 -8.65159501e-01 2.15836580e-03 8.31899250e+01] [-8.65150140e-01 5.01496774e-01 4.02758647e-03 -7.41417565e+01] [-4.56691819e-03 1.52492542e-04 -9.99989560e-01 2.84373870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.987628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.11, Y:-74.23, Z:2.84 [[-4.30284355e-01 -9.02691635e-01 1.78496026e-03 8.31099553e+01] [-9.02682537e-01 4.30288036e-01 4.05505213e-03 -7.42289666e+01] [-4.42850868e-03 1.33573027e-04 -9.99990185e-01 2.84429909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.03, Y:-74.32, Z:2.85 [[-3.53187005e-01 -9.35551464e-01 1.54866020e-03 8.30307906e+01] [-9.35541084e-01 3.53190384e-01 4.40828115e-03 -7.43248256e+01] [-4.67114577e-03 1.08112369e-04 -9.99989084e-01 2.84575206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.96, Y:-74.43, Z:2.85 [[-2.77137196e-01 -9.60829514e-01 1.27306475e-03 8.29640681e+01] [-9.60817695e-01 2.77140102e-01 4.76669268e-03 -7.44269176e+01] [-4.93279630e-03 9.78447034e-05 -9.99987829e-01 2.84658434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.91, Y:-74.54, Z:2.85 [[-1.99492948e-01 -9.79898840e-01 9.09463598e-04 8.29063157e+01] [-9.79886631e-01 1.99495003e-01 4.89223984e-03 -7.45373813e+01] [-4.97533358e-03 8.47961244e-05 -9.99987619e-01 2.84744983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.86, Y:-74.65, Z:2.85 [[-1.20555634e-01 -9.92706385e-01 6.10667909e-04 8.28577869e+01] [-9.92690176e-01 1.20557156e-01 5.67335873e-03 -7.46505373e+01] [-5.70559982e-03 7.77513245e-05 -9.99983720e-01 2.84781309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.82, Y:-74.77, Z:2.85 [[-4.06663283e-02 -9.99172766e-01 1.82096990e-04 8.28178845e+01] [-9.99154508e-01 4.06666861e-02 6.04068326e-03 -7.47665672e+01] [-6.04309148e-03 6.37093799e-05 -9.99981738e-01 2.84762206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.79, Y:-74.90, Z:2.85 [[ 4.15713313e-02 -9.99135493e-01 -3.01844899e-04 8.27850375e+01] [-9.99114729e-01 -4.15724134e-02 6.44148621e-03 -7.48951527e+01] [-6.44846592e-03 3.37965275e-05 -9.99979208e-01 2.84754272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.76, Y:-75.01, Z:2.85 [[ 1.20827760e-01 -9.92673191e-01 -7.67527583e-04 8.27639918e+01] [-9.92654193e-01 -1.20830196e-01 6.14133781e-03 -7.50104224e+01] [-6.18908191e-03 1.98453827e-05 -9.99980847e-01 2.84796484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.75, Y:-75.13, Z:2.85 [[ 1.99327890e-01 -9.79932247e-01 -1.08819187e-03 8.27529324e+01] [-9.79917870e-01 -1.99330860e-01 5.30806949e-03 -7.51321432e+01] [-5.41845869e-03 8.29236748e-06 -9.99985320e-01 2.84797118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.75, Y:-75.25, Z:2.85 [[ 2.76083192e-01 -9.61132664e-01 -1.44013030e-03 8.27517775e+01] [-9.61119573e-01 -2.76086948e-01 5.01636449e-03 -7.52545856e+01] [-5.21899294e-03 -7.96497121e-07 -9.99986381e-01 2.84840153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.76, Y:-75.38, Z:2.85 [[ 3.50808129e-01 -9.36445599e-01 -1.81550177e-03 8.27614072e+01] [-9.36432920e-01 -3.50812827e-01 4.87308124e-03 -7.53756118e+01] [-5.20027679e-03 -9.42089643e-06 -9.99986478e-01 2.84737311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.78, Y:-75.49, Z:2.85 [[ 4.23225757e-01 -9.06021854e-01 -2.08784927e-03 8.27787755e+01] [-9.06010655e-01 -4.23230906e-01 4.50478048e-03 -7.54914821e+01] [-4.96507190e-03 -1.49254454e-05 -9.99987674e-01 2.84691503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.80, Y:-75.61, Z:2.85 [[ 4.93060598e-01 -8.69991643e-01 -2.40556642e-03 8.28049705e+01] [-8.69981064e-01 -4.93066466e-01 4.29054457e-03 -7.56057713e+01] [-4.91884205e-03 -2.27012389e-05 -9.99987902e-01 2.84662711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.84, Y:-75.72, Z:2.85 [[ 5.58822358e-01 -8.29282677e-01 -2.79523732e-03 8.28406339e+01] [-8.29272070e-01 -5.58829348e-01 4.19443057e-03 -7.57159587e+01] [-5.04042926e-03 -2.59293381e-05 -9.99987297e-01 2.84627254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.88, Y:-75.82, Z:2.85 [[ 6.20617478e-01 -7.84106649e-01 -3.27260620e-03 8.28828443e+01] [-7.84095515e-01 -6.20626105e-01 4.17862218e-03 -7.58214059e+01] [-5.30755027e-03 -2.72901137e-05 -9.99985914e-01 2.84602011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.93, Y:-75.92, Z:2.85 [[ 6.78522862e-01 -7.34569554e-01 -3.78108082e-03 8.29312230e+01] [-7.34557922e-01 -6.78533396e-01 4.13389908e-03 -7.59213396e+01] [-5.60222601e-03 -2.75221694e-05 -9.99984307e-01 2.84672823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.99, Y:-76.01, Z:2.85 [[ 7.31376022e-01 -6.81960166e-01 -4.40982878e-03 8.29892260e+01] [-6.81947603e-01 -7.31389316e-01 4.13934813e-03 -7.60148405e+01] [-6.04817219e-03 -2.01478025e-05 -9.99981709e-01 2.84716398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.99, Y:-76.02, Z:2.85 [[ 7.81280676e-01 -6.24159993e-01 -4.98080203e-03 8.29859917e+01] [-6.24147226e-01 -7.81296552e-01 3.99219017e-03 -7.60190651e+01] [-6.38324884e-03 -1.02672697e-05 -9.99979627e-01 2.84727014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.98, Y:-76.02, Z:2.85 [[ 8.26496680e-01 -5.62918692e-01 -5.07791193e-03 8.29842034e+01] [-5.62908097e-01 -8.26512279e-01 3.45362605e-03 -7.60223295e+01] [-6.14106722e-03 3.98727437e-06 -9.99981143e-01 2.84708020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.98, Y:-76.03, Z:2.85 [[ 8.66735962e-01 -4.98736737e-01 -5.51725523e-03 8.29828745e+01] [-4.98726772e-01 -8.66753521e-01 3.15283047e-03 -7.60260395e+01] [-6.35453279e-03 1.89313410e-05 -9.99979810e-01 2.84696937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.98, Y:-76.03, Z:2.85 [[ 9.03072551e-01 -4.29449569e-01 -5.74771322e-03 8.29793629e+01] [-4.29441004e-01 -9.03090841e-01 2.71235140e-03 -7.60325565e+01] [-6.35552531e-03 1.88536435e-05 -9.99979803e-01 2.84697962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.98, Y:-76.03, Z:2.85 [[ 9.32821178e-01 -3.60287753e-01 -6.11434299e-03 8.29776164e+01] [-3.60280280e-01 -9.32841216e-01 2.32069608e-03 -7.60349510e+01] [-6.53982953e-03 3.80827535e-05 -9.99978614e-01 2.84714132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.98, Y:-76.04, Z:2.85 [[ 9.56150804e-01 -2.92814462e-01 -5.94391739e-03 8.29775981e+01] [-2.92809322e-01 -9.56169276e-01 1.73691380e-03 -7.60354341e+01] [-6.19198467e-03 7.96828878e-05 -9.99980826e-01 2.84627278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.98, Y:-76.04, Z:2.85 [[ 9.75277750e-01 -2.20914167e-01 -5.49917940e-03 8.29762503e+01] [-2.20911212e-01 -9.75293249e-01 1.14656141e-03 -7.60382778e+01] [-5.61660420e-03 9.66145535e-05 -9.99984222e-01 2.84533729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.707628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.97, Y:-76.04, Z:2.84 [[ 9.89018906e-01 -1.47694450e-01 -5.28701729e-03 8.29712066e+01] [-1.47692953e-01 -9.89033031e-01 6.74640621e-04 -7.60403172e+01] [-5.32867542e-03 1.13622869e-04 -9.99985796e-01 2.84429288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.737628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.97, Y:-76.04, Z:2.84 [[ 9.97018154e-01 -7.70304681e-02 -4.59421783e-03 8.29654206e+01] [-7.70302723e-02 -9.97028730e-01 2.19821978e-04 -7.60378949e+01] [-4.59750016e-03 1.34727347e-04 -9.99989422e-01 2.84298420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.96, Y:-76.04, Z:2.84 [[ 9.99986640e-01 -2.27322524e-03 -4.64238658e-03 8.29591438e+01] [-2.27390666e-03 -9.99997405e-01 -1.41508699e-04 -7.60400959e+01] [-4.64205285e-03 1.52063162e-04 -9.99989214e-01 2.84308933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.95, Y:-76.04, Z:2.84 [[ 9.97576976e-01 6.93836208e-02 -5.10790022e-03 8.29522625e+01] [ 6.93816865e-02 -9.97590033e-01 -5.55126912e-04 -7.60394475e+01] [-5.13410706e-03 1.99387095e-04 -9.99986801e-01 2.84392960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.94, Y:-76.04, Z:2.84 [[ 9.90042231e-01 1.40679620e-01 -5.06224280e-03 8.29443367e+01] [ 1.40676567e-01 -9.90055145e-01 -9.55932014e-04 -7.60370787e+01] [-5.14637968e-03 2.34274126e-04 -9.99986730e-01 2.84373338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.94, Y:-76.04, Z:2.84 [[ 9.76672141e-01 2.14668307e-01 -5.38945361e-03 8.29371471e+01] [ 2.14663508e-01 -9.76686974e-01 -1.46051848e-03 -7.60380543e+01] [-5.57733616e-03 2.69528694e-04 -9.99984410e-01 2.84387387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.93, Y:-76.04, Z:2.84 [[ 9.56879507e-01 2.90437508e-01 -5.25958022e-03 8.29306231e+01] [ 2.90431561e-01 -9.56893924e-01 -1.87800606e-03 -7.60437634e+01] [-5.57830375e-03 2.69477414e-04 -9.99984405e-01 2.84388261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.92, Y:-76.05, Z:2.84 [[ 9.32269321e-01 3.61718715e-01 -5.78664706e-03 8.29233925e+01] [ 3.61709588e-01 -9.32287224e-01 -2.58949837e-03 -7.60460686e+01] [-6.33148715e-03 3.21024159e-04 -9.99979904e-01 2.84417873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.92, Y:-76.06, Z:2.84 [[ 9.03282107e-01 4.28994895e-01 -6.69450236e-03 8.29233283e+01] [ 4.28979623e-01 -9.03306816e-01 -3.64402356e-03 -7.60638905e+01] [-7.61045711e-03 4.19776176e-04 -9.99970952e-01 2.84399218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.92, Y:-76.08, Z:2.84 [[ 8.67563130e-01 4.97276154e-01 -7.11639052e-03 8.29205283e+01] [ 4.97254855e-01 -8.67592186e-01 -4.62686413e-03 -7.60762399e+01] [-8.47495400e-03 4.75436988e-04 -9.99963974e-01 2.84410603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.92, Y:-76.09, Z:2.84 [[ 8.26172948e-01 5.63367689e-01 -7.42340977e-03 8.29178068e+01] [ 5.63339124e-01 -8.26206131e-01 -5.69744621e-03 -7.60873987e+01] [-9.34302377e-03 5.25178772e-04 -9.99956215e-01 2.84497924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.91, Y:-76.10, Z:2.85 [[ 7.78701315e-01 6.27351349e-01 -7.38555883e-03 8.29141671e+01] [ 6.27316371e-01 -7.78736149e-01 -6.64690470e-03 -7.60976005e+01] [-9.92134627e-03 5.42871475e-04 -9.99950635e-01 2.84504069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.91, Y:-76.11, Z:2.85 [[ 7.27210642e-01 6.86380252e-01 -6.84334005e-03 8.29109685e+01] [ 6.86342648e-01 -7.27242638e-01 -7.20523002e-03 -7.61075772e+01] [-9.92229627e-03 5.42843822e-04 -9.99950625e-01 2.84504903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.09762800000001 meters Centerline goodness [0,1] 0.9998207965592939 Centerline is valid? [True, True] Translation: X:82.90, Y:-76.11, Z:2.85 [[ 6.69067285e-01 7.43174368e-01 -6.38959817e-03 8.29031166e+01] [ 7.43132774e-01 -6.69097590e-01 -7.88004236e-03 -7.61146782e+01] [-1.01315102e-02 5.23958733e-04 -9.99948538e-01 2.84724741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.12762800000002 meters Centerline goodness [0,1] 0.9999104925149366 Centerline is valid? [True, True] Translation: X:82.92, Y:-76.14, Z:2.84 [[ 6.06931272e-01 7.94737475e-01 -5.17457117e-03 8.29160175e+01] [ 7.94702022e-01 -6.06953162e-01 -7.52026241e-03 -7.61356805e+01] [-9.11735670e-03 4.52040265e-04 -9.99958334e-01 2.84269877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.92, Y:-76.15, Z:2.84 [[ 5.40471092e-01 8.41353915e-01 -3.81950071e-03 8.29248376e+01] [ 8.41328008e-01 -5.40484468e-01 -6.61234891e-03 -7.61505900e+01] [-7.62770645e-03 3.60330510e-04 -9.99970844e-01 2.84013680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.93, Y:-76.17, Z:2.84 [[ 4.68301030e-01 8.83564647e-01 -2.76777741e-03 8.29338317e+01] [ 8.83545613e-01 -4.68309129e-01 -5.80600498e-03 -7.61655001e+01] [-6.42615616e-03 2.73500518e-04 -9.99979315e-01 2.83946693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.94, Y:-76.18, Z:2.84 [[ 3.95357558e-01 9.18525060e-01 -2.02849933e-03 8.29421568e+01] [ 9.18509837e-01 -3.95362695e-01 -5.29331698e-03 -7.61778649e+01] [-5.66403726e-03 2.29556284e-04 -9.99983933e-01 2.83931722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.95, Y:-76.19, Z:2.84 [[ 3.19517673e-01 9.47579042e-01 -1.55436287e-03 8.29494866e+01] [ 9.47564476e-01 -3.19521387e-01 -5.25814384e-03 -7.61895746e+01] [-5.47915908e-03 2.07210848e-04 -9.99984968e-01 2.83927756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.96, Y:-76.20, Z:2.84 [[ 2.41548693e-01 9.70388046e-01 -1.12647189e-03 8.29572735e+01] [ 9.70373528e-01 -2.41551245e-01 -5.31149890e-03 -7.61997544e+01] [-5.42631573e-03 1.89887114e-04 -9.99985259e-01 2.83937768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.97, Y:-76.21, Z:2.84 [[ 1.61643972e-01 9.86848821e-01 -7.94135720e-04 8.29718689e+01] [ 9.86830439e-01 -1.61645811e-01 -6.02631646e-03 -7.62100187e+01] [-6.07543201e-03 1.90440430e-04 -9.99981526e-01 2.83922335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.99, Y:-76.22, Z:2.84 [[ 7.79480528e-02 9.96957348e-01 -3.84132174e-04 8.29858615e+01] [ 9.96931301e-01 -7.79487939e-02 -7.20884502e-03 -7.62197782e+01] [-7.21685365e-03 1.78962044e-04 -9.99973942e-01 2.83953743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.00, Y:-76.23, Z:2.84 [[-2.88074252e-03 9.99995834e-01 1.84728329e-04 8.29972907e+01] [ 9.99968860e-01 2.88202196e-03 -7.34664536e-03 -7.62279163e+01] [-7.34714714e-03 1.63558783e-04 -9.99972996e-01 2.84023881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.01, Y:-76.23, Z:2.84 [[-8.35836107e-02 9.96500404e-01 8.51785375e-04 8.30083652e+01] [ 9.96466482e-01 8.35877950e-02 -8.22382683e-03 -7.62343320e+01] [-8.26624562e-03 1.61398435e-04 -9.99965821e-01 2.84081942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.42762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.02, Y:-76.24, Z:2.84 [[-1.63184543e-01 9.86594307e-01 1.57457369e-03 8.30189521e+01] [ 9.86557005e-01 1.63192067e-01 -8.58055281e-03 -7.62395558e+01] [-8.72248248e-03 1.53193110e-04 -9.99961947e-01 2.84139860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.03, Y:-76.25, Z:2.84 [[-2.42090582e-01 9.70251018e-01 2.26079041e-03 8.30291142e+01] [ 9.70213764e-01 2.42101101e-01 -8.50347807e-03 -7.62457070e+01] [-8.79784811e-03 1.34838011e-04 -9.99961289e-01 2.84229603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.487628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.04, Y:-76.25, Z:2.84 [[-3.17878511e-01 9.48127215e-01 2.83507955e-03 8.30366010e+01] [ 9.48092998e-01 3.17891128e-01 -8.05594781e-03 -7.62504130e+01] [-8.53931000e-03 1.27106380e-04 -9.99963531e-01 2.84172560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.04, Y:-76.26, Z:2.84 [[-3.91863731e-01 9.20017267e-01 3.32323569e-03 8.30442741e+01] [ 9.19986672e-01 3.91877805e-01 -7.50392752e-03 -7.62551419e+01] [-8.20604520e-03 1.16815509e-04 -9.99966323e-01 2.84171363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.05, Y:-76.26, Z:2.84 [[-4.63529025e-01 8.86071745e-01 4.20778838e-03 8.30516728e+01] [ 8.86037486e-01 4.63548108e-01 -7.79263596e-03 -7.62591458e+01] [-8.85534689e-03 1.16145298e-04 -9.99960784e-01 2.84241668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.06, Y:-76.26, Z:2.84 [[-5.34546690e-01 8.45124418e-01 4.95522534e-03 8.30602131e+01] [ 8.45089597e-01 5.34569650e-01 -7.67221142e-03 -7.62620924e+01] [-9.13288629e-03 8.64541603e-05 -9.99958291e-01 2.84395802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.07, Y:-76.26, Z:2.84 [[-6.01081848e-01 7.99166092e-01 5.84544264e-03 8.30725617e+01] [ 7.99129363e-01 6.01110266e-01 -7.66215315e-03 -7.62612192e+01] [-9.63708858e-03 6.56836842e-05 -9.99953560e-01 2.84361439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.08, Y:-76.26, Z:2.84 [[-6.63978469e-01 7.47722898e-01 6.56199534e-03 8.30840349e+01] [ 7.47686959e-01 6.64010893e-01 -7.33111185e-03 -7.62596727e+01] [-9.83887659e-03 3.86179196e-05 -9.99951596e-01 2.84338854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.09, Y:-76.26, Z:2.84 [[-7.22470424e-01 6.91365665e-01 7.07139497e-03 8.30947401e+01] [ 6.91332689e-01 7.22505029e-01 -6.75241585e-03 -7.62585084e+01] [-9.77750690e-03 1.02657693e-05 -9.99952199e-01 2.84315468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.11, Y:-76.24, Z:2.84 [[-7.72583541e-01 6.34857895e-01 8.37412227e-03 8.31141629e+01] [ 6.34819970e-01 7.72628922e-01 -6.93936260e-03 -7.62388872e+01] [-1.08755982e-02 -4.51772810e-05 -9.99940858e-01 2.84291949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.14, Y:-76.22, Z:2.84 [[-8.16534805e-01 5.77221961e-01 9.25855452e-03 8.31366207e+01] [ 5.77183912e-01 8.16587291e-01 -6.62786028e-03 -7.62221789e+01] [-1.13861645e-02 -6.79898803e-05 -9.99935173e-01 2.84296562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.15, Y:-76.20, Z:2.84 [[-8.56248490e-01 5.16463203e-01 1.02119334e-02 8.31510528e+01] [ 5.16425157e-01 8.56309378e-01 -6.26945730e-03 -7.61986592e+01] [-1.19825183e-02 -9.45140550e-05 -9.99928203e-01 2.84350848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.17, Y:-76.18, Z:2.84 [[-8.91306628e-01 4.53278144e-01 1.05554750e-02 8.31698352e+01] [ 4.53244882e-01 8.91369122e-01 -5.49234751e-03 -7.61790436e+01] [-1.18983856e-02 -1.11150726e-04 -9.99929206e-01 2.84294987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.19, Y:-76.16, Z:2.84 [[-9.21998351e-01 3.87031126e-01 1.12226750e-02 8.31856599e+01] [ 3.87000586e-01 9.22066639e-01 -4.86410395e-03 -7.61584608e+01] [-1.22306139e-02 -1.41514003e-04 -9.99925193e-01 2.84299519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.20, Y:-76.14, Z:2.84 [[-9.47190866e-01 3.20448911e-01 1.19146398e-02 8.32019307e+01] [ 3.20421557e-01 9.47265788e-01 -4.18966181e-03 -7.61371501e+01] [-1.26289032e-02 -1.50701966e-04 -9.99920241e-01 2.84325734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.20, Y:-76.11, Z:2.84 [[-9.67455737e-01 2.52700550e-01 1.31083876e-02 8.32046729e+01] [ 2.52675090e-01 9.67544524e-01 -3.59068171e-03 -7.61121032e+01] [-1.35903158e-02 -1.61662614e-04 -9.99907634e-01 2.84330254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.43, Y:-75.33, Z:2.00 [[-9.39647211e-01 -3.41864149e-01 1.38572026e-02 8.34322769e+01] [ 3.41830765e-01 -9.39749352e-01 -4.78362223e-03 -7.53251247e+01] [ 1.46576461e-02 2.41900869e-04 9.99892542e-01 2.00126679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.15, Y:-76.11, Z:2.84 [[-9.67938343e-01 2.50805494e-01 1.38552652e-02 8.31549557e+01] [ 2.50777657e-01 9.68037491e-01 -3.73948696e-03 -7.61058399e+01] [-1.43503001e-02 -1.45001862e-04 -9.99897019e-01 2.84328620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.40, Y:-75.31, Z:2.00 [[-9.42499992e-01 -3.33965056e-01 1.26927815e-02 8.33973745e+01] [ 3.33935920e-01 -9.42585452e-01 -4.41208728e-03 -7.53054985e+01] [ 1.34375142e-02 8.01834507e-05 9.99909709e-01 2.00302649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.12, Y:-76.11, Z:2.84 [[-9.67665583e-01 2.52006872e-01 1.07636334e-02 8.31171577e+01] [ 2.51990705e-01 9.67725444e-01 -2.85494308e-03 -7.61082661e+01] [-1.11357072e-02 -5.02945853e-05 -9.99937995e-01 2.84013722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.13, Y:-76.09, Z:2.84 [[-9.82692552e-01 1.85021135e-01 9.08451616e-03 8.31337049e+01] [ 1.85013064e-01 9.82734542e-01 -1.72827474e-03 -7.60877651e+01] [-9.24743518e-03 -1.76085467e-05 -9.99957241e-01 2.83843892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.31, Y:-75.24, Z:2.01 [[-9.66521132e-01 -2.56471268e-01 7.70648817e-03 8.33052693e+01] [ 2.56462585e-01 -9.66551853e-01 -2.11133265e-03 -7.52417833e+01] [ 7.99021658e-03 -6.42217424e-05 9.99968076e-01 2.00795808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.08, Y:-76.09, Z:2.83 [[-9.82207317e-01 1.87723718e-01 5.34719055e-03 8.30790732e+01] [ 1.87721140e-01 9.82221871e-01 -9.84532934e-04 -7.60901610e+01] [-5.43694769e-03 3.67652549e-05 -9.99985219e-01 2.83472159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.09, Y:-76.07, Z:2.83 [[-9.92779208e-01 1.19850344e-01 5.03386130e-03 8.30920211e+01] [ 1.19849044e-01 9.92791969e-01 -5.60268242e-04 -7.60677893e+01] [-5.06472541e-03 4.70808030e-05 -9.99987173e-01 2.83436331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.20, Y:-75.18, Z:2.01 [[-9.84469148e-01 -1.75487753e-01 4.95424845e-03 8.32012981e+01] [ 1.75485283e-01 -9.84481613e-01 -9.32343316e-04 -7.51827007e+01] [ 5.04098133e-03 -4.84655404e-05 9.99987293e-01 2.01106883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.17762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.02, Y:-76.06, Z:2.83 [[-9.93478798e-01 1.13951941e-01 3.85139341e-03 8.30171014e+01] [ 1.13951226e-01 9.93486263e-01 -4.05460054e-04 -7.60586621e+01] [-3.87250940e-03 3.60550321e-05 -9.99992501e-01 2.83435834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.207628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.13, Y:-75.18, Z:2.01 [[-9.84434565e-01 -1.75609598e-01 7.06087754e-03 8.31262532e+01] [ 1.75606321e-01 -9.84459872e-01 -1.08620260e-03 -7.51768913e+01] [ 7.14189821e-03 1.70639344e-04 9.99974482e-01 2.00876333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.237628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.95, Y:-76.05, Z:2.84 [[-9.94305199e-01 1.06368182e-01 6.55596382e-03 8.29516124e+01] [ 1.06366052e-01 9.94326812e-01 -6.73720266e-04 -7.60503860e+01] [-6.59043301e-03 2.74484283e-05 -9.99978282e-01 2.83643939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.05, Y:-75.17, Z:2.01 [[-9.84919478e-01 -1.72714162e-01 1.01705967e-02 8.30522870e+01] [ 1.72707186e-01 -9.84971966e-01 -1.56685356e-03 -7.51717131e+01] [ 1.02883704e-02 2.13310542e-04 9.99947051e-01 2.00599971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.88, Y:-76.04, Z:2.84 [[-9.94975107e-01 9.94770100e-02 1.13517298e-02 8.28807995e+01] [ 9.94706546e-02 9.95039861e-01 -1.12450056e-03 -7.60396631e+01] [-1.14072856e-02 1.03139274e-05 -9.99934935e-01 2.84040165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.99, Y:-75.17, Z:2.00 [[-9.85800072e-01 -1.67436040e-01 1.27824376e-02 8.29854808e+01] [ 1.67423152e-01 -9.85882936e-01 -2.07936305e-03 -7.51651975e+01] [ 1.29501474e-02 9.02397457e-05 9.99916139e-01 2.00416369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.81, Y:-76.03, Z:2.84 [[-9.95103968e-01 9.80691494e-02 1.22692511e-02 8.28112335e+01] [ 9.80623024e-02 9.95179602e-01 -1.15987175e-03 -7.60334577e+01] [-1.23238561e-02 4.89580305e-05 -9.99924057e-01 2.84173019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.387628 meters Centerline goodness [0,1] 0.999840197242261 Centerline is valid? [True, True] Translation: X:82.92, Y:-75.16, Z:2.00 [[-9.87458380e-01 -1.57402061e-01 1.22693897e-02 8.29180947e+01] [ 1.57389377e-01 -9.87534602e-01 -1.99866936e-03 -7.51561565e+01] [ 1.24310416e-02 -4.25312027e-05 9.99922731e-01 2.00074456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.417628 meters Centerline goodness [0,1] 0.9998403466757897 Centerline is valid? [True, True] Translation: X:82.75, Y:-76.03, Z:2.84 [[-9.94888575e-01 1.00502008e-01 9.80153372e-03 8.27473391e+01] [ 1.00498334e-01 9.94936848e-01 -8.67905583e-04 -7.60319327e+01] [-9.83913332e-03 1.21568459e-04 -9.99951587e-01 2.84278370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.75, Y:-76.01, Z:2.84 [[-9.99460676e-01 3.17463148e-02 8.39811629e-03 8.27537726e+01] [ 3.17462391e-02 9.99495951e-01 -1.42355407e-04 -7.60052890e+01] [-8.39840249e-03 1.24329977e-04 -9.99964725e-01 2.83885985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.76, Y:-75.98, Z:2.84 [[-9.99187642e-01 -3.94170438e-02 8.38761740e-03 8.27561911e+01] [-3.94146105e-02 9.99222839e-01 4.55275500e-04 -7.59774809e+01] [-8.39904448e-03 1.24310980e-04 -9.99964720e-01 2.83886770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.75, Y:-75.95, Z:2.84 [[-9.94079693e-01 -1.08395835e-01 7.47707194e-03 8.27529052e+01] [-1.08391784e-01 9.94107804e-01 9.45993645e-04 -7.59508187e+01] [-7.53555734e-03 1.29939901e-04 -9.99971599e-01 2.83776439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.74, Y:-75.93, Z:2.84 [[-9.84078473e-01 -1.77607620e-01 6.71514721e-03 8.27390481e+01] [-1.77602555e-01 9.84101375e-01 1.34793779e-03 -7.59258690e+01] [-6.84778962e-03 1.33849255e-04 -9.99976545e-01 2.83725029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.70, Y:-75.91, Z:2.84 [[-9.68784513e-01 -2.47834099e-01 5.90149616e-03 8.26960111e+01] [-2.47828683e-01 9.68802479e-01 1.64366477e-03 -7.59057317e+01] [-6.12474029e-03 1.29796957e-04 -9.99981235e-01 2.83603363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.64, Y:-75.89, Z:2.84 [[-9.48112517e-01 -3.17898595e-01 4.81028466e-03 8.26385863e+01] [-3.17893885e-01 9.48124712e-01 1.73433831e-03 -7.58935874e+01] [-5.11209347e-03 1.15187781e-04 -9.99986927e-01 2.83630028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.57, Y:-75.89, Z:2.84 [[-9.21644553e-01 -3.88009611e-01 4.45639936e-03 8.25662825e+01] [-3.88004504e-01 9.21655321e-01 1.99356690e-03 -7.58901915e+01] [-4.88078730e-03 1.08257047e-04 -9.99988083e-01 2.83623757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.49, Y:-75.90, Z:2.84 [[-8.89406918e-01 -4.57090866e-01 4.82430838e-03 8.24874115e+01] [-4.57083452e-01 8.89419995e-01 2.60578458e-03 -7.58960225e+01] [-5.48191666e-03 1.12491301e-04 -9.99984968e-01 2.83718832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.40, Y:-75.91, Z:2.84 [[-8.51417610e-01 -5.24463247e-01 5.13385197e-03 8.24008631e+01] [-5.24452921e-01 8.51433080e-01 3.29288828e-03 -7.59124932e+01] [-6.09813028e-03 1.11159407e-04 -9.99981400e-01 2.83886328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.31, Y:-75.94, Z:2.84 [[-8.07916069e-01 -5.89267671e-01 5.93609617e-03 8.23102302e+01] [-5.89250716e-01 8.07937868e-01 4.47151867e-03 -7.59380703e+01] [-7.43091828e-03 1.14762870e-04 -9.99972384e-01 2.83980381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.21, Y:-75.98, Z:2.84 [[-7.59322981e-01 -6.50681444e-01 6.50149483e-03 8.22118537e+01] [-6.50656336e-01 7.59350806e-01 5.71715318e-03 -7.59786932e+01] [-8.65696082e-03 1.10926984e-04 -9.99962522e-01 2.84045490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.12, Y:-76.02, Z:2.84 [[-7.04065435e-01 -7.10103341e-01 6.71624447e-03 8.21205601e+01] [-7.10070012e-01 7.04097464e-01 6.88032056e-03 -7.60219269e+01] [-9.61462932e-03 7.51920914e-05 -9.99953776e-01 2.84179254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.03, Y:-76.08, Z:2.84 [[-6.45820359e-01 -7.63463838e-01 6.24746433e-03 8.20268015e+01] [-7.63427332e-01 6.45850575e-01 7.46616658e-03 -7.60809015e+01] [-9.73507662e-03 5.23173592e-05 -9.99952612e-01 2.84182676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.94, Y:-76.14, Z:2.84 [[-5.83661413e-01 -8.11977788e-01 5.60598713e-03 8.19415284e+01] [-8.11939796e-01 5.83688334e-01 7.85471892e-03 -7.61426357e+01] [-9.65000658e-03 3.27722925e-05 -9.99953437e-01 2.84162003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.86762800000002 meters Centerline goodness [0,1] 0.9999101890520454 Centerline is valid? [True, True] Translation: X:81.85, Y:-76.22, Z:2.84 [[-5.17165735e-01 -8.55872232e-01 4.72492431e-03 8.18545952e+01] [-8.55836399e-01 5.17187319e-01 7.83169340e-03 -7.62197614e+01] [-9.14659985e-03 6.52126907e-06 -9.99958169e-01 2.84290845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.77, Y:-76.30, Z:2.84 [[-4.48756292e-01 -8.93647128e-01 3.54996670e-03 8.17749991e+01] [-8.93619165e-01 4.48770333e-01 7.06937524e-03 -7.63045475e+01] [-7.91064661e-03 1.08332650e-07 -9.99968710e-01 2.84078349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.70, Y:-76.40, Z:2.84 [[-3.78723363e-01 -9.25505484e-01 2.86597605e-03 8.17022833e+01] [-9.25478917e-01 3.78734207e-01 7.01247990e-03 -7.63977576e+01] [-7.57553177e-03 3.38956673e-06 -9.99971305e-01 2.84058915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.957628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.64, Y:-76.50, Z:2.84 [[-3.06729772e-01 -9.51794215e-01 2.14909249e-03 8.16370129e+01] [-9.51770627e-01 3.06737300e-01 6.70085666e-03 -7.64978702e+01] [-7.03704344e-03 9.90912364e-06 -9.99975240e-01 2.84098540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.987628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.58, Y:-76.60, Z:2.84 [[-2.33701174e-01 -9.72307279e-01 1.52219273e-03 8.15809561e+01] [-9.72286059e-01 2.33706130e-01 6.42370636e-03 -7.66006395e+01] [-6.60156222e-03 2.12209500e-05 -9.99978209e-01 2.84054749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.54, Y:-76.71, Z:2.84 [[-1.61579447e-01 -9.86859266e-01 9.33285517e-04 8.15357125e+01] [-9.86841138e-01 1.61582136e-01 5.98185351e-03 -7.67073337e+01] [-6.05404983e-03 4.55400432e-05 -9.99981673e-01 2.84036834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.50, Y:-76.82, Z:2.84 [[-8.69911764e-02 -9.96208973e-01 4.66469533e-04 8.14966773e+01] [-9.96190717e-01 8.69924064e-02 6.03134654e-03 -7.68216116e+01] [-6.04906085e-03 5.99813117e-05 -9.99981702e-01 2.84020096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.47, Y:-76.95, Z:2.84 [[-1.17429418e-02 -9.99931049e-01 -2.75562436e-06 8.14661770e+01] [-9.99913189e-01 1.17427156e-02 5.97691206e-03 -7.69503853e+01] [-5.97646759e-03 7.29419158e-05 -9.99982138e-01 2.83990510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.107628 meters Centerline goodness [0,1] 0.9999547111704898 Centerline is valid? [True, True] Translation: X:81.45, Y:-77.06, Z:2.84 [[ 6.25899860e-02 -9.98039164e-01 -5.67018442e-04 8.14463088e+01] [-9.98012603e-01 -6.25924575e-02 7.28201435e-03 -7.70599676e+01] [-7.30322659e-03 1.10110374e-04 -9.99973325e-01 2.84140739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.43, Y:-77.19, Z:2.84 [[ 1.38672627e-01 -9.90337525e-01 -1.22015165e-03 8.14341238e+01] [-9.90306844e-01 -1.38677937e-01 7.79648728e-03 -7.71855567e+01] [-7.89036203e-03 1.27165148e-04 -9.99968863e-01 2.84117874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.43, Y:-77.30, Z:2.84 [[ 2.13981265e-01 -9.76835599e-01 -2.05701659e-03 8.14309438e+01] [-9.76797033e-01 -2.13991098e-01 8.68134950e-03 -7.73046894e+01] [-8.92043448e-03 1.51641553e-04 -9.99960201e-01 2.84256672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.44, Y:-77.43, Z:2.84 [[ 2.87833836e-01 -9.57676019e-01 -2.88545603e-03 8.14396474e+01] [-9.57633737e-01 -2.87848247e-01 9.00074408e-03 -7.74338679e+01] [-9.45037022e-03 1.72491345e-04 -9.99955329e-01 2.84331511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.45, Y:-77.55, Z:2.84 [[ 3.59935825e-01 -9.32968919e-01 -3.89842162e-03 8.14529856e+01] [-9.32920106e-01 -3.59956880e-01 9.54567216e-03 -7.75500894e+01] [-1.03090791e-02 2.01086533e-04 -9.99946840e-01 2.84279677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.48, Y:-77.67, Z:2.84 [[ 4.28965259e-01 -9.03305710e-01 -5.25365124e-03 8.14792671e+01] [-9.03245043e-01 -4.28997354e-01 1.04719467e-02 -7.76653811e+01] [-1.17131717e-02 2.53233125e-04 -9.99931366e-01 2.84352908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.51, Y:-77.78, Z:2.84 [[ 4.96838042e-01 -8.67821711e-01 -6.11866559e-03 8.15077129e+01] [-8.67762394e-01 -4.96875646e-01 1.01498752e-02 -7.77765500e+01] [-1.18484979e-02 2.66703788e-04 -9.99929769e-01 2.84271865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.55, Y:-77.89, Z:2.84 [[ 5.61922103e-01 -8.27164562e-01 -6.50669426e-03 8.15486899e+01] [-8.27114369e-01 -5.61959714e-01 9.11598660e-03 -7.78856259e+01] [-1.11969211e-02 2.59305948e-04 -9.99937279e-01 2.84334136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.34762800000001 meters Centerline goodness [0,1] 0.999862775592352 Centerline is valid? [True, True] Translation: X:81.60, Y:-78.00, Z:2.84 [[ 6.23324157e-01 -7.81929690e-01 -7.27707144e-03 8.15990010e+01] [-7.81881430e-01 -6.23366574e-01 8.69159711e-03 -7.79979985e+01] [-1.13325009e-02 2.72124580e-04 -9.99935748e-01 2.84436127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.37762800000002 meters Centerline goodness [0,1] 0.9998398132680382 Centerline is valid? [True, True] Translation: X:81.65, Y:-78.09, Z:2.84 [[ 6.81159093e-01 -7.32108464e-01 -6.28378824e-03 8.16470033e+01] [-7.32080328e-01 -6.81188040e-01 6.42246045e-03 -7.80927281e+01] [-8.98237905e-03 2.25520412e-04 -9.99959632e-01 2.84126857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.70, Y:-78.18, Z:2.84 [[ 7.35453812e-01 -6.77555087e-01 -5.17633388e-03 8.17037529e+01] [-6.77539969e-01 -7.35472007e-01 4.52958996e-03 -7.81825637e+01] [-6.87609539e-03 1.75868890e-04 -9.99976344e-01 2.83718603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.70, Y:-78.19, Z:2.84 [[ 7.85992117e-01 -6.18219671e-01 -4.56414291e-03 8.16972716e+01] [-6.18210342e-01 -7.86005354e-01 3.39943194e-03 -7.81888742e+01] [-5.68903646e-03 1.49673643e-04 -9.99983806e-01 2.83541617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.69, Y:-78.19, Z:2.83 [[ 8.32131862e-01 -5.54562373e-01 -4.14000444e-03 8.16901777e+01] [-5.54556273e-01 -8.32142150e-01 2.60418684e-03 -7.81913820e+01] [-4.88925623e-03 1.28838588e-04 -9.99988039e-01 2.83463402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.68, Y:-78.20, Z:2.83 [[ 8.73840230e-01 -4.86198746e-01 -3.74593903e-03 8.16795351e+01] [-4.86194795e-01 -8.73848253e-01 1.96292338e-03 -7.82000359e+01] [-4.22775316e-03 1.05974638e-04 -9.99991057e-01 2.83352161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.67, Y:-78.21, Z:2.83 [[ 9.09843444e-01 -4.14927596e-01 -4.47187997e-03 8.16703407e+01] [-4.14923182e-01 -9.09854427e-01 1.91702428e-03 -7.82068972e+01] [-4.86418606e-03 1.11294691e-04 -9.99988164e-01 2.83414201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.66, Y:-78.22, Z:2.83 [[ 9.40259823e-01 -3.40423849e-01 -4.80294351e-03 8.16618296e+01] [-3.40419970e-01 -9.40272084e-01 1.62839368e-03 -7.82157663e+01] [-5.07041775e-03 1.03904733e-04 -9.99987140e-01 2.83492004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.65, Y:-78.23, Z:2.84 [[ 9.65115140e-01 -2.61735745e-01 -6.86779728e-03 8.16535172e+01] [-2.61729909e-01 -9.65139569e-01 1.75112769e-03 -7.82280867e+01] [-7.08671562e-03 1.07468118e-04 -9.99974883e-01 2.83652915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.64, Y:-78.24, Z:2.84 [[ 9.83022144e-01 -1.83317310e-01 -7.88852940e-03 8.16429188e+01] [-1.83312242e-01 -9.83053790e-01 1.36686611e-03 -7.82376480e+01] [-8.00541894e-03 1.02404355e-04 -9.99967951e-01 2.83743239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.63, Y:-78.25, Z:2.84 [[ 9.94517746e-01 -1.04190323e-01 -8.87854021e-03 8.16332103e+01] [-1.04187046e-01 -9.94557372e-01 8.32096211e-04 -7.82466163e+01] [-8.91691400e-03 9.74944298e-05 -9.99960239e-01 2.83831041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.62, Y:-78.26, Z:2.84 [[ 9.99653350e-01 -2.45604035e-02 -9.48508696e-03 8.16247943e+01] [-2.45601410e-02 -9.99698344e-01 1.44173050e-04 -7.82560307e+01] [-9.48576668e-03 8.88320009e-05 -9.99955005e-01 2.83925226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.707628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.62, Y:-78.27, Z:2.84 [[ 9.98381082e-01 5.59445956e-02 -1.02672671e-02 8.16176364e+01] [ 5.59408930e-02 -9.98433872e-01 -6.47678520e-04 -7.82659389e+01] [-1.02874213e-02 7.22698921e-05 -9.99947080e-01 2.83950967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.737628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.61, Y:-78.27, Z:2.84 [[ 9.90862204e-01 1.34522594e-01 -9.78596011e-03 8.16103391e+01] [ 1.34515390e-01 -9.90910524e-01 -1.39371933e-03 -7.82738330e+01] [-9.88449760e-03 6.46215682e-05 -9.99951145e-01 2.83928247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.60, Y:-78.28, Z:2.84 [[ 9.77227888e-01 2.12005891e-01 -8.89707067e-03 8.16044041e+01] [ 2.11996563e-01 -9.77268386e-01 -1.98959561e-03 -7.82841987e+01] [-9.11663188e-03 5.81399156e-05 -9.99958441e-01 2.83646337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.60, Y:-78.29, Z:2.84 [[ 9.57670057e-01 2.87761092e-01 -7.84956182e-03 8.15979942e+01] [ 2.87750957e-01 -9.57702225e-01 -2.41576292e-03 -7.82942275e+01] [-8.21270539e-03 5.47848873e-05 -9.99966274e-01 2.83587159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.59, Y:-78.30, Z:2.83 [[ 9.32288494e-01 3.61664354e-01 -6.08763077e-03 8.15937721e+01] [ 3.61656304e-01 -9.32308368e-01 -2.41349289e-03 -7.83036067e+01] [-6.54842345e-03 4.84416133e-05 -9.99978558e-01 2.83470775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.59, Y:-78.31, Z:2.83 [[ 9.00981275e-01 4.33821055e-01 -5.65987080e-03 8.15903869e+01] [ 4.33812178e-01 -9.00999051e-01 -2.77571637e-03 -7.83142982e+01] [-6.30370243e-03 4.55475951e-05 -9.99980130e-01 2.83440035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.59, Y:-78.32, Z:2.83 [[ 8.64177506e-01 5.03161313e-01 -5.09235046e-03 8.15873066e+01] [ 5.03152284e-01 -8.64192508e-01 -3.01458829e-03 -7.83242879e+01] [-5.91759532e-03 4.29116218e-05 -9.99982490e-01 2.83473153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.58, Y:-78.33, Z:2.83 [[ 8.21817038e-01 5.69730799e-01 -4.85523438e-03 8.15838703e+01] [ 5.69720571e-01 -8.21831379e-01 -3.41415565e-03 -7.83344042e+01] [-5.93533359e-03 3.96843856e-05 -9.99982385e-01 2.83483396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.58, Y:-78.34, Z:2.83 [[ 7.74180090e-01 6.32946437e-01 -4.89862523e-03 8.15813836e+01] [ 6.32933469e-01 -7.74195587e-01 -4.05174651e-03 -7.83436062e+01] [-6.35703255e-03 3.62776147e-05 -9.99979793e-01 2.83492329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.58, Y:-78.35, Z:2.83 [[ 7.21623528e-01 6.92267774e-01 -4.98134898e-03 8.15789088e+01] [ 6.92250977e-01 -7.21640720e-01 -4.82246813e-03 -7.83534324e+01] [-6.93318354e-03 3.16627670e-05 -9.99975965e-01 2.83498792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.58, Y:-78.36, Z:2.83 [[ 6.64377517e-01 7.47380360e-01 -5.01121699e-03 8.15791645e+01] [ 7.47358817e-01 -6.64396415e-01 -5.67464979e-03 -7.83643701e+01] [-7.57055640e-03 2.49325312e-05 -9.99971343e-01 2.83497313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.58, Y:-78.38, Z:2.84 [[ 6.01387817e-01 7.98942145e-01 -4.91348830e-03 8.15795175e+01] [ 7.98915470e-01 -6.01407889e-01 -6.52855056e-03 -7.83768774e+01] [-8.17094482e-03 7.28952310e-07 -9.99966617e-01 2.83580466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.58, Y:-78.39, Z:2.84 [[ 5.35664069e-01 8.44419983e-01 -4.34716179e-03 8.15780243e+01] [ 8.44392358e-01 -5.35681708e-01 -6.83031612e-03 -7.83864028e+01] [-8.09635048e-03 -1.19552618e-05 -9.99967224e-01 2.83591809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.58, Y:-78.40, Z:2.83 [[ 4.66163274e-01 8.84690867e-01 -3.72448654e-03 8.15812988e+01] [ 8.84663093e-01 -4.66178152e-01 -7.01024500e-03 -7.83974052e+01] [-7.93817398e-03 -2.69970246e-05 -9.99968492e-01 2.83474372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.59, Y:-78.41, Z:2.83 [[ 3.91951775e-01 9.19980250e-01 -3.18527159e-03 8.15871598e+01] [ 9.19951061e-01 -3.91964713e-01 -7.32866654e-03 -7.84087152e+01] [-7.99074254e-03 -5.78101232e-05 -9.99968072e-01 2.83425723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.59, Y:-78.42, Z:2.84 [[ 3.17067877e-01 9.48399068e-01 -2.67768461e-03 8.15932844e+01] [ 9.48367196e-01 -3.17079175e-01 -7.77551005e-03 -7.84209564e+01] [-8.22332451e-03 -7.40637811e-05 -9.99966185e-01 2.83576227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.60, Y:-78.43, Z:2.83 [[ 2.40637523e-01 9.70612720e-01 -2.12831843e-03 8.15978715e+01] [ 9.70577906e-01 -2.40646919e-01 -8.22127448e-03 -7.84306508e+01] [-8.49184686e-03 -8.73517188e-05 -9.99963940e-01 2.83471636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.21762800000002 meters Centerline goodness [0,1] 0.9998422286332492 Centerline is valid? [True, True] Translation: X:81.61, Y:-78.44, Z:2.84 [[ 1.63150128e-01 9.86600209e-01 -1.43644608e-03 8.16054855e+01] [ 9.86566712e-01 -1.63156427e-01 -8.13038638e-03 -7.84412766e+01] [-8.25580631e-03 -9.06762999e-05 -9.99965916e-01 2.83636891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.24762800000002 meters Centerline goodness [0,1] 0.9997509734673549 Centerline is valid? [True, True] Translation: X:81.61, Y:-78.45, Z:2.84 [[ 8.48253897e-02 9.96395517e-01 -7.92112486e-04 8.16092296e+01] [ 9.96361888e-01 -8.48290351e-02 -8.18669482e-03 -7.84503075e+01] [-8.22438015e-03 -9.47911135e-05 -9.99966175e-01 2.83506259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.27762800000002 meters Centerline goodness [0,1] 0.9998414388293655 Centerline is valid? [True, True] Translation: X:81.61, Y:-78.46, Z:2.83 [[ 6.67549680e-03 9.99977710e-01 -1.34630014e-04 8.16134429e+01] [ 9.99949325e-01 -6.67632176e-03 -7.53486577e-03 -7.84595424e+01] [-7.53559665e-03 -8.43242188e-05 -9.99971603e-01 2.83447752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.30762800000002 meters Centerline goodness [0,1] 0.9999318955732123 Centerline is valid? [True, True] Translation: X:81.62, Y:-78.47, Z:2.83 [[-7.13096945e-02 9.97454131e-01 4.29672123e-04 8.16201600e+01] [ 9.97429060e-01 7.13109487e-02 -7.07244240e-03 -7.84683246e+01] [-7.08507722e-03 -7.57662455e-05 -9.99974898e-01 2.83352965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.33762800000002 meters Centerline goodness [0,1] 0.9999317126468178 Centerline is valid? [True, True] Translation: X:81.63, Y:-78.48, Z:2.83 [[-1.48276810e-01 9.88945439e-01 9.52141475e-04 8.16277081e+01] [ 9.88922084e-01 1.48279852e-01 -6.79680006e-03 -7.84779823e+01] [-6.86284782e-03 -6.62140998e-05 -9.99976448e-01 2.83337037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.36762800000002 meters Centerline goodness [0,1] 0.9998631105838334 Centerline is valid? [True, True] Translation: X:81.63, Y:-78.49, Z:2.83 [[-2.24109314e-01 9.74563007e-01 1.40040427e-03 8.16341539e+01] [ 9.74542458e-01 2.24113683e-01 -6.32888784e-03 -7.84872867e+01] [-6.48174972e-03 -5.36092915e-05 -9.99978992e-01 2.83314887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.39762800000003 meters Centerline goodness [0,1] 0.9998631105838334 Centerline is valid? [True, True] Translation: X:81.64, Y:-78.49, Z:2.83 [[-2.99758295e-01 9.54013304e-01 1.89198452e-03 8.16434419e+01] [ 9.53993157e-01 2.99764261e-01 -6.20037760e-03 -7.84949831e+01] [-6.48239206e-03 -5.36743382e-05 -9.99978988e-01 2.83315433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.42762800000003 meters Centerline goodness [0,1] 0.9998173140599667 Centerline is valid? [True, True] Translation: X:81.65, Y:-78.50, Z:2.83 [[-3.71111192e-01 9.28585078e-01 2.49702926e-03 8.16494763e+01] [ 9.28563344e-01 3.71119591e-01 -6.35334744e-03 -7.85024995e+01] [-6.82632011e-03 -3.91485040e-05 -9.99976700e-01 2.83349866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.66, Y:-78.51, Z:2.84 [[-4.41437119e-01 8.97286341e-01 3.23922103e-03 8.16591264e+01] [ 8.97261628e-01 4.41449002e-01 -6.65947522e-03 -7.85099490e+01] [-7.40540704e-03 -3.33108174e-05 -9.99972579e-01 2.83511304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.487628 meters Centerline goodness [0,1] 0.9998627096537995 Centerline is valid? [True, True] Translation: X:81.67, Y:-78.52, Z:2.84 [[-5.09204348e-01 8.60637389e-01 3.77057217e-03 8.16677479e+01] [ 8.60613453e-01 5.09218307e-01 -6.41880552e-03 -7.85171316e+01] [-7.44430840e-03 -2.34785494e-05 -9.99972290e-01 2.83557657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.68, Y:-78.52, Z:2.84 [[-5.74041116e-01 8.18814540e-01 4.42108086e-03 8.16764816e+01] [ 8.18790052e-01 5.74058140e-01 -6.33262795e-03 -7.85233817e+01] [-7.72320530e-03 -1.52517845e-05 -9.99970175e-01 2.83574431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.547628 meters Centerline goodness [0,1] 0.9999770220588236 Centerline is valid? [True, True] Translation: X:81.69, Y:-78.53, Z:2.84 [[-6.36157833e-01 7.71538579e-01 5.60637096e-03 8.16860368e+01] [ 7.71508386e-01 6.36182537e-01 -6.82574609e-03 -7.85301799e+01] [-8.83300174e-03 -1.68896373e-05 -9.99960988e-01 2.83616961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.577628 meters Centerline goodness [0,1] 0.9999310645924768 Centerline is valid? [True, True] Translation: X:81.70, Y:-78.53, Z:2.84 [[-6.94764403e-01 7.19207235e-01 6.58614298e-03 8.16977742e+01] [ 7.19174630e-01 6.94795619e-01 -6.84832793e-03 -7.85329517e+01] [-9.50139029e-03 -2.13875267e-05 -9.99954861e-01 2.83620163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.71, Y:-78.54, Z:2.84 [[-7.48657731e-01 6.62908204e-01 8.01967950e-03 8.17097966e+01] [ 6.62869869e-01 7.48700683e-01 -7.12902277e-03 -7.85359246e+01] [-1.07302272e-02 -2.11941132e-05 -9.99942429e-01 2.83713972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.73, Y:-78.52, Z:2.84 [[-7.93213054e-01 6.08883651e-01 8.58785489e-03 8.17334542e+01] [ 6.08847750e-01 7.93259541e-01 -6.61192228e-03 -7.85198744e+01] [-1.08382892e-02 -1.59669381e-05 -9.99941264e-01 2.83732288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.76, Y:-78.51, Z:2.84 [[-8.33649444e-01 5.52225939e-01 8.66693177e-03 8.17600021e+01] [ 5.52196070e-01 8.33694496e-01 -5.74355750e-03 -7.85055360e+01] [-1.03973147e-02 -2.26785424e-06 -9.99945946e-01 2.83704165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.78, Y:-78.49, Z:2.84 [[-8.68752342e-01 4.95183373e-01 7.92430404e-03 8.17799500e+01] [ 4.95163135e-01 8.68788482e-01 -4.47698694e-03 -7.84879562e+01] [-9.10147357e-03 3.44303459e-05 -9.99958580e-01 2.83571188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.80, Y:-78.47, Z:2.83 [[-9.00673095e-01 4.34433372e-01 7.45798037e-03 8.17965060e+01] [ 4.34418926e-01 9.00703971e-01 -3.54316321e-03 -7.84674946e+01] [-8.25670088e-03 4.86560475e-05 -9.99965912e-01 2.83498741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.83, Y:-78.45, Z:2.83 [[-9.27490329e-01 3.73801001e-01 5.87373663e-03 8.18276836e+01] [ 3.73793978e-01 9.27508926e-01 -2.29243305e-03 -7.84540652e+01] [-6.30485692e-03 6.93578900e-05 -9.99980122e-01 2.83330797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.17, Y:-77.60, Z:2.02 [[-9.08435928e-01 -4.17987197e-01 5.55588815e-03 8.21740366e+01] [ 4.17978860e-01 -9.08452914e-01 -2.64118452e-03 -7.76045946e+01] [ 6.15124409e-03 -7.71031147e-05 9.99981078e-01 2.01523246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.78, Y:-78.44, Z:2.83 [[-9.28247914e-01 3.71923468e-01 5.36139174e-03 8.17847462e+01] [ 3.71917727e-01 9.28263394e-01 -2.06782944e-03 -7.84391679e+01] [-5.74585799e-03 7.45382633e-05 -9.99983490e-01 2.83275904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.81, Y:-78.42, Z:2.83 [[-9.51269254e-01 3.08327044e-01 4.60864463e-03 8.18054192e+01] [ 3.08323834e-01 9.51280415e-01 -1.40921579e-03 -7.84175886e+01] [-4.81861272e-03 8.04113323e-05 -9.99988387e-01 2.83290028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.82, Y:-78.39, Z:2.83 [[-9.70405863e-01 2.41441029e-01 4.32317405e-03 8.18203965e+01] [ 2.41439005e-01 9.70415490e-01 -9.91946689e-04 -7.83925078e+01] [-4.43477170e-03 8.11919591e-05 -9.99990163e-01 2.83341905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.84, Y:-78.37, Z:2.83 [[-9.84819536e-01 1.73528492e-01 4.28310329e-03 8.18352652e+01] [ 1.73527231e-01 9.84828846e-01 -6.67047535e-04 -7.83672387e+01] [-4.33387542e-03 8.63136113e-05 -9.99990605e-01 2.83355988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.99, Y:-77.46, Z:2.01 [[-9.78677120e-01 -2.05350959e-01 4.69867982e-03 8.19879114e+01] [ 2.05348276e-01 -9.78688398e-01 -1.05180397e-03 -7.74618994e+01] [ 4.81453238e-03 -6.45106834e-05 9.99988408e-01 2.01464846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.77, Y:-78.36, Z:2.83 [[-9.85080256e-01 1.72038300e-01 4.43988315e-03 8.17735080e+01] [ 1.72037024e-01 9.85090256e-01 -6.70573728e-04 -7.83557996e+01] [-4.48905000e-03 1.03255347e-04 -9.99989919e-01 2.83294088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.92, Y:-77.45, Z:2.02 [[-9.80263320e-01 -1.97639205e-01 4.75053825e-03 8.19209059e+01] [ 1.97636452e-01 -9.80274827e-01 -1.04695265e-03 -7.74525494e+01] [ 4.86375195e-03 -8.74097592e-05 9.99988168e-01 2.01537088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.71, Y:-78.35, Z:2.83 [[-9.85026010e-01 1.72365283e-01 3.73754180e-03 8.17082939e+01] [ 1.72364459e-01 9.85033095e-01 -5.43837762e-04 -7.83495234e+01] [-3.77534112e-03 1.08525029e-04 -9.99992867e-01 2.83324833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.72, Y:-78.32, Z:2.83 [[-9.94668303e-01 1.03068997e-01 3.42776557e-03 8.17155119e+01] [ 1.03068743e-01 9.94674204e-01 -2.51242335e-04 -7.83188253e+01] [-3.43540528e-03 1.03392701e-04 -9.99994094e-01 2.83273718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.73, Y:-78.29, Z:2.83 [[-9.99438599e-01 3.33787872e-02 2.88852265e-03 8.17267797e+01] [ 3.33789160e-02 9.99442769e-01 -3.61883412e-06 -7.82872728e+01] [-2.88703387e-03 9.27989526e-05 -9.99995828e-01 2.83193002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.72, Y:-78.26, Z:2.83 [[-9.99309706e-01 -3.70867400e-02 2.16445340e-03 8.17234718e+01] [-3.70864905e-02 9.99312047e-01 1.55310327e-04 -7.82576927e+01] [-2.16872431e-03 7.49311373e-05 -9.99997646e-01 2.83135310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.72, Y:-78.23, Z:2.83 [[-9.94079763e-01 -1.08636704e-01 1.86852002e-03 8.17183171e+01] [-1.08636385e-01 9.94081517e-01 2.71180499e-04 -7.82281277e+01] [-1.88692137e-03 6.65857841e-05 -9.99998218e-01 2.83079960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.17762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.70, Y:-78.20, Z:2.83 [[-9.83550952e-01 -1.80624918e-01 1.47094919e-03 8.16984519e+01] [-1.80624632e-01 9.83552051e-01 3.26167370e-04 -7.82017171e+01] [-1.50566904e-03 5.51125726e-05 -9.99998865e-01 2.83075554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.20762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.65, Y:-78.18, Z:2.83 [[-9.67431078e-01 -2.53132196e-01 1.09593980e-03 8.16486459e+01] [-2.53131982e-01 9.67431697e-01 3.32475660e-04 -7.81805985e+01] [-1.14440719e-03 4.42298725e-05 -9.99999344e-01 2.83065930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.237628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.59, Y:-78.16, Z:2.83 [[-9.44961071e-01 -3.27182249e-01 5.91492693e-04 8.15888296e+01] [-3.27182166e-01 9.44961256e-01 2.35330087e-04 -7.81645728e+01] [-6.35933504e-04 2.88519103e-05 -9.99999797e-01 2.83126154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.52, Y:-78.16, Z:2.83 [[-9.17190824e-01 -3.98447423e-01 8.02449693e-04 8.15158595e+01] [-3.98447239e-01 9.17191174e-01 3.84435779e-04 -7.81608104e+01] [-8.89177221e-04 3.28671039e-05 -9.99999604e-01 2.83196116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.43, Y:-78.17, Z:2.83 [[-8.83834673e-01 -4.67798693e-01 8.08304907e-04 8.14339889e+01] [-4.67798464e-01 8.83835042e-01 4.63877388e-04 -7.81670767e+01] [-9.31409438e-04 3.18671259e-05 -9.99999566e-01 2.83234555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.35, Y:-78.18, Z:2.83 [[-8.44842142e-01 -5.35014923e-01 8.87148225e-04 8.13459975e+01] [-5.35014587e-01 8.44842608e-01 5.99645237e-04 -7.81839949e+01] [-1.07031977e-03 3.19683248e-05 -9.99999427e-01 2.83258624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.25, Y:-78.21, Z:2.83 [[-7.99420376e-01 -6.00770692e-01 1.28038781e-03 8.12517100e+01] [-6.00769852e-01 7.99421400e-01 1.00486560e-03 -7.82101794e+01] [-1.62726322e-03 3.40916368e-05 -9.99998675e-01 2.83312593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.16, Y:-78.25, Z:2.83 [[-7.49999718e-01 -6.61436251e-01 1.58409526e-03 8.11563980e+01] [-6.61434675e-01 7.50001390e-01 1.44441789e-03 -7.82500917e+01] [-2.14346400e-03 3.55374773e-05 -9.99997702e-01 2.83307980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.06, Y:-78.30, Z:2.83 [[-6.95743397e-01 -7.18288523e-01 1.65033846e-03 8.10638557e+01] [-7.18286390e-01 6.95745353e-01 1.75057642e-03 -7.82981597e+01] [-2.40563426e-03 3.25363301e-05 -9.99997106e-01 2.83315443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.97, Y:-78.35, Z:2.83 [[-6.35182724e-01 -7.72358131e-01 2.41352654e-03 8.09724778e+01] [-7.72352403e-01 6.35187309e-01 2.97453446e-03 -7.83523136e+01] [-3.83044730e-03 2.52798797e-05 -9.99992663e-01 2.83481289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.89, Y:-78.42, Z:2.84 [[-5.72453681e-01 -8.19932462e-01 2.74600471e-03 8.08853110e+01] [-8.19922880e-01 5.72460267e-01 3.96399502e-03 -7.84178807e+01] [-4.82218679e-03 1.76914519e-05 -9.99988373e-01 2.83585802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.80, Y:-78.49, Z:2.84 [[-5.06189011e-01 -8.62419389e-01 2.34147014e-03 8.08018844e+01] [-8.62410081e-01 5.06194427e-01 4.00677188e-03 -7.84934290e+01] [-4.64075689e-03 8.87644015e-06 -9.99989232e-01 2.83621821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.72, Y:-78.59, Z:2.84 [[-4.36069797e-01 -8.99911837e-01 1.34816055e-03 8.07188531e+01] [-8.99907516e-01 4.36071881e-01 2.78863474e-03 -7.85850848e+01] [-3.09742032e-03 2.81957377e-06 -9.99995203e-01 2.83510645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.65, Y:-78.67, Z:2.83 [[-3.64916407e-01 -9.31039901e-01 8.48381525e-04 8.06512262e+01] [-9.31037355e-01 3.64917393e-01 2.17711831e-03 -7.86686378e+01] [-2.33657319e-03 4.59129953e-06 -9.99997270e-01 2.83442435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.59, Y:-78.77, Z:2.83 [[-2.91602895e-01 -9.56539346e-01 4.81764649e-04 8.05860256e+01] [-9.56538001e-01 2.91603293e-01 1.60376876e-03 -7.87696070e+01] [-1.67455208e-03 6.83741929e-06 -9.99998598e-01 2.83409853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.53, Y:-78.88, Z:2.83 [[-2.16738874e-01 -9.76229587e-01 2.33632013e-04 8.05289671e+01] [-9.76228972e-01 2.16739000e-01 1.09518410e-03 -7.88763416e+01] [-1.11978829e-03 9.29062893e-06 -9.99999373e-01 2.83362471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.48, Y:-78.98, Z:2.83 [[-1.40857763e-01 -9.90029843e-01 2.27541295e-05 8.04819505e+01] [-9.90029810e-01 1.40857764e-01 2.54812784e-04 -7.89842648e+01] [-2.55477356e-04 1.33650922e-05 -9.99999967e-01 2.83322496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.44, Y:-79.10, Z:2.83 [[-6.41915178e-02 -9.97937598e-01 -5.46382718e-06 8.04419885e+01] [-9.97937589e-01 6.41915166e-02 1.31555173e-04 -7.91011136e+01] [-1.30933122e-04 1.38972847e-05 -9.99999991e-01 2.83306777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.41, Y:-79.22, Z:2.83 [[ 1.30362230e-02 -9.99915025e-01 -1.52249795e-05 8.04114428e+01] [-9.99915021e-01 -1.30362243e-02 8.75800955e-05 -7.92160101e+01] [-8.77711295e-05 1.40819720e-05 -9.99999996e-01 2.83339684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.39, Y:-79.34, Z:2.83 [[ 9.00951119e-02 -9.95933165e-01 -4.94938382e-05 8.03905054e+01] [-9.95933083e-01 -9.00951245e-02 4.03053250e-04 -7.93425947e+01] [-4.05873252e-04 1.29794232e-05 -9.99999918e-01 2.83380401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.38, Y:-79.46, Z:2.83 [[ 1.66364245e-01 -9.86064327e-01 -2.85850325e-04 8.03781519e+01] [-9.86062969e-01 -1.66364490e-01 1.63642603e-03 -7.94559032e+01] [-1.66117668e-03 9.62363996e-06 -9.99998620e-01 2.83485012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.38, Y:-79.58, Z:2.84 [[ 2.41173573e-01 -9.70481820e-01 -5.87646302e-04 8.03776295e+01] [-9.70479039e-01 -2.41174289e-01 2.32313441e-03 -7.95818943e+01] [-2.39628489e-03 1.00197922e-05 -9.99997129e-01 2.83613665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.39, Y:-79.70, Z:2.84 [[ 3.12088123e-01 -9.50051620e-01 -1.70973255e-03 8.03873783e+01] [-9.50037799e-01 -3.12092805e-01 5.12459762e-03 -7.96978997e+01] [-5.40222750e-03 2.49845001e-05 -9.99985408e-01 2.83810901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.41, Y:-79.82, Z:2.84 [[ 3.82340652e-01 -9.24018236e-01 -2.43428038e-03 8.04069635e+01] [-9.24000212e-01 -3.82348398e-01 5.77150126e-03 -7.98190212e+01] [-6.26371562e-03 4.25960372e-05 -9.99980382e-01 2.83969737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.43, Y:-79.93, Z:2.84 [[ 4.49667602e-01 -8.93190381e-01 -3.16079283e-03 8.04315468e+01] [-8.93169381e-01 -4.49678705e-01 6.12522377e-03 -7.99288223e+01] [-6.89233218e-03 6.88086940e-05 -9.99976245e-01 2.83995550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.47, Y:-80.04, Z:2.84 [[ 5.14201212e-01 -8.57660574e-01 -3.93114526e-03 8.04670504e+01] [-8.57636998e-01 -5.14216229e-01 6.35999211e-03 -8.00408987e+01] [-7.47617317e-03 1.01179975e-04 -9.99972048e-01 2.83945640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.95762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.51, Y:-80.14, Z:2.84 [[ 5.75445030e-01 -8.17829368e-01 -4.25926750e-03 8.05093856e+01] [-8.17808594e-01 -5.75460779e-01 5.83053162e-03 -8.01442024e+01] [-7.21942138e-03 1.28115127e-04 -9.99973931e-01 2.84000722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.987628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.56, Y:-80.24, Z:2.84 [[ 6.29497775e-01 -7.76990128e-01 -4.34650630e-03 8.05607446e+01] [-7.76973573e-01 -6.29512754e-01 5.07528362e-03 -8.02412954e+01] [-6.67962642e-03 1.82240784e-04 -9.99977674e-01 2.83857737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.62, Y:-80.33, Z:2.84 [[ 6.83852830e-01 -7.29605855e-01 -4.53898177e-03 8.06159290e+01] [-7.29591759e-01 -6.83867862e-01 4.54005409e-03 -8.03348869e+01] [-6.41651381e-03 2.06874855e-04 -9.99979393e-01 2.83775270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.68, Y:-80.42, Z:2.84 [[ 7.34395065e-01 -6.78709056e-01 -4.23146228e-03 8.06765690e+01] [-6.78699407e-01 -7.34407226e-01 3.62522488e-03 -8.04211729e+01] [-5.56808943e-03 2.09543682e-04 -9.99984476e-01 2.83696526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.68, Y:-80.42, Z:2.83 [[ 7.79514799e-01 -6.26375857e-01 -3.15645706e-03 8.06750316e+01] [-6.26371673e-01 -7.79521168e-01 2.29718487e-03 -8.04193438e+01] [-3.89942624e-03 1.86425687e-04 -9.99992380e-01 2.83474419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.66, Y:-80.42, Z:2.83 [[ 8.23865161e-01 -5.66780344e-01 -2.49755657e-03 8.06649878e+01] [-5.66778300e-01 -8.23868932e-01 1.53012734e-03 -8.04242543e+01] [-2.92490536e-03 1.54942259e-04 -9.99995710e-01 2.83406957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.66, Y:-80.43, Z:2.83 [[ 8.64089228e-01 -5.03333834e-01 -2.20383321e-03 8.06554974e+01] [-5.03332605e-01 -8.64092027e-01 1.12112363e-03 -8.04290288e+01] [-2.46861416e-03 1.40510260e-04 -9.99996943e-01 2.83380196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.65, Y:-80.44, Z:2.83 [[ 8.99852191e-01 -4.36191920e-01 -1.62591714e-03 8.06458285e+01] [-4.36191421e-01 -8.99853653e-01 6.68552033e-04 -8.04352277e+01] [-1.75470448e-03 1.07613098e-04 -9.99998455e-01 2.83395408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.64, Y:-80.44, Z:2.83 [[ 9.31347087e-01 -3.64128632e-01 -1.71536697e-03 8.06364167e+01] [-3.64128228e-01 -9.31348660e-01 5.53502083e-04 -8.04449912e+01] [-1.79915069e-03 1.09110982e-04 -9.99998376e-01 2.83435288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.62, Y:-80.45, Z:2.84 [[ 9.57321340e-01 -2.89014952e-01 -2.49193441e-03 8.06240648e+01] [-2.89014367e-01 -9.57324572e-01 5.99461551e-04 -8.04539146e+01] [-2.55884339e-03 1.46327510e-04 -9.99996715e-01 2.83528768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.61, Y:-80.47, Z:2.84 [[ 9.77322529e-01 -2.11725156e-01 -3.62380616e-03 8.06117880e+01] [-2.11724448e-01 -9.77329228e-01 5.82272586e-04 -8.04656803e+01] [-3.66493343e-03 1.98180242e-04 -9.99993264e-01 2.83593881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.60, Y:-80.48, Z:2.84 [[ 9.90897257e-01 -1.34570576e-01 -3.65879951e-03 8.06007629e+01] [-1.34570395e-01 -9.90903992e-01 2.96909892e-04 -8.04759074e+01] [-3.66547437e-03 1.98158897e-04 -9.99993262e-01 2.83594376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.317628 meters Centerline goodness [0,1] 0.9998406374501992 Centerline is valid? [True, True] Translation: X:80.59, Y:-80.49, Z:2.84 [[ 9.98563086e-01 -5.31029915e-02 -7.19970943e-03 8.05907448e+01] [-5.31041391e-02 -9.98588979e-01 3.18046533e-05 -8.04944855e+01] [-7.19123942e-03 3.50575419e-04 -9.99974081e-01 2.84029668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.58, Y:-80.51, Z:2.84 [[ 9.99572544e-01 2.83037013e-02 -7.32327252e-03 8.05818726e+01] [ 2.83004866e-02 -9.99599314e-01 -5.42251127e-04 -8.05099700e+01] [-7.33568590e-03 3.34767162e-04 -9.99973037e-01 2.83901696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.57, Y:-80.53, Z:2.84 [[ 9.93591012e-01 1.12729991e-01 -8.29753952e-03 8.05746297e+01] [ 1.12723297e-01 -9.93625604e-01 -1.27147200e-03 -8.05298681e+01] [-8.38798075e-03 3.27997138e-04 -9.99964766e-01 2.84092599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.40762800000002 meters Centerline goodness [0,1] 0.9998198928362375 Centerline is valid? [True, True] Translation: X:80.57, Y:-80.55, Z:2.84 [[ 9.81225369e-01 1.92671189e-01 -8.63643915e-03 8.05700162e+01] [ 1.92660815e-01 -9.81263323e-01 -2.02534271e-03 -8.05462172e+01] [-8.86484616e-03 3.23414244e-04 -9.99960654e-01 2.84396349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.57, Y:-80.56, Z:2.84 [[ 9.62142653e-01 2.72468988e-01 -6.49359881e-03 8.05671424e+01] [ 2.72461188e-01 -9.62164539e-01 -2.07405983e-03 -8.05645199e+01] [-6.81302748e-03 2.26287784e-04 -9.99976765e-01 2.84000193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.56, Y:-80.58, Z:2.84 [[ 9.36849790e-01 3.49682015e-01 -5.91261085e-03 8.05637302e+01] [ 3.49673736e-01 -9.36868428e-01 -2.41398538e-03 -8.05787978e+01] [-6.38346570e-03 1.94056971e-04 -9.99979607e-01 2.83951392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.56, Y:-80.59, Z:2.84 [[ 9.05243177e-01 4.24862961e-01 -5.12394891e-03 8.05630251e+01] [ 4.24855166e-01 -9.05257665e-01 -2.57848141e-03 -8.05941956e+01] [-5.73399527e-03 1.57216540e-04 -9.99983548e-01 2.83837069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.56, Y:-80.61, Z:2.84 [[ 8.66289848e-01 4.99528792e-01 -3.58955242e-03 8.05636734e+01] [ 4.99524052e-01 -8.66297280e-01 -2.17827004e-03 -8.06109237e+01] [-4.19772810e-03 9.39454519e-05 -9.99991185e-01 2.83727799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.56, Y:-80.62, Z:2.84 [[ 8.22903885e-01 5.68173801e-01 -2.77981074e-03 8.05633937e+01] [ 5.68170273e-01 -8.22908577e-01 -2.00347773e-03 -8.06237555e+01] [-3.42585366e-03 6.92637782e-05 -9.99994129e-01 2.83685633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.57, Y:-80.64, Z:2.84 [[ 7.74251164e-01 6.32874469e-01 -2.24536112e-03 8.05655887e+01] [ 6.32871605e-01 -7.74254418e-01 -1.90471963e-03 -8.06362980e+01] [-2.94392919e-03 5.37060930e-05 -9.99995665e-01 2.83676213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.57, Y:-80.65, Z:2.84 [[ 7.18541779e-01 6.95482984e-01 -1.06291171e-03 8.05727989e+01] [ 6.95482170e-01 -7.18542565e-01 -1.06455197e-03 -8.06522883e+01] [-1.50412509e-03 2.56889232e-05 -9.99998868e-01 2.83716329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.58, Y:-80.66, Z:2.84 [[ 6.60037023e-01 7.51232645e-01 -8.01156974e-04 8.05770030e+01] [ 7.51232053e-01 -6.60037509e-01 -9.42825033e-04 -8.06640345e+01] [-1.23707460e-03 2.04446294e-05 -9.99999235e-01 2.83746241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.58, Y:-80.67, Z:2.84 [[ 5.97020933e-01 8.02225255e-01 -8.03704648e-04 8.05813448e+01] [ 8.02224488e-01 -5.97021474e-01 -1.10921721e-03 -8.06743836e+01] [-1.36967100e-03 1.74743458e-05 -9.99999062e-01 2.83740287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.70762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.59, Y:-80.69, Z:2.84 [[ 5.28264174e-01 8.49079245e-01 -1.18249699e-03 8.05880055e+01] [ 8.49077078e-01 -5.28265498e-01 -1.91806969e-03 -8.06856488e+01] [-2.25326552e-03 9.21641300e-06 -9.99997461e-01 2.83716401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.737628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.59, Y:-80.70, Z:2.84 [[ 4.60168894e-01 8.87830801e-01 -1.02897548e-03 8.05923880e+01] [ 8.87828536e-01 -4.60170044e-01 -2.00519827e-03 -8.06951285e+01] [-2.25378047e-03 9.17607574e-06 -9.99997460e-01 2.83716855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.60, Y:-80.71, Z:2.84 [[ 3.87275347e-01 9.21963821e-01 -7.20113253e-04 8.06015011e+01] [ 9.21962199e-01 -3.87276016e-01 -1.72957946e-03 -8.07054267e+01] [-1.87349228e-03 5.90628556e-06 -9.99998245e-01 2.83712063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.61, Y:-80.72, Z:2.84 [[ 3.10840747e-01 9.50461797e-01 -6.35073332e-04 8.06111075e+01] [ 9.50459821e-01 -3.10841396e-01 -1.93770947e-03 -8.07163643e+01] [-2.03912591e-03 -1.29262618e-06 -9.99997921e-01 2.83786622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.62, Y:-80.72, Z:2.84 [[ 2.34566987e-01 9.72099904e-01 -3.24183749e-04 8.06195355e+01] [ 9.72098964e-01 -2.34567211e-01 -1.35175490e-03 -8.07241092e+01] [-1.39008368e-03 1.93838683e-06 -9.99999034e-01 2.83813412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.63, Y:-80.73, Z:2.84 [[ 1.56890927e-01 9.87615911e-01 -2.23604637e-04 8.06286321e+01] [ 9.87614904e-01 -1.56891086e-01 -1.41036405e-03 -8.07314827e+01] [-1.42797955e-03 4.38050950e-07 -9.99998980e-01 2.83867908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.64, Y:-80.74, Z:2.84 [[ 7.80315560e-02 9.96950884e-01 -1.04367005e-04 8.06355891e+01] [ 9.96949995e-01 -7.80316258e-02 -1.33185204e-03 -8.07391774e+01] [-1.33593500e-03 -1.22197849e-07 -9.99999108e-01 2.83864239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.64, Y:-80.75, Z:2.84 [[-5.35310042e-04 9.99999857e-01 -2.04439597e-06 8.06422538e+01] [ 9.99998609e-01 5.35306144e-04 -1.57986624e-03 -8.07456470e+01] [-1.57986492e-03 -2.89011140e-06 -9.99998752e-01 2.83839806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.65, Y:-80.75, Z:2.84 [[-7.89290907e-02 9.96880222e-01 1.45227867e-04 8.06495680e+01] [ 9.96878381e-01 7.89292240e-02 -1.91595765e-03 -8.07516904e+01] [-1.92144301e-03 -6.45027458e-06 -9.99998154e-01 2.83834867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.66, Y:-80.76, Z:2.84 [[-1.56822805e-01 9.87626721e-01 2.60681857e-04 8.06574713e+01] [ 9.87625311e-01 1.56823022e-01 -1.66863333e-03 -8.07581439e+01] [-1.68886779e-03 -4.22375994e-06 -9.99998574e-01 2.83885730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.67, Y:-80.76, Z:2.84 [[-2.33798516e-01 9.72284919e-01 5.38452008e-04 8.06652672e+01] [ 9.72282230e-01 2.33799136e-01 -2.28681744e-03 -8.07634034e+01] [-2.34932772e-03 -1.11272047e-05 -9.99997240e-01 2.83949064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.67, Y:-80.77, Z:2.84 [[-3.08419440e-01 9.51249553e-01 1.31805430e-03 8.06699952e+01] [ 9.51240474e-01 3.08422255e-01 -4.15609490e-03 -8.07690462e+01] [-4.36000070e-03 -2.80338613e-05 -9.99990495e-01 2.84141113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.68, Y:-80.78, Z:2.84 [[-3.80593975e-01 9.24740602e-01 1.74499183e-03 8.06773930e+01] [ 9.24730593e-01 3.80597975e-01 -4.30257043e-03 -8.07755470e+01] [-4.64290193e-03 -2.38850552e-05 -9.99989221e-01 2.84231192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.68, Y:-80.78, Z:2.84 [[-4.50421697e-01 8.92813014e-01 2.28384362e-03 8.06818989e+01] [ 8.92801320e-01 4.50427487e-01 -4.56974697e-03 -8.07823533e+01] [-5.10863551e-03 -1.92945839e-05 -9.99986951e-01 2.84251862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.68, Y:-80.79, Z:2.84 [[-5.14815194e-01 8.57297074e-01 2.65397397e-03 8.06818475e+01] [ 8.57285737e-01 5.14822035e-01 -4.40875505e-03 -8.07921149e+01] [-5.14593708e-03 5.51994850e-06 -9.99986760e-01 2.84216472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.69, Y:-80.80, Z:2.84 [[-5.77930375e-01 8.16080512e-01 3.01332689e-03 8.06861731e+01] [ 8.16069610e-01 5.77938230e-01 -4.21821041e-03 -8.08005926e+01] [-5.18391612e-03 2.12525788e-05 -9.99986563e-01 2.84216916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.69, Y:-80.81, Z:2.84 [[-6.37284030e-01 7.70621893e-01 3.31097962e-03 8.06905775e+01] [ 7.70611817e-01 6.37292630e-01 -3.94092846e-03 -8.08105974e+01] [-5.14702866e-03 3.99892522e-05 -9.99986753e-01 2.84194381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.69, Y:-80.82, Z:2.84 [[-6.92810266e-01 7.21111076e-01 3.57081593e-03 8.06945392e+01] [ 7.21101942e-01 6.92819466e-01 -3.63002722e-03 -8.08198364e+01] [-5.09158362e-03 6.00021782e-05 -9.99987036e-01 2.84188759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.70, Y:-80.83, Z:2.84 [[-7.42629547e-01 6.69697158e-01 2.65950820e-03 8.07014943e+01] [ 6.69693194e-01 7.42634306e-01 -2.30510036e-03 -8.08256652e+01] [-3.51876119e-03 6.92189057e-05 -9.99993807e-01 2.83988554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.73, Y:-80.81, Z:2.84 [[-7.87205950e-01 6.16688591e-01 1.40545988e-03 8.07271349e+01] [ 6.16687702e-01 7.87207203e-01 -1.04739271e-03 -8.08112107e+01] [-1.75230327e-03 4.22160522e-05 -9.99998464e-01 2.83837010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.75, Y:-80.79, Z:2.84 [[-8.27770944e-01 5.61066185e-01 1.05217462e-05 8.07506281e+01] [ 5.61066185e-01 8.27770944e-01 6.52355190e-06 -8.07948815e+01] [-5.04945123e-06 1.13034027e-05 -1.00000000e+00 2.83638495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.77, Y:-80.78, Z:2.83 [[-8.62953943e-01 5.05282037e-01 -7.45679003e-04 8.07717890e+01] [ 5.05281858e-01 8.62954265e-01 4.25221599e-04 -8.07788644e+01] [ 8.58343712e-04 -9.83141623e-06 -9.99999632e-01 2.83481026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.79, Y:-80.76, Z:2.84 [[-8.95418934e-01 4.45224298e-01 -5.08010894e-04 8.07948248e+01] [ 4.45224228e-01 8.95419078e-01 2.47998622e-04 -8.07594039e+01] [ 5.65297659e-04 -4.11609710e-06 -9.99999840e-01 2.83529524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.81, Y:-80.73, Z:2.84 [[-9.23725784e-01 3.83054113e-01 -4.71615311e-04 8.08054445e+01] [ 3.83054065e-01 9.23725905e-01 1.91338062e-04 -8.07334649e+01] [ 5.08936111e-04 -3.91026077e-06 -9.99999870e-01 2.83586797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.42762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.15, Y:-79.90, Z:2.01 [[-9.21769078e-01 -3.87738993e-01 4.90422716e-04 8.11500094e+01] [ 3.87738957e-01 -9.21769208e-01 -1.69788686e-04 -7.98970575e+01] [ 5.17890252e-04 3.36500320e-05 9.99999865e-01 2.01376081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.45762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.77, Y:-80.73, Z:2.84 [[-9.22695275e-01 3.85528872e-01 9.57958016e-04 8.07742522e+01] [ 3.85528717e-01 9.22695771e-01 -3.48665518e-04 -8.07258040e+01] [-1.01832443e-03 4.76082988e-05 -9.99999480e-01 2.83676146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.487628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.11, Y:-79.88, Z:2.01 [[-9.25603943e-01 -3.78490031e-01 1.62373940e-03 8.11063002e+01] [ 3.78489390e-01 -9.25605367e-01 -6.97143974e-04 -7.98809804e+01] [ 1.76680395e-03 -3.07110762e-05 9.99998439e-01 2.01267371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.73, Y:-80.71, Z:2.84 [[-9.21015855e-01 3.89519449e-01 2.09611014e-03 8.07319320e+01] [ 3.89518708e-01 9.21018234e-01 -7.67885388e-04 -8.07101133e+01] [-2.22966195e-03 1.09239496e-04 -9.99997508e-01 2.83903758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.06, Y:-79.87, Z:2.01 [[-9.29488341e-01 -3.68841893e-01 2.66111020e-03 8.10644591e+01] [ 3.68840077e-01 -9.29492145e-01 -1.16176205e-03 -7.98678044e+01] [ 2.90198754e-03 -9.83201904e-05 9.99995784e-01 2.01060204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.69, Y:-80.70, Z:2.84 [[-9.21653486e-01 3.88000904e-01 3.18586370e-03 8.06943585e+01] [ 3.87999208e-01 9.21658977e-01 -1.15931443e-03 -8.06963724e+01] [-3.38609492e-03 1.67626405e-04 -9.99994253e-01 2.84007721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.71, Y:-80.67, Z:2.84 [[-9.46784803e-01 3.21852936e-01 3.03707810e-03 8.07119696e+01] [ 3.21851809e-01 9.46789661e-01 -8.66304504e-04 -8.06669780e+01] [-3.15429680e-03 1.57285142e-04 -9.99995013e-01 2.83995488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.97, Y:-79.81, Z:2.01 [[-9.54087560e-01 -2.99517064e-01 2.54076381e-03 8.09687319e+01] [ 2.99515536e-01 -9.54090929e-01 -9.70835037e-04 -7.98134864e+01] [ 2.71490136e-03 -1.65263398e-04 9.99996301e-01 2.01074781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.66, Y:-80.65, Z:2.84 [[-9.49288424e-01 3.14400187e-01 2.00263128e-03 8.06605150e+01] [ 3.14399706e-01 9.49290531e-01 -5.58722616e-04 -8.06473801e+01] [-2.07674141e-03 9.92377746e-05 -9.99997839e-01 2.83908723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.68, Y:-80.62, Z:2.84 [[-9.69786318e-01 2.43949288e-01 1.80043961e-03 8.06758788e+01] [ 2.43949028e-01 9.69787986e-01 -3.65854472e-04 -8.06177804e+01] [-1.83529464e-03 8.44148315e-05 -9.99998312e-01 2.83869460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.68, Y:-80.59, Z:2.84 [[-9.85084593e-01 1.72064093e-01 1.51406950e-03 8.06836676e+01] [ 1.72063995e-01 9.85085754e-01 -1.95371284e-04 -8.05871489e+01] [-1.52510468e-03 6.80596057e-05 -9.99998835e-01 2.83874373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.81, Y:-79.73, Z:2.01 [[-9.85881037e-01 -1.67440901e-01 1.45792922e-03 8.08062383e+01] [ 1.67440613e-01 -9.85882113e-01 -3.17689159e-04 -7.97298695e+01] [ 1.49054050e-03 -6.90871536e-05 9.99998887e-01 2.01142270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.61, Y:-80.57, Z:2.84 [[-9.87374695e-01 1.58402028e-01 9.22171965e-05 8.06129618e+01] [ 1.58402029e-01 9.87374700e-01 -1.11108823e-06 -8.05668030e+01] [-9.12289252e-05 1.35103306e-05 -9.99999996e-01 2.83863897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.73, Y:-79.73, Z:2.01 [[-9.85062835e-01 -1.72195108e-01 -2.34281336e-04 8.07311333e+01] [ 1.72195110e-01 -9.85062863e-01 1.43253257e-05 -7.97307926e+01] [-2.33248595e-04 -2.62307543e-05 9.99999972e-01 2.01165390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.55, Y:-80.55, Z:2.84 [[-9.89045335e-01 1.47605190e-01 -1.42570387e-03 8.05507482e+01] [ 1.47605066e-01 9.89046363e-01 1.91949093e-04 -8.05512324e+01] [ 1.43841991e-03 -2.05947588e-05 -9.99998965e-01 2.83818028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.55, Y:-80.52, Z:2.84 [[-9.97273952e-01 7.37534554e-02 -2.25666709e-03 8.05533327e+01] [ 7.37533378e-02 9.97276505e-01 1.35411889e-04 -8.05198037e+01] [ 2.26050816e-03 -3.13939797e-05 -9.99997445e-01 2.83769792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.60, Y:-79.70, Z:2.01 [[-9.93852603e-01 -1.10687190e-01 -2.31309634e-03 8.05994384e+01] [ 1.10686825e-01 -9.93855294e-01 2.85451328e-04 -7.97038594e+01] [-2.33047885e-03 2.76672549e-05 9.99997284e-01 2.01245444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.47, Y:-80.50, Z:2.84 [[-9.98271805e-01 5.87053364e-02 -2.66210676e-03 8.04719223e+01] [ 5.87051594e-02 9.98275354e-01 1.44648085e-04 -8.05032485e+01] [ 2.66600718e-03 -1.18812970e-05 -9.99996446e-01 2.83815286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.47, Y:-80.47, Z:2.84 [[-9.99843720e-01 -1.76221450e-02 -1.41235032e-03 8.04696947e+01] [-1.76221360e-02 9.99844718e-01 -1.88158716e-05 -8.04710195e+01] [ 1.41246258e-03 6.07569824e-06 -9.99999002e-01 2.84014631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.47, Y:-80.44, Z:2.84 [[-9.95880012e-01 -9.06797810e-02 -4.24228906e-04 8.04696244e+01] [-9.06797771e-02 9.95880102e-01 -2.83502421e-05 -8.04419786e+01] [ 4.25051920e-04 1.02355432e-05 -9.99999910e-01 2.84188181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.46, Y:-80.42, Z:2.84 [[-9.86672404e-01 -1.62716098e-01 1.01875359e-03 8.04580525e+01] [-1.62716000e-01 9.86672930e-01 1.79315408e-04 -8.04151690e+01] [-1.03435409e-03 1.11580557e-05 -9.99999465e-01 2.84328849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.44, Y:-80.39, Z:2.84 [[-9.72306162e-01 -2.33704234e-01 1.74895708e-03 8.04385146e+01] [-2.33703837e-01 9.72307735e-01 4.31270571e-04 -8.03914397e+01] [-1.80131425e-03 1.05890543e-05 -9.99998378e-01 2.84399308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.39, Y:-80.38, Z:2.84 [[-9.52645057e-01 -3.04075384e-01 2.35716140e-03 8.03933190e+01] [-3.04074427e-01 9.52647973e-01 7.63155349e-04 -8.03764472e+01] [-2.47760179e-03 1.02636678e-05 -9.99996931e-01 2.84434764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.34, Y:-80.37, Z:2.84 [[-9.27746379e-01 -3.73202015e-01 2.62915798e-03 8.03351573e+01] [-3.73200483e-01 9.27750104e-01 1.06936528e-03 -8.03698431e+01] [-2.83829087e-03 1.08967410e-05 -9.99995972e-01 2.84453686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.27, Y:-80.37, Z:2.84 [[-8.97862780e-01 -4.40269490e-01 2.28137465e-03 8.02684295e+01] [-4.40268030e-01 8.97865678e-01 1.13372124e-03 -8.03738181e+01] [-2.54751087e-03 1.35097802e-05 -9.99996755e-01 2.84421605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.17762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.19, Y:-80.39, Z:2.84 [[-8.62708463e-01 -5.05698284e-01 1.83139730e-03 8.01908492e+01] [-5.05697109e-01 8.62710406e-01 1.09018419e-03 -8.03867546e+01] [-2.13126978e-03 1.43788036e-05 -9.99997729e-01 2.84381554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.20762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.11, Y:-80.41, Z:2.84 [[-8.22213951e-01 -5.69175874e-01 1.74450795e-03 8.01065145e+01] [-5.69174556e-01 8.22215802e-01 1.22516146e-03 -8.04077514e+01] [-2.13169435e-03 1.44153035e-05 -9.99997728e-01 2.84383275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.237628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.02, Y:-80.44, Z:2.84 [[-7.77090423e-01 -6.29386194e-01 1.86877269e-03 8.00190565e+01] [-6.29384325e-01 7.77092670e-01 1.53409733e-03 -8.04424652e+01] [-2.41774924e-03 1.59561073e-05 -9.99997077e-01 2.84379721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.93, Y:-80.49, Z:2.84 [[-7.27392503e-01 -6.86218559e-01 2.05788016e-03 7.99305425e+01] [-6.86215741e-01 7.27395414e-01 1.96659567e-03 -8.04867850e+01] [-2.84640704e-03 1.83371878e-05 -9.99995949e-01 2.84412379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.84, Y:-80.54, Z:2.85 [[-6.73081130e-01 -7.39563211e-01 2.83722866e-03 7.98433375e+01] [-7.39556497e-01 6.73087109e-01 3.15144458e-03 -8.05435141e+01] [-4.24039451e-03 2.28869929e-05 -9.99991009e-01 2.84548039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.76, Y:-80.61, Z:2.85 [[-6.14456484e-01 -7.88946195e-01 2.67033711e-03 7.97581169e+01] [-7.88938580e-01 6.14462286e-01 3.46645496e-03 -8.06061697e+01] [-4.37566790e-03 2.32537608e-05 -9.99990426e-01 2.84591287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.68, Y:-80.68, Z:2.85 [[-5.52053296e-01 -8.33805110e-01 2.48936728e-03 7.96758462e+01] [-8.33796438e-01 5.52058908e-01 3.80297813e-03 -8.06776629e+01] [-4.54521998e-03 2.38210365e-05 -9.99989670e-01 2.84559148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.60, Y:-80.76, Z:2.85 [[-4.85802095e-01 -8.74066432e-01 2.04854551e-03 7.95982723e+01] [-8.74058479e-01 4.85806414e-01 3.72865851e-03 -8.07606881e+01] [-4.25429178e-03 2.08415461e-05 -9.99990950e-01 2.84529897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.52, Y:-80.85, Z:2.85 [[-4.16578097e-01 -9.09098265e-01 1.74176247e-03 7.95246485e+01] [-9.09090126e-01 4.16581738e-01 3.84698095e-03 -8.08506789e+01] [-4.22287015e-03 1.91489378e-05 -9.99991083e-01 2.84556948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.46, Y:-80.95, Z:2.85 [[-3.44771700e-01 -9.38685400e-01 1.48138456e-03 7.94556974e+01] [-9.38676510e-01 3.44774882e-01 4.08538168e-03 -8.09519807e+01] [-4.34563232e-03 1.79830988e-05 -9.99990558e-01 2.84561723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.40, Y:-81.05, Z:2.85 [[-2.70669108e-01 -9.62671723e-01 1.17771202e-03 7.93977312e+01] [-9.62662347e-01 2.70671670e-01 4.24889750e-03 -8.10499816e+01] [-4.40906676e-03 1.63062764e-05 -9.99990280e-01 2.84567982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.35, Y:-81.16, Z:2.84 [[-1.93926960e-01 -9.81015705e-01 7.22329930e-04 7.93461493e+01] [-9.81008705e-01 1.93928305e-01 3.70595273e-03 -8.11614662e+01] [-3.77567804e-03 1.00721965e-05 -9.99992872e-01 2.84462459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.30, Y:-81.27, Z:2.84 [[-1.14663972e-01 -9.93404293e-01 2.89016134e-04 7.92983679e+01] [-9.93401054e-01 1.14664336e-01 2.53697436e-03 -8.12742020e+01] [-2.55338106e-03 3.79062508e-06 -9.99996740e-01 2.84396144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.26, Y:-81.39, Z:2.84 [[-3.50980429e-02 -9.99383871e-01 7.50260484e-05 7.92596198e+01] [-9.99381588e-01 3.50981231e-02 2.13640605e-03 -8.13898424e+01] [-2.13772302e-03 4.02004346e-09 -9.99997715e-01 2.84394373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.23, Y:-81.51, Z:2.84 [[ 4.37107127e-02 -9.99044225e-01 -1.00325421e-04 7.92308684e+01] [-9.99041375e-01 -4.37108276e-02 2.38621670e-03 -8.15093351e+01] [-2.38832132e-03 -4.07398550e-06 -9.99997148e-01 2.84426924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.21, Y:-81.63, Z:2.85 [[ 1.19930881e-01 -9.92782155e-01 -4.20813412e-04 7.92111749e+01] [-9.92775819e-01 -1.19931619e-01 3.54670372e-03 -8.16349700e+01] [-3.57157300e-03 -7.58592143e-06 -9.99993622e-01 2.84615851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.20, Y:-81.76, Z:2.85 [[ 1.94817668e-01 -9.80839204e-01 -7.29200257e-04 7.92018312e+01] [-9.80832301e-01 -1.94819033e-01 3.67979140e-03 -8.17557610e+01] [-3.75134576e-03 -1.66521407e-06 -9.99992964e-01 2.84701241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.20, Y:-81.88, Z:2.85 [[ 2.68756804e-01 -9.63207571e-01 -9.77421250e-04 7.92031101e+01] [-9.63201262e-01 -2.68758581e-01 3.48623234e-03 -8.18797632e+01] [-3.62065573e-03 4.50472084e-06 -9.99993445e-01 2.84703751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.21, Y:-82.01, Z:2.85 [[ 3.41375706e-01 -9.39926394e-01 -1.00061091e-03 7.92146163e+01] [-9.39922439e-01 -3.41377172e-01 2.72687854e-03 -8.20055297e+01] [-2.90465084e-03 9.60655510e-06 -9.99995781e-01 2.84662139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.23, Y:-82.11, Z:2.85 [[ 4.12089050e-01 -9.11143423e-01 -5.26638075e-04 7.92277793e+01] [-9.11142716e-01 -4.12089386e-01 1.13536940e-03 -8.21109410e+01] [-1.25150632e-03 1.19691490e-05 -9.99999217e-01 2.84553349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.26, Y:-82.23, Z:2.84 [[ 4.81544173e-01 -8.76421801e-01 -1.90798657e-04 7.92582205e+01] [-8.76421741e-01 -4.81544211e-01 3.24101949e-04 -8.22332281e+01] [-3.75928003e-04 1.11506862e-05 -9.99999929e-01 2.84434093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.29, Y:-82.34, Z:2.84 [[ 5.47861584e-01 -8.36568945e-01 2.91456710e-04 7.92895594e+01] [-8.36568816e-01 -5.47861662e-01 -4.64491689e-04 -8.23387609e+01] [ 5.48257280e-04 1.06535580e-05 -9.99999850e-01 2.84376092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.33, Y:-82.45, Z:2.84 [[ 6.11247678e-01 -7.91439356e-01 1.44975404e-04 7.93332152e+01] [-7.91439330e-01 -6.11247695e-01 -2.05535044e-04 -8.24484590e+01] [ 2.51284405e-04 1.08935817e-05 -9.99999968e-01 2.84466055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.38, Y:-82.55, Z:2.85 [[ 6.70453014e-01 -7.41951870e-01 -4.21744262e-04 7.93813094e+01] [-7.41951733e-01 -6.70453147e-01 4.50792881e-04 -8.25493501e+01] [-6.17226389e-04 1.06784404e-05 -9.99999809e-01 2.84566646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.44, Y:-82.65, Z:2.85 [[ 7.25517369e-01 -6.88202673e-01 -1.27644371e-03 7.94432473e+01] [-6.88201632e-01 -7.25518491e-01 1.19665314e-03 -8.26524998e+01] [-1.74962341e-03 1.02580035e-05 -9.99998469e-01 2.84712591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.44, Y:-82.66, Z:2.85 [[ 7.77271651e-01 -6.29159246e-01 -2.72470316e-03 7.94392934e+01] [-6.29155419e-01 -7.77276426e-01 2.19437739e-03 -8.26580329e+01] [-3.49846036e-03 8.63441852e-06 -9.99993880e-01 2.84888168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.95762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.43, Y:-82.66, Z:2.85 [[ 8.24477839e-01 -5.65885641e-01 -3.11998237e-03 7.94335738e+01] [-5.65881614e-01 -8.24483743e-01 2.13486790e-03 -8.26621793e+01] [-3.78046583e-03 5.38937979e-06 -9.99992854e-01 2.84906948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.987628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.43, Y:-82.67, Z:2.85 [[ 8.66688731e-01 -4.98836337e-01 -3.59899001e-03 7.94280413e+01] [-4.98832039e-01 -8.66696204e-01 2.07057738e-03 -8.26654899e+01] [-4.15211021e-03 7.45448699e-07 -9.99991380e-01 2.84916786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.42, Y:-82.67, Z:2.85 [[ 9.03506428e-01 -4.28560261e-01 -3.49811408e-03 7.94230742e+01] [-4.28557036e-01 -9.03513200e-01 1.66259844e-03 -8.26692968e+01] [-3.87311587e-03 -3.02697615e-06 -9.99992499e-01 2.84898331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.42, Y:-82.68, Z:2.85 [[ 9.35460443e-01 -3.53420701e-01 -2.75104704e-03 7.94175047e+01] [-3.53419142e-01 -9.35464488e-01 1.04971203e-03 -8.26758106e+01] [-2.94449678e-03 -9.69139131e-06 -9.99995665e-01 2.84916079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.41, Y:-82.68, Z:2.85 [[ 9.60703373e-01 -2.77567047e-01 -2.35879501e-03 7.94121295e+01] [-2.77566183e-01 -9.60706269e-01 6.92499509e-04 -8.26796709e+01] [-2.45832420e-03 -1.05648856e-05 -9.99996978e-01 2.84903102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.41, Y:-82.69, Z:2.85 [[ 9.79728542e-01 -2.00323544e-01 -1.56877396e-03 7.94071381e+01] [-2.00323279e-01 -9.79729798e-01 3.26205072e-04 -8.26869209e+01] [-1.60232115e-03 -5.33047581e-06 -9.99998716e-01 2.84809348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.40, Y:-82.69, Z:2.85 [[ 9.92460977e-01 -1.22555267e-01 -1.18937895e-03 7.93990330e+01] [-1.22555177e-01 -9.92461690e-01 1.48718370e-04 -8.26946192e+01] [-1.19863927e-03 -1.83263054e-06 -9.99999282e-01 2.84799278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.39, Y:-82.70, Z:2.85 [[ 9.98994052e-01 -4.48354499e-02 -8.16108554e-04 7.93927511e+01] [-4.48354370e-02 -9.98994386e-01 3.42167484e-05 -8.26980450e+01] [-8.16821986e-04 2.40825543e-06 -9.99999666e-01 2.84789388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.39, Y:-82.70, Z:2.85 [[ 9.99524517e-01 3.08283569e-02 -5.94341101e-04 7.93863551e+01] [ 3.08283477e-02 -9.99524693e-01 -2.45443063e-05 -8.27034963e+01] [-5.94815267e-04 6.21008173e-06 -9.99999823e-01 2.84799145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.38, Y:-82.71, Z:2.85 [[ 9.94306723e-01 1.06554155e-01 -5.94359502e-04 7.93804360e+01] [ 1.06554131e-01 -9.94306900e-01 -7.13365378e-05 -8.27102968e+01] [-5.98576958e-04 7.59893884e-06 -9.99999821e-01 2.84820167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.38, Y:-82.72, Z:2.85 [[ 9.83339989e-01 1.81775317e-01 -4.47781555e-04 7.93751150e+01] [ 1.81775294e-01 -9.83340091e-01 -9.23000433e-05 -8.27182402e+01] [-4.57099424e-04 9.36669996e-06 -9.99999895e-01 2.84827035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.37, Y:-82.73, Z:2.85 [[ 9.66670680e-01 2.56022435e-01 -5.55184640e-04 7.93695564e+01] [ 2.56022387e-01 -9.66670840e-01 -1.57701873e-04 -8.27255970e+01] [-5.77056020e-04 1.03060797e-05 -9.99999833e-01 2.84864085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.36, Y:-82.73, Z:2.85 [[ 9.44896223e-01 3.27369724e-01 -4.36804709e-04 7.93644459e+01] [ 3.27369683e-01 -9.44896324e-01 -1.64129964e-04 -8.27318903e+01] [-4.66466345e-04 1.20891641e-05 -9.99999891e-01 2.84862641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.36, Y:-82.74, Z:2.85 [[ 9.16829261e-01 3.99278986e-01 -6.29799339e-04 7.93610041e+01] [ 3.99278882e-01 -9.16829478e-01 -2.89143714e-04 -8.27417947e+01] [-6.92867608e-04 1.36298421e-05 -9.99999760e-01 2.84929739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.36, Y:-82.75, Z:2.85 [[ 8.83307152e-01 4.68792456e-01 -1.45196904e-03 7.93579161e+01] [ 4.68791785e-01 -8.83308345e-01 -7.93200927e-04 -8.27515125e+01] [-1.65438298e-03 1.99688940e-05 -9.99998631e-01 2.85050060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.40762800000002 meters Centerline goodness [0,1] 0.999865098815118 Centerline is valid? [True, True] Translation: X:79.36, Y:-82.76, Z:2.85 [[ 8.44893366e-01 5.34925003e-01 -3.23140555e-03 7.93565178e+01] [ 5.34920910e-01 -8.44899544e-01 -2.09303318e-03 -8.27629541e+01] [-3.84982885e-03 3.98434478e-05 -9.99992589e-01 2.85429783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.35, Y:-82.77, Z:2.85 [[ 8.02841419e-01 5.96181185e-01 -3.69469674e-03 7.93539817e+01] [ 5.96174499e-01 -8.02849918e-01 -2.82423742e-03 -8.27728370e+01] [-4.65004418e-03 6.47308054e-05 -9.99989186e-01 2.85413025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.35, Y:-82.78, Z:2.85 [[ 7.55268930e-01 6.55404597e-01 -3.69565992e-03 7.93508063e+01] [ 6.55396228e-01 -7.55277967e-01 -3.31319624e-03 -8.27828752e+01] [-4.96273456e-03 8.02326090e-05 -9.99987682e-01 2.85419487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.35, Y:-82.79, Z:2.85 [[ 7.03088958e-01 7.11094478e-01 -3.24969407e-03 7.93508408e+01] [ 7.11086309e-01 -7.03096463e-01 -3.40946498e-03 -8.27934690e+01] [-4.70930013e-03 8.63442164e-05 -9.99988907e-01 2.85360257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.35, Y:-82.80, Z:2.85 [[ 6.48036877e-01 7.61605552e-01 -2.27779646e-03 7.93493825e+01] [ 7.61600398e-01 -6.48040875e-01 -2.80323622e-03 -8.28043185e+01] [-3.61106548e-03 8.18297592e-05 -9.99993477e-01 2.85262912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.55762800000002 meters Centerline goodness [0,1] 0.9998199941498098 Centerline is valid? [True, True] Translation: X:79.35, Y:-82.82, Z:2.85 [[ 5.87733309e-01 8.09052093e-01 -2.06576926e-03 7.93506063e+01] [ 8.09046559e-01 -5.87736933e-01 -2.99386349e-03 -8.28158021e+01] [-3.63632041e-03 8.82897838e-05 -9.99993385e-01 2.85434928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.35, Y:-82.83, Z:2.85 [[ 5.22182869e-01 8.52833254e-01 -7.01711771e-04 7.93541647e+01] [ 8.52832379e-01 -5.22183339e-01 -1.22221518e-03 -8.28279762e+01] [-1.40876794e-03 3.97773082e-05 -9.99999007e-01 2.85182053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.36, Y:-82.84, Z:2.85 [[ 4.52734082e-01 8.91645541e-01 -2.81146179e-04 7.93560757e+01] [ 8.91645336e-01 -4.52734169e-01 -6.05406953e-04 -8.28399141e+01] [-6.67092892e-04 2.34056818e-05 -9.99999777e-01 2.85184940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.36, Y:-82.85, Z:2.85 [[ 3.79447567e-01 9.25213216e-01 -2.22445935e-04 7.93576360e+01] [ 9.25213022e-01 -3.79447631e-01 -5.98731423e-04 -8.28512651e+01] [-6.38360808e-04 2.13773059e-05 -9.99999796e-01 2.85216005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.36, Y:-82.86, Z:2.85 [[ 3.03221183e-01 9.52920188e-01 -1.73229982e-04 7.93647133e+01] [ 9.52919994e-01 -3.03221232e-01 -6.08856074e-04 -8.28619040e+01] [-6.32718252e-04 1.95437456e-05 -9.99999800e-01 2.85250211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.70762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.37, Y:-82.87, Z:2.85 [[ 2.24679170e-01 9.74432777e-01 -1.82244884e-04 7.93697390e+01] [ 9.74432378e-01 -2.24679243e-01 -8.82795802e-04 -8.28723254e+01] [-9.01171807e-04 2.07605118e-05 -9.99999594e-01 2.85282808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.737628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.38, Y:-82.88, Z:2.85 [[ 1.41482727e-01 9.89940668e-01 -3.34749332e-04 7.93832226e+01] [ 9.89937475e-01 -1.41483121e-01 -2.51429166e-03 -8.28823626e+01] [-2.53636095e-03 2.43479314e-05 -9.99996783e-01 2.85335762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.39, Y:-82.89, Z:2.85 [[ 6.06048368e-02 9.98161828e-01 -1.38733215e-04 7.93923016e+01] [ 9.98158527e-01 -6.06049932e-02 -2.56718006e-03 -8.28905420e+01] [-2.57086907e-03 1.71057873e-05 -9.99996695e-01 2.85375646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.40, Y:-82.90, Z:2.85 [[-1.98654508e-02 9.99802660e-01 6.35328517e-05 7.94014775e+01] [ 9.99799258e-01 1.98655489e-02 -2.60833895e-03 -8.28979292e+01] [-2.60908634e-03 1.17042689e-05 -9.99996596e-01 2.85371464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.41, Y:-82.90, Z:2.85 [[-1.00768208e-01 9.94909901e-01 2.37574704e-04 7.94097451e+01] [ 9.94907260e-01 1.00768488e-01 -2.29239043e-03 -8.29046171e+01] [-2.30466198e-03 5.36472168e-06 -9.99997344e-01 2.85359734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.857628 meters Centerline goodness [0,1] 0.9999775659001683 Centerline is valid? [True, True] Translation: X:79.42, Y:-82.91, Z:2.85 [[-1.78576202e-01 9.83925974e-01 4.66761007e-04 7.94201425e+01] [ 9.83922676e-01 1.78576812e-01 -2.54757261e-03 -8.29103804e+01] [-2.58997555e-03 4.32089955e-06 -9.99996646e-01 2.85393227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.43, Y:-82.92, Z:2.85 [[-2.54881613e-01 9.66972050e-01 6.46053169e-04 7.94300818e+01] [ 9.66968994e-01 2.54882432e-01 -2.43122610e-03 -8.29169354e+01] [-2.51559529e-03 5.03855243e-06 -9.99996836e-01 2.85478235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.44, Y:-82.92, Z:2.86 [[-3.28980723e-01 9.44336294e-01 8.04687686e-04 7.94389924e+01] [ 9.44333525e-01 3.28981707e-01 -2.28713051e-03 -8.29222119e+01] [-2.42454788e-03 7.47171018e-06 -9.99997061e-01 2.85517579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.45, Y:-82.93, Z:2.86 [[-4.00985648e-01 9.16083917e-01 8.76468397e-04 7.94474674e+01] [ 9.16081782e-01 4.00986606e-01 -1.97753258e-03 -8.29273163e+01] [-2.16303788e-03 9.95454949e-06 -9.99997661e-01 2.85544745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.46, Y:-82.93, Z:2.86 [[-4.69004418e-01 8.83195657e-01 5.35924580e-04 7.94552959e+01] [ 8.83195112e-01 4.69004724e-01 -9.81313271e-04 -8.29327309e+01] [-1.11804278e-03 1.30857098e-05 -9.99999375e-01 2.85565715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.46, Y:-82.94, Z:2.86 [[-5.35902826e-01 8.44279613e-01 3.08698579e-04 7.94649511e+01] [ 8.44279486e-01 5.35902915e-01 -4.64002391e-04 -8.29366159e+01] [-5.57180227e-04 1.19676854e-05 -9.99999845e-01 2.85501572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.48, Y:-82.94, Z:2.85 [[-6.00504628e-01 7.99621247e-01 -2.31035385e-04 7.94760076e+01] [ 7.99621182e-01 6.00504673e-01 3.21401214e-04 -8.29386615e+01] [ 3.95737068e-04 8.26212928e-06 -9.99999922e-01 2.85446179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.49, Y:-82.94, Z:2.85 [[-6.61293947e-01 7.50126584e-01 -6.50769949e-04 7.94866932e+01] [ 7.50126212e-01 6.61294267e-01 7.47335990e-04 -8.29410780e+01] [ 9.90947030e-04 6.04916962e-06 -9.99999509e-01 2.85421757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.50, Y:-82.94, Z:2.85 [[-7.18017707e-01 6.96024477e-01 -7.07049908e-04 7.94963625e+01] [ 6.96024132e-01 7.18018055e-01 6.93786310e-04 -8.29434163e+01] [ 9.90566854e-04 6.02705653e-06 -9.99999509e-01 2.85422083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.52, Y:-82.93, Z:2.85 [[-7.65072652e-01 6.43943677e-01 -6.14220482e-04 7.95183928e+01] [ 6.43943464e-01 7.65072899e-01 5.23856099e-04 -8.29258256e+01] [ 8.07257268e-04 5.26471027e-06 -9.99999674e-01 2.85478001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.54, Y:-82.91, Z:2.86 [[-8.08207007e-01 5.88898448e-01 -2.27668517e-04 7.95437552e+01] [ 5.88898422e-01 8.08207039e-01 1.74834125e-04 -8.29113967e+01] [ 2.86962843e-04 7.22853435e-06 -9.99999959e-01 2.85544248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.57, Y:-82.89, Z:2.86 [[-8.47261828e-01 5.31175397e-01 3.04234294e-04 7.95660821e+01] [ 5.31175368e-01 8.47261882e-01 -1.77876074e-04 -8.28943436e+01] [-3.52249515e-04 1.08941550e-05 -9.99999938e-01 2.85626110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.59, Y:-82.87, Z:2.86 [[-8.82108036e-01 4.71045885e-01 1.08915838e-03 7.95857047e+01] [ 4.71045551e-01 8.82108709e-01 -5.61270947e-04 -8.28745294e+01] [-1.22514046e-03 1.79415965e-05 -9.99999249e-01 2.85773379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.61, Y:-82.85, Z:2.86 [[-9.13093151e-01 4.07745446e-01 2.13284923e-03 7.96054225e+01] [ 4.07744403e-01 9.13095642e-01 -9.22625352e-04 -8.28531510e+01] [-2.32369162e-03 2.72144461e-05 -9.99997300e-01 2.85901600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.62, Y:-82.83, Z:2.86 [[-9.39746175e-01 3.41850509e-01 3.91869948e-03 7.96162630e+01] [ 3.41847719e-01 9.39754345e-01 -1.38177072e-03 -8.28267156e+01] [-4.15497388e-03 4.10847320e-05 -9.99991367e-01 2.86068378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.63, Y:-82.80, Z:2.86 [[-9.61518882e-01 2.74628653e-01 7.78091580e-03 7.96296657e+01] [ 2.74620277e-01 9.61550361e-01 -2.14616847e-03 -8.28020226e+01] [-8.07114176e-03 7.32157407e-05 -9.99967425e-01 2.86481436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.65, Y:-82.78, Z:2.86 [[-9.78526294e-01 2.05907239e-01 9.40745418e-03 7.96516315e+01] [ 2.05898551e-01 9.78571511e-01 -1.89332727e-03 -8.27784590e+01] [-9.59571644e-03 8.43106679e-05 -9.99953957e-01 2.86496417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.83, Y:-81.94, Z:1.99 [[-9.66549931e-01 -2.56280807e-01 1.00686865e-02 7.98290532e+01] [ 2.56266492e-01 -9.66602373e-01 -2.70897110e-03 -8.19449892e+01] [ 1.04266736e-02 -3.80888671e-05 9.99945640e-01 1.98564273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.60, Y:-82.77, Z:2.87 [[-9.79362290e-01 2.01832972e-01 1.06280828e-02 7.95957163e+01] [ 2.01822122e-01 9.79419952e-01 -2.09487086e-03 -8.27694069e+01] [-1.08321704e-02 9.33446968e-05 -9.99941326e-01 2.86611738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.42762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.77, Y:-81.93, Z:1.99 [[-9.67972392e-01 -2.50883884e-01 9.31259831e-03 7.97729814e+01] [ 2.50870711e-01 -9.68017176e-01 -2.57567345e-03 -8.19335425e+01] [ 9.66095007e-03 -1.56922632e-04 9.99953320e-01 1.98760007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.45762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.54, Y:-82.76, Z:2.86 [[-9.79700539e-01 2.00302068e-01 8.12007639e-03 7.95446007e+01] [ 2.00295991e-01 9.79734185e-01 -1.56311622e-03 -8.27609316e+01] [-8.26861183e-03 9.50329439e-05 -9.99965810e-01 2.86254548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.487628 meters Centerline goodness [0,1] 0.9998195678650368 Centerline is valid? [True, True] Translation: X:79.55, Y:-82.74, Z:2.86 [[-9.91025357e-01 1.33538579e-01 6.01575071e-03 7.95494808e+01] [ 1.33536682e-01 9.91043611e-01 -7.17770119e-04 -8.27366481e+01] [-6.05772131e-03 9.19949990e-05 -9.99981648e-01 2.86224631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.67, Y:-81.88, Z:1.99 [[-9.85078627e-01 -1.72056563e-01 4.07903541e-03 7.96707357e+01] [ 1.72054302e-01 -9.85087054e-01 -9.01369098e-04 -8.18816708e+01] [ 4.17329144e-03 -1.86103843e-04 9.99991274e-01 1.99352500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.49, Y:-82.73, Z:2.86 [[-9.91342412e-01 1.31264229e-01 3.15017723e-03 7.94910890e+01] [ 1.31263760e-01 9.91347416e-01 -3.56099941e-04 -8.27331898e+01] [-3.16966324e-03 6.04871330e-05 -9.99994975e-01 2.85699108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.50, Y:-82.71, Z:2.86 [[-9.98105137e-01 6.14764448e-02 2.60416503e-03 7.94985545e+01] [ 6.14763759e-02 9.98108533e-01 -1.06574231e-04 -8.27068913e+01] [-2.60579115e-03 5.37223414e-05 -9.99996603e-01 2.85596578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.50, Y:-82.68, Z:2.86 [[-9.99952501e-01 -9.37596486e-03 2.66215046e-03 7.94994247e+01] [-9.37578416e-03 9.99956043e-01 8.03488311e-05 -8.26797283e+01] [-2.66278679e-03 5.53852665e-05 -9.99996453e-01 2.85562219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.47, Y:-81.81, Z:2.00 [[-9.99716061e-01 -2.35595080e-02 3.57025176e-03 7.94709175e+01] [ 2.35593183e-02 -9.99722436e-01 -9.51699030e-05 -8.18090299e+01] [ 3.57150294e-03 -1.10301829e-05 9.99993622e-01 1.99613379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.39, Y:-82.68, Z:2.86 [[-9.99844244e-01 -1.70977593e-02 4.37649679e-03 7.93895301e+01] [-1.70972411e-02 9.99853819e-01 1.55783501e-04 -8.26795506e+01] [-4.37852058e-03 8.09332159e-05 -9.99990411e-01 2.85584829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.37, Y:-81.81, Z:2.00 [[-9.99758942e-01 -2.08134565e-02 6.98984724e-03 7.93707538e+01] [ 2.08133568e-02 -9.99783375e-01 -8.70138592e-05 -8.18143241e+01] [ 6.99014412e-03 5.84893009e-05 9.99975567e-01 1.99513358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.29, Y:-82.68, Z:2.86 [[-9.99553324e-01 -2.88194782e-02 7.91136472e-03 7.92865405e+01] [-2.88178116e-02 9.99584628e-01 3.24594942e-04 -8.26786915e+01] [-7.91743322e-03 9.64617351e-05 -9.99968652e-01 2.85782421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.28, Y:-82.65, Z:2.86 [[-9.94734878e-01 -1.02115784e-01 8.65382339e-03 7.92816067e+01] [-1.02111166e-01 9.94772516e-01 9.74928173e-04 -8.26490330e+01] [-8.70814122e-03 8.61430600e-05 -9.99962080e-01 2.85824865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.18, Y:-81.80, Z:1.99 [[-9.98677256e-01 5.04987588e-02 9.67546568e-03 7.91837712e+01] [-5.04966556e-02 -9.98724123e-01 4.61699915e-04 -8.17984410e+01] [ 9.68643625e-03 -2.74894545e-05 9.99953085e-01 1.99308181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.16, Y:-82.66, Z:2.86 [[-9.93324291e-01 -1.14842671e-01 1.08633896e-02 7.91616230e+01] [-1.14835304e-01 9.93383692e-01 1.30156763e-03 -8.26574906e+01] [-1.09409896e-02 4.53780983e-05 -9.99940145e-01 2.85856346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.15, Y:-82.63, Z:2.86 [[-9.82291590e-01 -1.87058301e-01 1.06030645e-02 7.91454168e+01] [-1.87047072e-01 9.82348813e-01 2.04981815e-03 -8.26317570e+01] [-1.07993434e-02 3.02469531e-05 -9.99941685e-01 2.85859284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.11, Y:-82.61, Z:2.86 [[-9.65856654e-01 -2.58871504e-01 1.03183156e-02 7.91124693e+01] [-2.58856534e-01 9.65911768e-01 2.78401694e-03 -8.26106758e+01] [-1.06872851e-02 1.79978753e-05 -9.99942889e-01 2.85840238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.06, Y:-82.60, Z:2.86 [[-9.43588079e-01 -3.30941374e-01 1.09244861e-02 7.90573283e+01] [-3.30919215e-01 9.43651317e-01 3.82962883e-03 -8.25995168e+01] [-1.15762883e-02 -1.53024036e-06 -9.99932993e-01 2.85765069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.99, Y:-82.60, Z:2.86 [[-9.16190830e-01 -4.00590447e-01 1.10297983e-02 7.89897599e+01] [-4.00561555e-01 9.16257220e-01 4.81111886e-03 -8.25970540e+01] [-1.20334206e-02 -1.02101678e-05 -9.99927596e-01 2.85770251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.91, Y:-82.60, Z:2.86 [[-8.83580387e-01 -4.68148697e-01 1.10678705e-02 7.89149801e+01] [-4.68112167e-01 8.83649703e-01 5.84817868e-03 -8.26033203e+01] [-1.25179377e-02 -1.36688741e-05 -9.99921647e-01 2.85804921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.84, Y:-82.62, Z:2.86 [[-8.45680607e-01 -5.33577288e-01 1.09356659e-02 7.88371548e+01] [-5.33532953e-01 8.45751310e-01 6.87823050e-03 -8.26182920e+01] [-1.29189213e-02 -1.77519746e-05 -9.99916547e-01 2.85795930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.75, Y:-82.65, Z:2.86 [[-8.02941375e-01 -5.95972124e-01 1.01180778e-02 7.87473941e+01] [-5.95925076e-01 8.03005123e-01 7.48838395e-03 -8.26467712e+01] [-1.25877364e-02 -1.68829714e-05 -9.99920771e-01 2.85715478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.66, Y:-82.68, Z:2.86 [[-7.55202263e-01 -6.55430700e-01 8.95212064e-03 7.86608901e+01] [-6.55384924e-01 7.55255319e-01 7.74623151e-03 -8.26809467e+01] [-1.18382547e-02 -1.71133402e-05 -9.99929925e-01 2.85562971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.57, Y:-82.73, Z:2.86 [[-7.02850731e-01 -7.11291036e-01 8.11869324e-03 7.85688376e+01] [-7.11243914e-01 7.02897619e-01 8.18737790e-03 -8.27284418e+01] [-1.15302186e-02 -1.98666157e-05 -9.99933525e-01 2.85584865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.48, Y:-82.78, Z:2.85 [[-6.45327482e-01 -7.63870470e-01 7.37197402e-03 7.84777628e+01] [-7.63821246e-01 6.45369587e-01 8.67176583e-03 -8.27839439e+01] [-1.13817537e-02 -3.47415760e-05 -9.99935225e-01 2.85392043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.39, Y:-82.85, Z:2.85 [[-5.83863202e-01 -8.11822069e-01 6.97773644e-03 7.83897656e+01] [-8.11765122e-01 5.83904894e-01 9.61565168e-03 -8.28483170e+01] [-1.18805327e-02 -5.00578937e-05 -9.99929423e-01 2.85448460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.17762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.30, Y:-82.93, Z:2.86 [[-5.18520410e-01 -8.55038340e-01 6.78391435e-03 7.83031313e+01] [-8.54967024e-01 5.18564780e-01 1.10434145e-02 -8.29251347e+01] [-1.29604418e-02 -7.37872750e-05 -9.99916007e-01 2.85557246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.20762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.22, Y:-83.01, Z:2.86 [[-4.50260730e-01 -8.92872240e-01 6.66619615e-03 7.82235316e+01] [-8.92777592e-01 4.50310064e-01 1.30007050e-02 -8.30078807e+01] [-1.46098238e-02 -9.77236111e-05 -9.99893266e-01 2.85721649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.237628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.15, Y:-83.11, Z:2.86 [[-3.79201154e-01 -9.25293482e-01 6.20129849e-03 7.81470459e+01] [-9.25175048e-01 3.79251837e-01 1.48045133e-02 -8.31051713e+01] [-1.60503735e-02 -1.23398107e-04 -9.99871177e-01 2.85893521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.08, Y:-83.20, Z:2.86 [[-3.06096064e-01 -9.51983205e-01 5.75991223e-03 7.80841995e+01] [-9.51823870e-01 3.06150215e-01 1.74174242e-02 -8.31964650e+01] [-1.83444937e-02 -1.51016967e-04 -9.99831714e-01 2.86155474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.03, Y:-83.30, Z:2.86 [[-2.31468142e-01 -9.72831651e-01 4.59103143e-03 7.80256550e+01] [-9.72653739e-01 2.31513613e-01 1.86051564e-02 -8.33041223e+01] [-1.91625713e-02 -1.58982903e-04 -9.99816368e-01 2.86148215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.98, Y:-83.41, Z:2.86 [[-1.55868756e-01 -9.87773257e-01 2.98733325e-03 7.79763696e+01] [-9.87609089e-01 1.55897315e-01 1.80087515e-02 -8.34097710e+01] [-1.82542803e-02 -1.43315768e-04 -9.99833366e-01 2.86176846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.93, Y:-83.52, Z:2.86 [[-7.86623196e-02 -9.96900129e-01 1.54008701e-03 7.79342869e+01] [-9.96743131e-01 7.86772638e-02 1.76923281e-02 -8.35246734e+01] [-1.77586540e-02 -1.43351579e-04 -9.99842292e-01 2.86072510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.90, Y:-83.64, Z:2.86 [[-9.86654741e-04 -9.99999501e-01 1.55810234e-04 7.79015324e+01] [-9.99854906e-01 9.89161717e-04 1.70055573e-02 -8.36385909e+01] [-1.70057029e-02 -1.39009013e-04 -9.99855383e-01 2.85996620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.88, Y:-83.77, Z:2.86 [[ 7.65439526e-02 -9.97065582e-01 -1.11708051e-03 7.78782272e+01] [-9.96932603e-01 -7.65519883e-02 1.62843177e-02 -8.37660729e+01] [-1.63220474e-02 -1.32812057e-04 -9.99866778e-01 2.85848825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.86, Y:-83.89, Z:2.86 [[ 1.54369787e-01 -9.88010686e-01 -2.20317549e-03 7.78624281e+01] [-9.87897376e-01 -1.54385451e-01 1.49635101e-02 -8.38874678e+01] [-1.51242461e-02 -1.33402587e-04 -9.99885613e-01 2.85764530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.86, Y:-84.01, Z:2.86 [[ 2.30686820e-01 -9.73022503e-01 -3.28621996e-03 7.78564297e+01] [-9.72915462e-01 -2.30710187e-01 1.44330752e-02 -8.40059781e+01] [-1.48018714e-02 -1.32306000e-04 -9.99890438e-01 2.85681872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.86, Y:-84.13, Z:2.86 [[ 3.05020436e-01 -9.52336289e-01 -4.25752466e-03 7.78596804e+01] [-9.52237809e-01 -3.05050123e-01 1.36959073e-02 -8.41258879e+01] [-1.43418679e-02 -1.23355646e-04 -9.99897143e-01 2.85737466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.87, Y:-84.25, Z:2.86 [[ 3.77347068e-01 -9.26057631e-01 -5.14344822e-03 7.78743502e+01] [-9.25967540e-01 -3.77382104e-01 1.29175031e-02 -8.42466427e+01] [-1.39033976e-02 -1.11715833e-04 -9.99903337e-01 2.85616642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.90, Y:-84.36, Z:2.86 [[ 4.46083775e-01 -8.94971276e-01 -5.97327793e-03 7.78979047e+01] [-8.94888570e-01 -4.46123759e-01 1.21671713e-02 -8.43647147e+01] [-1.35540900e-02 -8.21595761e-05 -9.99908136e-01 2.85642140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.93, Y:-84.47, Z:2.86 [[ 5.12853341e-01 -8.58450115e-01 -6.69711114e-03 7.79274249e+01] [-8.58375336e-01 -5.12897063e-01 1.13307589e-02 -8.44744258e+01] [-1.31618199e-02 -6.23825173e-05 -9.99913378e-01 2.85623512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.97, Y:-84.58, Z:2.86 [[ 5.76469694e-01 -8.17086634e-01 -7.21977313e-03 7.79667254e+01] [-8.17021658e-01 -5.76514901e-01 1.03043187e-02 -8.45834265e+01] [-1.25818279e-02 -4.14164528e-05 -9.99920845e-01 2.85535289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.02, Y:-84.69, Z:2.86 [[ 6.35379987e-01 -7.72161319e-01 -7.69212997e-03 7.80150295e+01] [-7.72104708e-01 -6.35426547e-01 9.35003508e-03 -8.46877085e+01] [-1.21075190e-02 -1.69540396e-06 -9.99926701e-01 2.85594934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.06, Y:-84.78, Z:2.86 [[ 6.91848977e-01 -7.21994124e-01 -8.33533892e-03 7.80589301e+01] [-7.21942011e-01 -6.91899187e-01 8.67452430e-03 -8.47767678e+01] [-1.20301698e-02 1.61705782e-05 -9.99927635e-01 2.85556301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.12, Y:-84.88, Z:2.86 [[ 7.44248700e-01 -6.67842699e-01 -8.94438935e-03 7.81233496e+01] [-6.67795019e-01 -7.44302444e-01 7.98020068e-03 -8.48758182e+01] [-1.19868496e-02 3.37646741e-05 -9.99928155e-01 2.85636780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.12, Y:-84.88, Z:2.86 [[ 7.93162411e-01 -6.08929599e-01 -9.90624440e-03 7.81184093e+01] [-6.08882963e-01 -7.93224269e-01 7.53631726e-03 -8.48780605e+01] [-1.24469601e-02 5.42198752e-05 -9.99922532e-01 2.85672512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.11, Y:-84.88, Z:2.86 [[ 8.36884677e-01 -5.47274468e-01 -1.07095118e-02 7.81148482e+01] [-5.47231012e-01 -8.36953194e-01 6.89716504e-03 -8.48785362e+01] [-1.27380024e-02 8.84452405e-05 -9.99918864e-01 2.85622366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.11, Y:-84.88, Z:2.85 [[ 8.76595003e-01 -4.81109080e-01 -1.07356398e-02 7.81089914e+01] [-4.81074368e-01 -8.76660734e-01 5.78005088e-03 -8.48821780e+01] [-1.21923489e-02 9.78774369e-05 -9.99925666e-01 2.85498928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.10, Y:-84.89, Z:2.85 [[ 9.10802498e-01 -4.12709647e-01 -1.04669898e-02 7.81015884e+01] [-4.12683815e-01 -9.10862632e-01 4.61891922e-03 -8.48875215e+01] [-1.14402624e-02 1.12634129e-04 -9.99934552e-01 2.85372546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.09, Y:-84.89, Z:2.85 [[ 9.40001694e-01 -3.41017727e-01 -1.01845250e-02 7.80939803e+01] [-3.40999039e-01 -9.40056858e-01 3.57197950e-03 -8.48927614e+01] [-1.07921409e-02 1.15246454e-04 -9.99941757e-01 2.85366914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.09, Y:-84.90, Z:2.85 [[ 9.63506505e-01 -2.67504223e-01 -9.83385154e-03 7.80877661e+01] [-2.67491559e-01 -9.63556680e-01 2.60567098e-03 -8.48971964e+01] [-1.01725013e-02 1.19891344e-04 -9.99948252e-01 2.85338809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.08, Y:-84.90, Z:2.85 [[ 9.80926706e-01 -1.94130053e-01 -9.81423898e-03 7.80785271e+01] [-1.94121839e-01 -9.80975790e-01 1.79189093e-03 -8.49048900e+01] [-9.97539071e-03 1.47444446e-04 -9.99950234e-01 2.85263476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.95762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.07, Y:-84.91, Z:2.85 [[ 9.92880330e-01 -1.18717329e-01 -9.73886444e-03 7.80686745e+01] [-1.18713240e-01 -9.92928078e-01 9.98924591e-04 -8.49113829e+01] [-9.78858161e-03 1.64319577e-04 -9.99952077e-01 2.85277925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.987628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.06, Y:-84.92, Z:2.85 [[ 9.99126319e-01 -4.06300879e-02 -9.78748518e-03 7.80600316e+01] [-4.06297488e-02 -9.99174244e-01 2.33567926e-04 -8.49199764e+01] [-9.78889298e-03 1.64299202e-04 -9.99952074e-01 2.85278211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.05, Y:-84.93, Z:2.85 [[ 9.99318402e-01 3.55975365e-02 -9.77479782e-03 7.80513851e+01] [ 3.55940248e-02 -9.99366190e-01 -5.33047831e-04 -8.49266195e+01] [-9.78757765e-03 1.84760111e-04 -9.99952083e-01 2.85288926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.04, Y:-84.94, Z:2.85 [[ 9.93712676e-01 1.11555152e-01 -9.51662089e-03 7.80440952e+01] [ 1.11548083e-01 -9.93758224e-01 -1.27200344e-03 -8.49364507e+01] [-9.59911880e-03 2.02445120e-04 -9.99953907e-01 2.85239948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.04, Y:-84.94, Z:2.85 [[ 9.82695544e-01 1.84990601e-01 -9.37796279e-03 7.80370317e+01] [ 1.84979826e-01 -9.82740260e-01 -2.01118459e-03 -8.49447243e+01] [-9.58815184e-03 2.41648217e-04 -9.99954003e-01 2.85251734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.03, Y:-84.95, Z:2.85 [[ 9.65577515e-01 2.59972118e-01 -8.63486577e-03 7.80300878e+01] [ 2.59959491e-01 -9.65616094e-01 -2.57345122e-03 -8.49535484e+01] [-9.00699092e-03 2.40151327e-04 -9.99959407e-01 2.85232338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.03, Y:-84.97, Z:2.85 [[ 9.43139090e-01 3.32308080e-01 -7.74571878e-03 7.80269214e+01] [ 3.32294743e-01 -9.43170865e-01 -2.98710769e-03 -8.49682260e+01] [-8.29817631e-03 2.43396391e-04 -9.99965540e-01 2.85105733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.03, Y:-84.98, Z:2.85 [[ 9.14404693e-01 4.04733378e-01 -7.41280683e-03 7.80254165e+01] [ 4.04717896e-01 -9.14434707e-01 -3.54839196e-03 -8.49836520e+01] [-8.21468051e-03 2.44570678e-04 -9.99966229e-01 2.85057848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.02, Y:-85.00, Z:2.85 [[ 8.80083662e-01 4.74774680e-01 -6.46150462e-03 7.80232484e+01] [ 4.74759986e-01 -8.80107353e-01 -3.74206886e-03 -8.49977606e+01] [-7.46345727e-03 2.25669819e-04 -9.99972123e-01 2.85085893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.02, Y:-85.01, Z:2.85 [[ 8.39849269e-01 5.42792558e-01 -5.42620159e-03 7.80216434e+01] [ 5.42779711e-01 -8.39866776e-01 -3.73964058e-03 -8.50127311e+01] [-6.58713551e-03 1.95502284e-04 -9.99978285e-01 2.85026117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.02, Y:-85.03, Z:2.85 [[ 7.93857842e-01 6.08085811e-01 -4.62299861e-03 7.80240583e+01] [ 6.08074253e-01 -7.93871285e-01 -3.75301525e-03 -8.50283810e+01] [-5.95222117e-03 1.68234165e-04 -9.99982271e-01 2.85064592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.03, Y:-85.04, Z:2.85 [[ 7.43024806e-01 6.69250448e-01 -4.23967499e-03 7.80271476e+01] [ 6.69238319e-01 -7.43036885e-01 -4.03229372e-03 -8.50436244e+01] [-5.84884928e-03 1.58741299e-04 -9.99982883e-01 2.85096030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.03, Y:-85.06, Z:2.85 [[ 6.88332312e-01 7.25384954e-01 -3.91109055e-03 7.80288388e+01] [ 7.25371915e-01 -6.88343405e-01 -4.35214073e-03 -8.50565033e+01] [-5.84915079e-03 1.58723852e-04 -9.99982881e-01 2.85096299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.03, Y:-85.07, Z:2.85 [[ 6.28380580e-01 7.77897240e-01 -3.70553350e-03 7.80332360e+01] [ 7.77882222e-01 -6.28391486e-01 -4.83631837e-03 -8.50705308e+01] [-6.09068441e-03 1.56579913e-04 -9.99981439e-01 2.85128841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.04, Y:-85.08, Z:2.85 [[ 5.64203765e-01 8.25628612e-01 -3.39215159e-03 7.80408511e+01] [ 8.25612062e-01 -5.64213942e-01 -5.22969383e-03 -8.50849154e+01] [-6.23168408e-03 1.50011676e-04 -9.99980572e-01 2.85136242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.05, Y:-85.10, Z:2.85 [[ 4.96300436e-01 8.68145367e-01 -3.08193684e-03 7.80487962e+01] [ 8.68126792e-01 -4.96309984e-01 -5.68097156e-03 -8.50983333e+01] [-6.46150517e-03 1.43956724e-04 -9.99979114e-01 2.85180823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.06, Y:-85.11, Z:2.85 [[ 4.22583517e-01 9.06319689e-01 -2.79137784e-03 7.80574801e+01] [ 9.06297996e-01 -4.22592719e-01 -6.27180271e-03 -8.51119883e+01] [-6.86387424e-03 1.20540308e-04 -9.99976436e-01 2.85389068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.07, Y:-85.12, Z:2.85 [[ 3.48160792e-01 9.37431693e-01 -2.42564195e-03 7.80688796e+01] [ 9.37406686e-01 -3.48169224e-01 -6.84810695e-03 -8.51237807e+01] [-7.26416637e-03 1.10429353e-04 -9.99973610e-01 2.85409041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.08, Y:-85.14, Z:2.86 [[ 2.71052940e-01 9.62562532e-01 -1.91709478e-03 7.80780572e+01] [ 9.62535989e-01 -2.71059704e-01 -7.14895149e-03 -8.51350355e+01] [-7.40095999e-03 9.24715997e-05 -9.99972608e-01 2.85530065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.09, Y:-85.14, Z:2.86 [[ 1.88840867e-01 9.82006577e-01 -1.48674221e-03 7.80912515e+01] [ 9.81973973e-01 -1.88846713e-01 -8.00219142e-03 -8.51449711e+01] [-8.13897098e-03 5.11986149e-05 -9.99966877e-01 2.85624163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.10, Y:-85.15, Z:2.86 [[ 1.07952960e-01 9.94155636e-01 -8.54722757e-04 7.81010430e+01] [ 9.94122746e-01 -1.07956341e-01 -8.08672308e-03 -8.51534485e+01] [-8.13173407e-03 2.32863612e-05 -9.99966937e-01 2.85729331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.11, Y:-85.16, Z:2.86 [[ 2.62917756e-02 9.99654290e-01 -2.09714633e-04 7.81104864e+01] [ 9.99623845e-01 -2.62926116e-02 -7.80177187e-03 -8.51615406e+01] [-7.80458866e-03 -4.51331261e-06 -9.99969544e-01 2.85822482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.12, Y:-85.17, Z:2.86 [[-5.52217565e-02 9.98474053e-01 3.51631000e-04 7.81150631e+01] [ 9.98450906e-01 5.52228707e-02 -6.79871356e-03 -8.51682553e+01] [-6.80775716e-03 -2.43506144e-05 -9.99976827e-01 2.85774881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.13, Y:-85.17, Z:2.86 [[-1.38920525e-01 9.90303246e-01 7.53811314e-04 7.81292430e+01] [ 9.90286533e-01 1.38922560e-01 -5.75373377e-03 -8.51729272e+01] [-5.80266263e-03 -5.28225251e-05 -9.99983163e-01 2.85571116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.14, Y:-85.18, Z:2.86 [[-2.18033656e-01 9.75940700e-01 1.03691878e-03 7.81415976e+01] [ 9.75928444e-01 2.18036115e-01 -4.89123447e-03 -8.51767082e+01] [-4.99964054e-03 -5.44951981e-05 -9.99987500e-01 2.85532660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.70762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.15, Y:-85.18, Z:2.85 [[-2.94977584e-01 9.55503453e-01 1.17270327e-03 7.81530387e+01] [ 9.55495231e-01 2.94979911e-01 -3.96433601e-03 -8.51798889e+01] [-4.13386065e-03 -4.88778760e-05 -9.99991454e-01 2.85459183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.737628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.16, Y:-85.18, Z:2.85 [[-3.69522744e-01 9.29220944e-01 1.17465730e-03 7.81638712e+01] [ 9.29215905e-01 3.69524609e-01 -3.06035905e-03 -8.51832427e+01] [-3.27781451e-03 -3.93620284e-05 -9.99994627e-01 2.85397735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.17, Y:-85.18, Z:2.85 [[-4.41295893e-01 8.97361482e-01 5.52040713e-04 7.81743029e+01] [ 8.97360749e-01 4.41296238e-01 -1.14751437e-03 -8.51844122e+01] [-1.27334868e-03 -1.10137097e-05 -9.99999189e-01 2.85283646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.797628 meters Centerline goodness [0,1] 0.9998677073686996 Centerline is valid? [True, True] Translation: X:78.19, Y:-85.18, Z:2.86 [[-5.09629141e-01 8.60393924e-01 6.58615562e-04 7.81862589e+01] [ 8.60393179e-01 5.09629566e-01 -1.13274074e-03 -8.51847756e+01] [-1.31025321e-03 -1.06093538e-05 -9.99999142e-01 2.85509450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.20, Y:-85.19, Z:2.85 [[-5.76034670e-01 8.17425195e-01 3.31950983e-04 7.81958974e+01] [ 8.17425058e-01 5.76034765e-01 -4.72806930e-04 -8.51851072e+01] [-5.77699603e-04 -1.00813236e-06 -9.99999833e-01 2.85287299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.21, Y:-85.19, Z:2.85 [[-6.38388518e-01 7.69712652e-01 1.59172824e-03 7.82064052e+01] [ 7.69710144e-01 6.38390502e-01 -1.96503302e-03 -8.51851238e+01] [-2.52865497e-03 -2.92851434e-05 -9.99996803e-01 2.85490125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.22, Y:-85.18, Z:2.86 [[-6.97236540e-01 7.16836578e-01 2.55488794e-03 7.82152954e+01] [ 7.16831506e-01 6.97241219e-01 -2.69713719e-03 -8.51838990e+01] [-3.71477978e-03 -4.91184321e-05 -9.99993099e-01 2.85570725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.22, Y:-85.18, Z:2.86 [[-7.52286185e-01 6.58819160e-01 4.77599966e-03 7.82241007e+01] [ 6.58805028e-01 7.52301339e-01 -4.31634659e-03 -8.51821469e+01] [-6.43668277e-03 -1.00675326e-04 -9.99979279e-01 2.85772934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.25, Y:-85.17, Z:2.86 [[-7.97003795e-01 6.03953024e-01 5.06909897e-03 7.82460847e+01] [ 6.03939994e-01 7.97019909e-01 -3.96840134e-03 -8.51651435e+01] [-6.43690078e-03 -1.01399324e-04 -9.99979278e-01 2.85773183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.27, Y:-85.15, Z:2.86 [[-8.37732133e-01 5.46029805e-01 7.50505732e-03 7.82725413e+01] [ 5.46006332e-01 8.37765737e-01 -5.06503146e-03 -8.51521889e+01] [-9.05313803e-03 -1.45330789e-04 -9.99959009e-01 2.85949986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.007628 meters Centerline goodness [0,1] 0.9998227303950896 Centerline is valid? [True, True] Translation: X:78.72, Y:-84.51, Z:1.99 [[-7.79162706e-01 -6.26766235e-01 8.34052812e-03 7.87232533e+01] [ 6.26733783e-01 -7.79207304e-01 -6.38297671e-03 -8.45050180e+01] [ 1.04996347e-02 2.53913338e-04 9.99944845e-01 1.99065735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.24, Y:-85.13, Z:2.86 [[-8.38900812e-01 5.44233547e-01 7.43462764e-03 7.82388376e+01] [ 5.44210780e-01 8.38933745e-01 -4.97972067e-03 -8.51335073e+01] [-8.94729105e-03 -1.31487203e-04 -9.99959964e-01 2.85943093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.26, Y:-85.12, Z:2.86 [[-8.74746421e-01 4.84533598e-01 6.77436638e-03 7.82566891e+01] [ 4.84518137e-01 8.74772646e-01 -3.87214798e-03 -8.51155747e+01] [-7.80221619e-03 -1.04844206e-04 -9.99969557e-01 2.85835038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.65, Y:-84.42, Z:2.00 [[-8.25406316e-01 -5.64510531e-01 5.68105580e-03 7.86545744e+01] [ 5.64497467e-01 -8.25425865e-01 -3.84064501e-03 -8.44199912e+01] [ 6.85737495e-03 3.68489699e-05 9.99976487e-01 1.99632982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.22, Y:-85.11, Z:2.85 [[-8.73335652e-01 4.87102228e-01 4.03215695e-03 7.82220913e+01] [ 4.87096883e-01 8.73344960e-01 -2.28206647e-03 -8.51072601e+01] [-4.63306361e-03 -2.89589220e-05 -9.99989267e-01 2.85442645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.24, Y:-85.09, Z:2.85 [[-9.04235841e-01 4.27015963e-01 3.86147531e-03 7.82419944e+01] [ 4.27012009e-01 9.04244086e-01 -1.83779074e-03 -8.50901280e+01] [-4.27648220e-03 -1.28999301e-05 -9.99990856e-01 2.85402443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.26, Y:-85.07, Z:2.85 [[-9.30927191e-01 3.65185536e-01 3.75350738e-03 7.82584650e+01] [ 3.65182577e-01 9.30934758e-01 -1.47007968e-03 -8.50712569e+01] [-4.03112232e-03 2.17835083e-06 -9.99991875e-01 2.85368404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.27, Y:-85.06, Z:2.85 [[-9.52100626e-01 3.05760285e-01 3.87897206e-03 7.82741091e+01] [ 3.05757892e-01 9.52108527e-01 -1.21000261e-03 -8.50565788e+01] [-4.06317312e-03 3.39820790e-05 -9.99991745e-01 2.85309017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.29, Y:-85.04, Z:2.85 [[-9.70497659e-01 2.41086010e-01 3.43941108e-03 7.82871563e+01] [ 2.41084654e-01 9.70503753e-01 -8.09922875e-04 -8.50356710e+01] [-3.53322243e-03 4.31609747e-05 -9.99993757e-01 2.85238355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.30, Y:-85.02, Z:2.85 [[-9.84009836e-01 1.78100687e-01 2.18832597e-03 7.83021035e+01] [ 1.78100346e-01 9.84012268e-01 -3.51380028e-04 -8.50168176e+01] [-2.21592062e-03 4.39802090e-05 -9.99997544e-01 2.85045888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.31, Y:-84.99, Z:2.85 [[-9.93875030e-01 1.10485489e-01 2.31993626e-03 7.83091648e+01] [ 1.10485310e-01 9.93877736e-01 -2.05420240e-04 -8.49925607e+01] [-2.32842895e-03 5.21568307e-05 -9.99997288e-01 2.85030823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.40, Y:-84.12, Z:2.00 [[-9.90669584e-01 -1.36260717e-01 2.60636781e-03 7.83970507e+01] [ 1.36260142e-01 -9.90673011e-01 -3.97747711e-04 -8.41217172e+01] [ 2.63625564e-03 -3.88925110e-05 9.99996524e-01 2.00224552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.23, Y:-84.99, Z:2.85 [[-9.94145601e-01 1.07996777e-01 3.34980811e-03 7.82286272e+01] [ 1.07996444e-01 9.94151241e-01 -2.80485407e-04 -8.49887895e+01] [-3.36050741e-03 8.29240308e-05 -9.99994350e-01 2.85139321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.24, Y:-84.96, Z:2.85 [[-9.99280126e-01 3.77737168e-02 3.51784146e-03 7.82359975e+01] [ 3.77737957e-02 9.99286315e-01 -4.40525676e-05 -8.49632733e+01] [-3.51699486e-03 8.88613691e-05 -9.99993811e-01 2.85120419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.42762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.26, Y:-84.08, Z:2.00 [[-9.98274918e-01 -5.86479627e-02 2.75767737e-03 7.82568656e+01] [ 5.86474039e-02 -9.98278720e-01 -2.83128702e-04 -8.40799243e+01] [ 2.76953556e-03 -1.20909663e-04 9.99996158e-01 2.00310270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.45762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.14, Y:-84.96, Z:2.85 [[-9.99533185e-01 3.05045043e-02 1.69930174e-03 7.81366664e+01] [ 3.05045364e-02 9.99534628e-01 -7.04964527e-06 -8.49614883e+01] [-1.69872598e-03 4.47900574e-05 -9.99998556e-01 2.84942733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.487628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.13, Y:-84.93, Z:2.85 [[-9.99132146e-01 -4.16192635e-02 1.67068999e-03 7.81336532e+01] [-4.16191342e-02 9.99133542e-01 1.12100550e-04 -8.49323433e+01] [-1.67390795e-03 4.24705918e-05 -9.99998598e-01 2.84898667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.13, Y:-84.90, Z:2.85 [[-9.93294302e-01 -1.15609500e-01 9.34759948e-04 7.81254934e+01] [-1.15609426e-01 9.93294741e-01 1.33008860e-04 -8.49008166e+01] [-9.43869228e-04 2.40498815e-05 -9.99999554e-01 2.84866088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.11, Y:-84.87, Z:2.85 [[-9.81578985e-01 -1.91053065e-01 1.19244565e-03 7.81088646e+01] [-1.91052895e-01 9.81579709e-01 2.56473134e-04 -8.48723456e+01] [-1.21948043e-03 2.39284449e-05 -9.99999256e-01 2.84998576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.07, Y:-84.85, Z:2.85 [[-9.64431191e-01 -2.64330802e-01 1.30531992e-03 7.80677794e+01] [-2.64330528e-01 9.64432075e-01 3.81222567e-04 -8.48521493e+01] [-1.35966127e-03 2.26270304e-05 -9.99999075e-01 2.85064260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.01, Y:-84.84, Z:2.85 [[-9.41632141e-01 -3.36637858e-01 1.96541516e-03 7.80100578e+01] [-3.36637065e-01 9.41634192e-01 7.31217424e-04 -8.48396529e+01] [-2.09685759e-03 2.69062373e-05 -9.99997801e-01 2.85134043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.94, Y:-84.84, Z:2.85 [[-9.13089994e-01 -4.07752898e-01 2.05861121e-03 7.79406997e+01] [-4.07751804e-01 9.13092314e-01 9.44889556e-04 -8.48366683e+01] [-2.26498353e-03 2.33667646e-05 -9.99997435e-01 2.85179706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.86, Y:-84.84, Z:2.85 [[-8.79140261e-01 -4.76557825e-01 2.24527749e-03 7.78619862e+01] [-4.76556210e-01 8.79143128e-01 1.24061199e-03 -8.48434102e+01] [-2.56514363e-03 2.06710140e-05 -9.99996710e-01 2.85204797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.78, Y:-84.86, Z:2.85 [[-8.39862170e-01 -5.42795179e-01 2.22021709e-03 7.77768914e+01] [-5.42793229e-01 8.39865105e-01 1.45476109e-03 -8.48606283e+01] [-2.65432016e-03 1.66800064e-05 -9.99996477e-01 2.85224281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.69, Y:-84.89, Z:2.85 [[-7.95505771e-01 -6.05941200e-01 2.41447917e-03 7.76886422e+01] [-6.05938357e-01 7.95509435e-01 1.85624663e-03 -8.48878439e+01] [-3.04551727e-03 1.36293637e-05 -9.99995362e-01 2.85200485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.59, Y:-84.93, Z:2.85 [[-7.45346112e-01 -6.66674069e-01 2.20449150e-03 7.75930294e+01] [-6.66671132e-01 7.45349372e-01 1.97865141e-03 -8.49265821e+01] [-2.96223194e-03 5.10929113e-06 -9.99995613e-01 2.85257690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.50, Y:-84.98, Z:2.85 [[-6.91542618e-01 -7.22331486e-01 2.45597009e-03 7.74995538e+01] [-7.22326928e-01 6.91546979e-01 2.56610507e-03 -8.49765632e+01] [-3.55199719e-03 5.57688862e-07 -9.99993692e-01 2.85318896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.41, Y:-85.03, Z:2.85 [[-6.33884346e-01 -7.73425219e-01 2.01638665e-03 7.74149664e+01] [-7.73421308e-01 6.33887553e-01 2.45977578e-03 -8.50286967e+01] [-3.18061502e-03 -3.03035271e-07 -9.99994942e-01 2.85364817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.33, Y:-85.10, Z:2.85 [[-5.72282803e-01 -8.20054058e-01 1.93285452e-03 7.73281799e+01] [-8.20049395e-01 5.72286067e-01 2.76542316e-03 -8.50958932e+01] [-3.37394220e-03 -2.43206659e-06 -9.99994308e-01 2.85422590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.25, Y:-85.17, Z:2.85 [[-5.07224718e-01 -8.61811675e-01 1.92927655e-03 7.72455537e+01] [-8.61805479e-01 5.07228387e-01 3.26805230e-03 -8.51717367e+01] [-3.79502946e-03 -5.02419411e-06 -9.99992799e-01 2.85487781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.17, Y:-85.26, Z:2.85 [[-4.39297181e-01 -8.98340243e-01 1.67178616e-03 7.71681227e+01] [-8.98333781e-01 4.39300362e-01 3.40724906e-03 -8.52566799e+01] [-3.79528521e-03 -5.02707233e-06 -9.99992798e-01 2.85489036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.09, Y:-85.35, Z:2.86 [[-3.68905995e-01 -9.29465537e-01 1.47752701e-03 7.70949732e+01] [-9.29458133e-01 3.68908954e-01 3.70994205e-03 -8.53533227e+01] [-3.99333622e-03 -4.67963196e-06 -9.99992027e-01 2.85517261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.03, Y:-85.45, Z:2.86 [[-2.96369877e-01 -9.55072347e-01 1.30687887e-03 7.70326157e+01] [-9.55063114e-01 2.96372759e-01 4.19948926e-03 -8.54487534e+01] [-4.39813936e-03 -3.54968867e-06 -9.99990328e-01 2.85547351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.98, Y:-85.55, Z:2.86 [[-2.22342770e-01 -9.74967866e-01 1.16314780e-03 7.69763761e+01] [-9.74954556e-01 2.22345812e-01 5.09445883e-03 -8.55536996e+01] [-5.22555470e-03 -1.30015977e-06 -9.99986347e-01 2.85666492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.93, Y:-85.66, Z:2.86 [[-1.47450878e-01 -9.89068912e-01 9.62262234e-04 7.69294425e+01] [-9.89047616e-01 1.47454018e-01 6.49049774e-03 -8.56638930e+01] [-6.56143897e-03 5.30642516e-06 -9.99978474e-01 2.85705573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.89, Y:-85.78, Z:2.86 [[-7.05747184e-02 -9.97506372e-01 4.97946686e-04 7.68899884e+01] [-9.97480889e-01 7.05764748e-02 7.12997996e-03 -8.57791416e+01] [-7.14734376e-03 6.50402442e-06 -9.99974457e-01 2.85703683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.86, Y:-85.91, Z:2.86 [[ 6.68217768e-03 -9.99977672e-01 -6.00709332e-05 7.68591396e+01] [-9.99948008e-01 -6.68244216e-03 7.70234186e-03 -8.59100783e+01] [-7.70257131e-03 8.59939308e-06 -9.99970335e-01 2.85740594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.84, Y:-86.02, Z:2.86 [[ 8.43716758e-02 -9.96434066e-01 -7.56221684e-04 7.68376042e+01] [-9.96394901e-01 -8.43750643e-02 8.83454717e-03 -8.60173317e+01] [-8.86685001e-03 8.10988089e-06 -9.99960689e-01 2.85859096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.00, Y:-86.20, Z:1.99 [[ 1.68724490e-02 9.99857625e-01 -2.25217611e-04 7.59991557e+01] [-9.99809166e-01 1.68738487e-02 9.84400777e-03 -8.62044989e+01] [ 9.84640652e-03 5.90821120e-05 9.99951521e-01 1.99361107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.17762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.86, Y:-86.32, Z:2.86 [[ 9.45236506e-02 -9.95522104e-01 -1.00983696e-03 7.68613041e+01] [-9.95466411e-01 -9.45290442e-02 1.05301996e-02 -8.63206386e+01] [-1.05785053e-02 9.90586707e-06 -9.99944046e-01 2.86052009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.20762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.85, Y:-86.44, Z:2.86 [[ 1.70944177e-01 -9.85278886e-01 -1.89850050e-03 7.68499286e+01] [-9.85219140e-01 -1.70954718e-01 1.08503651e-02 -8.64366861e+01] [-1.10151933e-02 1.56322921e-05 -9.99939331e-01 2.86050642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.237628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.85, Y:-86.56, Z:2.86 [[ 2.45287302e-01 -9.69446058e-01 -2.91203899e-03 7.68512849e+01] [-9.69379430e-01 -2.45304584e-01 1.13658462e-02 -8.65618627e+01] [-1.17329113e-02 3.49729449e-05 -9.99931166e-01 2.86098182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.86, Y:-86.68, Z:2.86 [[ 3.18864271e-01 -9.47792276e-01 -3.92150855e-03 7.68611956e+01] [-9.47722396e-01 -3.18888381e-01 1.15091711e-02 -8.66843323e+01] [-1.21588270e-02 4.66380239e-05 -9.99926078e-01 2.86089796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.88, Y:-86.80, Z:2.86 [[ 3.90030511e-01 -9.20788597e-01 -4.95578657e-03 7.68793690e+01] [-9.20716415e-01 -3.90061989e-01 1.15294818e-02 -8.68035130e+01] [-1.25492793e-02 6.60243785e-05 -9.99921253e-01 2.85966930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.90, Y:-86.92, Z:2.86 [[ 4.59245795e-01 -8.88292827e-01 -5.39928920e-03 7.69041086e+01] [-8.88233285e-01 -4.59277528e-01 1.02850928e-02 -8.69165299e+01] [-1.16159464e-02 7.24427431e-05 -9.99932530e-01 2.85836301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.94, Y:-87.03, Z:2.85 [[ 5.24371190e-01 -8.51477961e-01 -4.48733208e-03 7.69386601e+01] [-8.51448015e-01 -5.24390385e-01 7.14157702e-03 -8.70304038e+01] [-8.43400924e-03 7.58927480e-05 -9.99964430e-01 2.85469891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.98, Y:-87.14, Z:2.85 [[ 5.87010926e-01 -8.09569369e-01 -3.95098718e-03 7.69784846e+01] [-8.09551873e-01 -5.87024217e-01 5.32289727e-03 -8.71352704e+01] [-6.62857974e-03 7.39302159e-05 -9.99978028e-01 2.85360213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.02, Y:-87.23, Z:2.85 [[ 6.45489021e-01 -7.63762007e-01 -3.39416983e-03 7.70249969e+01] [-7.63752043e-01 -6.45497940e-01 3.90204535e-03 -8.72343838e+01] [-5.17116362e-03 7.35767155e-05 -9.99986627e-01 2.85223403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.08, Y:-87.33, Z:2.85 [[ 6.97088840e-01 -7.16979290e-01 -2.80126769e-03 7.70803489e+01] [-7.16973992e-01 -6.97094463e-01 2.75757722e-03 -8.73285678e+01] [-3.92987396e-03 8.61597699e-05 -9.99992274e-01 2.85095213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.08, Y:-87.34, Z:2.85 [[ 7.48321508e-01 -6.63328714e-01 -3.15245277e-03 7.70761424e+01] [-6.63323418e-01 -7.48328141e-01 2.65266111e-03 -8.73354832e+01] [-4.11865541e-03 1.06052386e-04 -9.99991513e-01 2.85083249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.07, Y:-87.34, Z:2.85 [[ 7.95480848e-01 -6.05969117e-01 -3.41326520e-03 7.70707509e+01] [-6.05964201e-01 -7.95488161e-01 2.44394291e-03 -8.73404895e+01] [-4.19616598e-03 1.24206741e-04 -9.99991188e-01 2.85133663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.06, Y:-87.34, Z:2.85 [[ 8.38422544e-01 -5.45004565e-01 -4.20260768e-03 7.70632100e+01] [-5.44998678e-01 -8.38433061e-01 2.53846862e-03 -8.73430678e+01] [-4.90708221e-03 1.62106311e-04 -9.99987947e-01 2.85170936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.06, Y:-87.35, Z:2.85 [[ 8.75614198e-01 -4.82989276e-01 -4.59732866e-03 7.70555261e+01] [-4.82983805e-01 -8.75626244e-01 2.30751066e-03 -8.73479526e+01] [-5.14004453e-03 1.99946196e-04 -9.99986770e-01 2.85147351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.05, Y:-87.35, Z:2.85 [[ 9.09728306e-01 -4.15174556e-01 -4.94951531e-03 7.70474143e+01] [-4.15169714e-01 -9.09741743e-01 2.01711711e-03 -8.73537634e+01] [-5.34023639e-03 2.19860331e-04 -9.99985717e-01 2.85174034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.04, Y:-87.36, Z:2.85 [[ 9.38647692e-01 -3.44827690e-01 -5.86303418e-03 7.70396435e+01] [-3.44822715e-01 -9.38665965e-01 1.87121175e-03 -8.73640800e+01] [-6.14867627e-03 2.65298773e-04 -9.99981062e-01 2.85196882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.03, Y:-87.38, Z:2.85 [[ 9.61967559e-01 -2.73062673e-01 -7.42915887e-03 7.70283650e+01] [-2.73057318e-01 -9.61996182e-01 1.74543298e-03 -8.73751057e+01] [-7.62343507e-03 3.49536295e-04 -9.99970880e-01 2.85303439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.02, Y:-87.38, Z:2.85 [[ 9.80228540e-01 -1.97726655e-01 -7.49532227e-03 7.70175323e+01] [-1.97723622e-01 -9.80257132e-01 1.15095366e-03 -8.73823444e+01] [-7.57491733e-03 3.53804636e-04 -9.99971247e-01 2.85352779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.01, Y:-87.40, Z:2.85 [[ 9.92646520e-01 -1.20852694e-01 -6.89300185e-03 7.70085103e+01] [-1.20852058e-01 -9.92670398e-01 5.10299858e-04 -8.73955512e+01] [-6.90415001e-03 3.26486082e-04 -9.99976113e-01 2.85263219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.00, Y:-87.41, Z:2.85 [[ 9.99090736e-01 -4.22315104e-02 -5.84811673e-03 7.70003980e+01] [-4.22323903e-02 -9.99107814e-01 -2.69902295e-05 -8.74111644e+01] [-5.84175929e-03 2.73945636e-04 -9.99982899e-01 2.85166337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.99, Y:-87.43, Z:2.85 [[ 9.99180814e-01 4.02222520e-02 -4.45779343e-03 7.69927981e+01] [ 4.02209907e-02 -9.99190739e-01 -3.72270044e-04 -8.74279000e+01] [-4.46915945e-03 1.92668217e-04 -9.99989995e-01 2.85048496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.99, Y:-87.44, Z:2.85 [[ 9.92500285e-01 1.22173476e-01 -4.10190559e-03 7.69881606e+01] [ 1.22171751e-01 -9.92508748e-01 -6.69491926e-04 -8.74446384e+01] [-4.15297134e-03 1.63333939e-04 -9.99991363e-01 2.85042784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.99, Y:-87.46, Z:2.85 [[ 9.78954325e-01 2.04046571e-01 -3.66430826e-03 7.69860202e+01] [ 2.04044638e-01 -9.78961174e-01 -8.97846361e-04 -8.74632547e+01] [-3.77041799e-03 1.31268126e-04 -9.99992883e-01 2.85084215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.99, Y:-87.49, Z:2.85 [[ 9.56899577e-01 2.90403170e-01 -3.03304606e-03 7.69863129e+01] [ 2.90401453e-01 -9.56904380e-01 -1.00168215e-03 -8.74859539e+01] [-3.19322673e-03 7.77082443e-05 -9.99994899e-01 2.85198724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.99, Y:-87.50, Z:2.85 [[ 9.29233430e-01 3.69482023e-01 -2.87533030e-03 7.69857177e+01] [ 3.69480057e-01 -9.29237877e-01 -1.20676642e-03 -8.75009168e+01] [-3.11774432e-03 5.89904938e-05 -9.99995138e-01 2.85242398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.99, Y:-87.51, Z:2.85 [[ 8.95118796e-01 4.45817300e-01 -3.04569833e-03 7.69872025e+01] [ 4.45814543e-01 -8.95123976e-01 -1.56849123e-03 -8.75142538e+01] [-3.42553813e-03 4.61693704e-05 -9.99994132e-01 2.85245059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.95762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.99, Y:-87.53, Z:2.85 [[ 8.55065164e-01 5.18513110e-01 -2.77857484e-03 7.69906535e+01] [ 5.18510261e-01 -8.55069678e-01 -1.71892664e-03 -8.75279774e+01] [-3.26716109e-03 2.90747221e-05 -9.99994662e-01 2.85232337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.987628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.00, Y:-87.54, Z:2.85 [[ 8.07147202e-01 5.90346148e-01 -2.19548715e-03 7.69959087e+01] [ 5.90343953e-01 -8.07150188e-01 -1.60996199e-03 -8.75433566e+01] [-2.72252273e-03 3.38375594e-06 -9.99996294e-01 2.85206631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.00, Y:-87.56, Z:2.85 [[ 7.54528560e-01 6.56265107e-01 -1.66190174e-03 7.70018677e+01] [ 6.56263542e-01 -7.54530390e-01 -1.43310178e-03 -8.75552211e+01] [-2.19445006e-03 -9.32930553e-06 -9.99997592e-01 2.85228213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.01, Y:-87.57, Z:2.85 [[ 6.99352254e-01 7.14775501e-01 -1.55200326e-03 7.70074138e+01] [ 7.14773785e-01 -6.99353976e-01 -1.56620077e-03 -8.75651620e+01] [-2.20488159e-03 -1.40052057e-05 -9.99997569e-01 2.85227554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.01, Y:-87.58, Z:2.85 [[ 6.39970647e-01 7.68398428e-01 -1.19474753e-03 7.70122208e+01] [ 7.68397129e-01 -6.39971762e-01 -1.41281847e-03 -8.75750751e+01] [-1.85021218e-03 -1.38782230e-05 -9.99998288e-01 2.85209679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.02, Y:-87.58, Z:2.85 [[ 5.76828173e-01 8.16864569e-01 -1.23862062e-03 7.70186078e+01] [ 8.16862758e-01 -5.76829503e-01 -1.72043221e-03 -8.75834540e+01] [-2.11983303e-03 -1.93892899e-05 -9.99997753e-01 2.85209639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.03, Y:-87.59, Z:2.85 [[ 5.10266570e-01 8.60015552e-01 -1.13066410e-03 7.70254429e+01] [ 8.60013536e-01 -5.10267822e-01 -1.86221654e-03 -8.75912697e+01] [-2.17847669e-03 -2.21595887e-05 -9.99997627e-01 2.85238339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.03, Y:-87.60, Z:2.85 [[ 4.40854604e-01 8.97577838e-01 -1.11522243e-03 7.70337439e+01] [ 8.97575120e-01 -4.40856014e-01 -2.20869202e-03 -8.75988325e+01] [-2.47412552e-03 -2.72838598e-05 -9.99996939e-01 2.85301709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.04, Y:-87.61, Z:2.85 [[ 3.68969090e-01 9.29440968e-01 -1.13957370e-03 7.70419799e+01] [ 9.29436824e-01 -3.68970848e-01 -2.77537086e-03 -8.76068179e+01] [-3.00001285e-03 -3.51357047e-05 -9.99995499e-01 2.85365801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.05, Y:-87.61, Z:2.85 [[ 2.95470467e-01 9.55351196e-01 -1.13783185e-03 7.70486594e+01] [ 9.55344664e-01 -2.95472655e-01 -3.53322499e-03 -8.76128763e+01] [-3.71166892e-03 -4.30579475e-05 -9.99993111e-01 2.85406593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.06, Y:-87.62, Z:2.86 [[ 2.21833972e-01 9.75083792e-01 -1.13432943e-03 7.70563780e+01] [ 9.75072136e-01 -2.21836867e-01 -4.76808374e-03 -8.76183599e+01] [-4.90091726e-03 -4.83300638e-05 -9.99987989e-01 2.85547197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.06, Y:-87.62, Z:2.86 [[ 1.46637387e-01 9.89189967e-01 -8.28734470e-04 7.70640598e+01] [ 9.89175796e-01 -1.46639722e-01 -5.29503381e-03 -8.76247316e+01] [-5.35931971e-03 -4.33141564e-05 -9.99985638e-01 2.85616337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.07, Y:-87.63, Z:2.86 [[ 7.07442874e-02 9.97494384e-01 -4.46144168e-04 7.70706011e+01] [ 9.97477587e-01 -7.07456853e-02 -5.78898441e-03 -8.76290242e+01] [-5.80604222e-03 -3.54812308e-05 -9.99983144e-01 2.85611859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.07, Y:-87.63, Z:2.86 [[-2.10659390e-03 9.99997781e-01 8.90337935e-06 7.70747735e+01] [ 9.99977544e-01 2.10660791e-03 -6.36192612e-03 -8.76334639e+01] [-6.36193076e-03 -4.49881533e-06 -9.99979763e-01 2.85625456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.08, Y:-87.64, Z:2.86 [[-7.74231288e-02 9.96998184e-01 5.29041746e-04 7.70815520e+01] [ 9.96976216e-01 7.74249349e-02 -6.61840605e-03 -8.76373558e+01] [-6.63949983e-03 1.50243337e-05 -9.99977958e-01 2.85617118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.09, Y:-87.64, Z:2.86 [[-1.52193783e-01 9.88350161e-01 1.00632687e-03 7.70881199e+01] [ 9.88330040e-01 1.52197106e-01 -6.30650846e-03 -8.76426427e+01] [-6.38619869e-03 3.47716974e-05 -9.99979607e-01 2.85614519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.09, Y:-87.65, Z:2.86 [[-2.26081895e-01 9.74107224e-01 1.44643336e-03 7.70948600e+01] [ 9.74088768e-01 2.26086516e-01 -5.99653488e-03 -8.76466520e+01] [-6.16828702e-03 5.32465234e-05 -9.99980975e-01 2.85584515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.10, Y:-87.65, Z:2.86 [[-2.95519723e-01 9.55334534e-01 2.00555073e-03 7.70996103e+01] [ 9.55314721e-01 2.95526512e-01 -6.15338565e-03 -8.76506882e+01] [-6.47123522e-03 9.74853169e-05 -9.99979057e-01 2.85586360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.11, Y:-87.65, Z:2.86 [[-3.66787303e-01 9.30301075e-01 2.64282659e-03 7.71081075e+01] [ 9.30279296e-01 3.66796804e-01 -6.36680967e-03 -8.76541570e+01] [-6.89243022e-03 1.23301912e-04 -9.99976239e-01 2.85552853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.12, Y:-87.65, Z:2.86 [[-4.36346097e-01 8.99773160e-01 3.21624076e-03 7.71201631e+01] [ 8.99751096e-01 4.36357927e-01 -6.30280704e-03 -8.76548812e+01] [-7.07452876e-03 1.43610900e-04 -9.99974965e-01 2.85542446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.13, Y:-87.66, Z:2.86 [[-5.02148992e-01 8.64773434e-01 3.64670181e-03 7.71293822e+01] [ 8.64753015e-01 5.02162205e-01 -5.94490230e-03 -8.76577276e+01] [-6.97222940e-03 1.68269686e-04 -9.99975680e-01 2.85562867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.14, Y:-87.66, Z:2.86 [[-5.67730359e-01 8.23204420e-01 4.08938131e-03 7.71391353e+01] [ 8.23185224e-01 5.67745060e-01 -5.62428900e-03 -8.76588786e+01] [-6.95166560e-03 1.73238660e-04 -9.99975822e-01 2.85572491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.15, Y:-87.66, Z:2.86 [[-6.30362264e-01 7.76287444e-01 4.60652888e-03 7.71504674e+01] [ 7.76268743e-01 6.30379071e-01 -5.39122853e-03 -8.76580380e+01] [-7.08900241e-03 1.77477362e-04 -9.99974857e-01 2.85550796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.16, Y:-87.66, Z:2.86 [[-6.89815345e-01 7.23966279e-01 5.25514791e-03 7.71610675e+01] [ 7.23947227e-01 6.89835339e-01 -5.25528357e-03 -8.76564586e+01] [-7.42983483e-03 1.79274512e-04 -9.99972382e-01 2.85537651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.17, Y:-87.65, Z:2.85 [[-7.46874653e-01 6.64943818e-01 5.28882981e-03 7.71731548e+01] [ 6.64928484e-01 7.46893365e-01 -4.51802968e-03 -8.76511790e+01] [-6.95442780e-03 1.42291737e-04 -9.99975808e-01 2.85417921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.70762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.19, Y:-87.63, Z:2.85 [[-7.93415503e-01 6.08658363e-01 5.18035219e-03 7.71943042e+01] [ 6.08646346e-01 7.93432406e-01 -3.82647928e-03 -8.76316111e+01] [-6.43927792e-03 1.17014447e-04 -9.99979261e-01 2.85296420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.737628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.21, Y:-87.61, Z:2.85 [[-8.35921208e-01 5.48827802e-01 4.87623367e-03 7.72129279e+01] [ 5.48819093e-01 8.35935426e-01 -3.09309903e-03 -8.76119417e+01] [-5.77379521e-03 9.05830649e-05 -9.99983327e-01 2.85296242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.23, Y:-87.58, Z:2.85 [[-8.75686967e-01 4.82860077e-01 4.29911350e-03 7.72316300e+01] [ 4.82854522e-01 8.75697518e-01 -2.31667640e-03 -8.75836237e+01] [-4.88335357e-03 4.71630649e-05 -9.99988075e-01 2.85150220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.25, Y:-87.56, Z:2.85 [[-9.07539154e-01 4.19943884e-01 4.45183341e-03 7.72515038e+01] [ 4.19939086e-01 9.07550071e-01 -2.00803320e-03 -8.75624569e+01] [-4.88352298e-03 4.71301046e-05 -9.99988074e-01 2.85150369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.26, Y:-87.54, Z:2.85 [[-9.36193409e-01 3.51460895e-01 4.14010390e-03 7.72640241e+01] [ 3.51457592e-01 9.36202563e-01 -1.52407517e-03 -8.75353076e+01] [-4.41162870e-03 2.82418201e-05 -9.99990268e-01 2.85179144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.27, Y:-87.50, Z:2.85 [[-9.60612560e-01 2.77861633e-01 4.05236081e-03 7.72662550e+01] [ 2.77859157e-01 9.60621108e-01 -1.17296718e-03 -8.75025393e+01] [-4.21870591e-03 -7.81443661e-07 -9.99991101e-01 2.85232616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.28, Y:-87.48, Z:2.85 [[-9.78435047e-01 2.06511663e-01 4.21795002e-03 7.72812585e+01] [ 2.06509690e-01 9.78444139e-01 -9.02665568e-04 -8.74762944e+01] [-4.31343944e-03 -1.21520770e-05 -9.99990697e-01 2.85229997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.45, Y:-86.72, Z:2.00 [[-9.59454223e-01 -2.81831369e-01 4.32125510e-03 7.74503760e+01] [ 2.81828627e-01 -9.59463954e-01 -1.24338171e-03 -8.67183122e+01] [ 4.49651248e-03 2.48855617e-05 9.99989890e-01 2.00146584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.947628 meters Centerline goodness [0,1] 0.9999780682516011 Centerline is valid? [True, True] Translation: X:77.23, Y:-87.46, Z:2.85 [[-9.80097054e-01 1.98470523e-01 4.38358846e-03 7.72287520e+01] [ 1.98468392e-01 9.80106857e-01 -9.20264054e-04 -8.74634102e+01] [-4.47903039e-03 -3.19443379e-05 -9.99989969e-01 2.85300906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.24, Y:-87.44, Z:2.85 [[-9.91924067e-01 1.26731406e-01 5.07895746e-03 7.72368293e+01] [ 1.26729505e-01 9.91937069e-01 -6.95546280e-04 -8.74365183e+01] [-5.12615373e-03 -4.62753282e-05 -9.99986860e-01 2.85441158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.35, Y:-86.67, Z:2.00 [[-9.77065910e-01 -2.12858585e-01 5.78195173e-03 7.73496502e+01] [ 2.12855483e-01 -9.77083012e-01 -1.15386297e-03 -8.66712656e+01] [ 5.89505645e-03 1.03319954e-04 9.99982619e-01 1.99869496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.18, Y:-87.43, Z:2.86 [[-9.92425931e-01 1.22689971e-01 6.15978520e-03 7.71798722e+01] [ 1.22687259e-01 9.92445045e-01 -8.17761395e-04 -8.74316715e+01] [-6.21357943e-03 -5.58404538e-05 -9.99980694e-01 2.85599518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.29, Y:-86.66, Z:2.00 [[-9.78256189e-01 -2.07279069e-01 7.08630358e-03 7.72874638e+01] [ 2.07274583e-01 -9.78281846e-01 -1.36977623e-03 -8.66592226e+01] [ 7.21632809e-03 1.28818537e-04 9.99973954e-01 1.99748635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.12, Y:-87.43, Z:2.86 [[-9.92323335e-01 1.23410596e-01 8.01393786e-03 7.71209542e+01] [ 1.23406317e-01 9.92355694e-01 -1.02813583e-03 -8.74319688e+01] [-8.07955973e-03 -3.12726177e-05 -9.99967359e-01 2.85732124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.23, Y:-86.64, Z:2.00 [[-9.80634249e-01 -1.95678200e-01 8.15552426e-03 7.72289027e+01] [ 1.95671825e-01 -9.80668160e-01 -1.58019721e-03 -8.66427549e+01] [ 8.30707311e-03 4.62108119e-05 9.99965495e-01 1.99668071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.06, Y:-87.43, Z:2.86 [[-9.92090727e-01 1.25244022e-01 8.36202568e-03 7.70595459e+01] [ 1.25239752e-01 9.92125967e-01 -1.03448316e-03 -8.74315656e+01] [-8.42574565e-03 2.09568663e-05 -9.99964503e-01 2.85742744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.06, Y:-87.41, Z:2.86 [[-9.98288012e-01 5.78992016e-02 8.29018732e-03 7.70618839e+01] [ 5.78976157e-02 9.98322433e-01 -4.31372622e-04 -8.74079250e+01] [-8.30125610e-03 4.93479618e-05 -9.99965543e-01 2.85770608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.11, Y:-86.59, Z:2.00 [[-9.93844762e-01 -1.10440053e-01 8.69394585e-03 7.71146023e+01] [ 1.10435615e-01 -9.93882787e-01 -9.90342089e-04 -8.65904214e+01] [ 8.75013656e-03 -2.41250387e-05 9.99961717e-01 1.99631394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.98, Y:-87.42, Z:2.86 [[-9.97979717e-01 6.29843550e-02 8.33396365e-03 7.69762630e+01] [ 6.29833460e-02 9.98014504e-01 -3.83737179e-04 -8.74160921e+01] [-8.34158604e-03 1.41938995e-04 -9.99965198e-01 2.85758032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.98, Y:-87.39, Z:2.86 [[-9.99953780e-01 -4.89070111e-03 8.27756486e-03 7.69761702e+01] [-4.88914260e-03 9.99988026e-01 2.08506426e-04 -8.73912756e+01] [-8.27848549e-03 1.68026594e-04 -9.99965719e-01 2.85719890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.98, Y:-87.37, Z:2.86 [[-9.97267959e-01 -7.34767081e-02 7.60212523e-03 7.69794367e+01] [-7.34732246e-02 9.97296918e-01 7.36871340e-04 -8.73667562e+01] [-7.63571894e-03 1.76305523e-04 -9.99970832e-01 2.85707559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.97, Y:-87.35, Z:2.86 [[-9.89907649e-01 -1.41537260e-01 7.07458390e-03 7.69660012e+01] [-1.41532267e-01 9.89932911e-01 1.20407183e-03 -8.73458556e+01] [-7.17378446e-03 1.90638023e-04 -9.99974250e-01 2.85653088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.93, Y:-87.33, Z:2.86 [[-9.77186220e-01 -2.12259657e-01 7.27523210e-03 7.69320389e+01] [-2.12252213e-01 9.77213281e-01 1.78934723e-03 -8.73277057e+01] [-7.48925966e-03 2.04341348e-04 -9.99971934e-01 2.85643739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.88, Y:-87.31, Z:2.86 [[-9.58852836e-01 -2.83805066e-01 7.47823471e-03 7.68793695e+01] [-2.83794698e-01 9.58881974e-01 2.43524338e-03 -8.73139656e+01] [-7.86187886e-03 2.12756658e-04 -9.99969072e-01 2.85657597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.42762800000003 meters Centerline goodness [0,1] 0.9999097065462754 Centerline is valid? [True, True] Translation: X:76.81, Y:-87.31, Z:2.86 [[-9.35001098e-01 -3.54546050e-01 8.36935859e-03 7.68105643e+01] [-3.54529535e-01 9.35038524e-01 3.43045366e-03 -8.73075536e+01] [-9.04192650e-03 2.40293133e-04 -9.99959092e-01 2.85821068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.45762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.73, Y:-87.31, Z:2.86 [[-9.04243367e-01 -4.26927747e-01 8.75397307e-03 7.67336257e+01] [-4.26905359e-01 9.04285713e-01 4.37777173e-03 -8.73132764e+01] [-9.78508500e-03 2.21453039e-04 -9.99952100e-01 2.85770354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.487628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.65, Y:-87.33, Z:2.86 [[-8.68327211e-01 -4.95916622e-01 8.63479718e-03 7.66484029e+01] [-4.95889793e-01 8.68370119e-01 5.16227568e-03 -8.73254716e+01] [-1.00582582e-02 2.00636650e-04 -9.99949394e-01 2.85732643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.56, Y:-87.35, Z:2.86 [[-8.26826173e-01 -5.62389876e-01 8.72390934e-03 7.65586238e+01] [-5.62356218e-01 8.26872175e-01 6.15555494e-03 -8.73500836e+01] [-1.06753797e-02 1.83629268e-04 -9.99943000e-01 2.85837482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.46, Y:-87.38, Z:2.86 [[-7.78799605e-01 -6.27207378e-01 9.05984190e-03 7.64645712e+01] [-6.27162759e-01 7.78852287e-01 7.48257472e-03 -8.73823890e+01] [-1.17494046e-02 1.45430794e-04 -9.99930963e-01 2.85953968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.37, Y:-87.43, Z:2.86 [[-7.27268965e-01 -6.86298331e-01 8.62865307e-03 7.63698248e+01] [-6.86248038e-01 7.27320140e-01 8.30927378e-03 -8.74273949e+01] [-1.19784339e-02 1.21680697e-04 -9.99928249e-01 2.86041014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.28, Y:-87.48, Z:2.86 [[-6.71409980e-01 -7.41040843e-01 8.19199807e-03 7.62812036e+01] [-7.40983784e-01 6.71459946e-01 9.19638243e-03 -8.74774046e+01] [-1.23154936e-02 1.04405209e-04 -9.99924156e-01 2.86068898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.19, Y:-87.55, Z:2.86 [[-6.10782082e-01 -7.91769785e-01 6.77170242e-03 7.61883497e+01] [-7.91719884e-01 6.10819615e-01 8.88949401e-03 -8.75450539e+01] [-1.11747214e-02 6.82522093e-05 -9.99937559e-01 2.85937096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.10, Y:-87.62, Z:2.86 [[-5.47829085e-01 -8.36571600e-01 5.59035417e-03 7.61047291e+01] [-8.36526926e-01 5.47857604e-01 8.64562253e-03 -8.76162324e+01] [-1.02954003e-02 5.98416838e-05 -9.99946999e-01 2.85879085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.03, Y:-87.70, Z:2.86 [[-4.81801699e-01 -8.76268384e-01 4.56534881e-03 7.60257787e+01] [-8.76227924e-01 4.81823325e-01 8.42072000e-03 -8.76951581e+01] [-9.57850224e-03 5.68310948e-05 -9.99954123e-01 2.85783405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.95, Y:-87.79, Z:2.86 [[-4.12804526e-01 -9.10812427e-01 3.62584037e-03 7.59486508e+01] [-9.10776159e-01 4.12820446e-01 8.12822836e-03 -8.77894641e+01] [-8.90011244e-03 5.30404869e-05 -9.99960392e-01 2.85730011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.88, Y:-87.88, Z:2.86 [[-3.41682176e-01 -9.39812978e-01 2.20377262e-03 7.58822543e+01] [-9.39792598e-01 3.41689280e-01 6.18947091e-03 -8.78823362e+01] [-6.56995057e-03 4.37426905e-05 -9.99978417e-01 2.85554512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.82, Y:-87.99, Z:2.85 [[-2.68657827e-01 -9.63234735e-01 1.34797225e-03 7.58209699e+01] [-9.63221869e-01 2.68661206e-01 4.97870600e-03 -8.79859567e+01] [-5.15781040e-03 3.91719823e-05 -9.99986698e-01 2.85476907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.77, Y:-88.09, Z:2.85 [[-1.94078512e-01 -9.80985702e-01 7.63442230e-04 7.57680973e+01] [-9.80977377e-01 1.94080010e-01 4.04173692e-03 -8.80936754e+01] [-4.11305501e-03 3.54947313e-05 -9.99991541e-01 2.85393017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.72, Y:-88.21, Z:2.85 [[-1.19779028e-01 -9.92800526e-01 3.16197582e-04 7.57243187e+01] [-9.92796296e-01 1.19779441e-01 2.89822691e-03 -8.82099125e+01] [-2.91523517e-03 3.32270148e-05 -9.99995750e-01 2.85304817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.69, Y:-88.33, Z:2.85 [[-4.24582430e-02 -9.99098238e-01 9.05974598e-05 7.56881204e+01] [-9.99093989e-01 4.24583267e-02 2.91416901e-03 -8.83274931e+01] [-2.91538774e-03 3.32151185e-05 -9.99995750e-01 2.85305605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.66, Y:-88.44, Z:2.85 [[ 3.32780361e-02 -9.99446121e-01 -1.53974899e-04 7.56634091e+01] [-9.99440620e-01 -3.32783638e-02 3.31628423e-03 -8.84427923e+01] [-3.31957144e-03 4.35293425e-05 -9.99994489e-01 2.85347361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.65, Y:-88.58, Z:2.85 [[ 1.09849766e-01 -9.93948074e-01 -5.05566837e-04 7.56461888e+01] [-9.93939772e-01 -1.09850915e-01 4.06270093e-03 -8.85774519e+01] [-4.09365075e-03 5.62162413e-05 -9.99991619e-01 2.85341356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.64, Y:-88.69, Z:2.85 [[ 1.85983422e-01 -9.82552419e-01 -9.54411108e-04 7.56367224e+01] [-9.82541293e-01 -1.85985859e-01 4.67634462e-03 -8.86859217e+01] [-4.77226068e-03 6.80257496e-05 -9.99988610e-01 2.85418457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.64, Y:-88.81, Z:2.86 [[ 2.60930876e-01 -9.65355945e-01 -1.72540316e-03 7.56377841e+01] [-9.65337125e-01 -2.60936564e-01 6.02861584e-03 -8.88113476e+01] [-6.26998092e-03 9.25437197e-05 -9.99980339e-01 2.85576329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.65, Y:-88.93, Z:2.86 [[ 3.34776543e-01 -9.42294577e-01 -2.36588362e-03 7.56474914e+01] [-9.42273136e-01 -3.34784887e-01 6.35738565e-03 -8.89316694e+01] [-6.78259210e-03 1.01004989e-04 -9.99976993e-01 2.85665919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.67, Y:-89.06, Z:2.86 [[ 4.06614734e-01 -9.13594555e-01 -3.07362573e-03 7.56686122e+01] [-9.13570451e-01 -4.06626336e-01 6.63726433e-03 -8.90560514e+01] [-7.31358572e-03 1.09164176e-04 -9.99973249e-01 2.85756598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.69, Y:-89.17, Z:2.86 [[ 4.76152099e-01 -8.79353325e-01 -4.11202776e-03 7.56949109e+01] [-8.79322751e-01 -4.76169838e-01 7.33381402e-03 -8.91679387e+01] [-8.40703734e-03 1.23788624e-04 -9.99964653e-01 2.85817058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.73, Y:-89.28, Z:2.86 [[ 5.42662719e-01 -8.39937611e-01 -4.68860142e-03 7.57310682e+01] [-8.39908215e-01 -5.42682959e-01 7.02825638e-03 -8.92810861e+01] [-8.44772097e-03 1.24022137e-04 -9.99964310e-01 2.85779740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.77, Y:-89.39, Z:2.86 [[ 6.06061792e-01 -7.95398065e-01 -5.56980249e-03 7.57741863e+01] [-7.95366413e-01 -6.06087372e-01 7.09698571e-03 -8.93884337e+01] [-9.02071565e-03 1.28821947e-04 -9.99959304e-01 2.85772972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.17762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.82, Y:-89.49, Z:2.86 [[ 6.65579453e-01 -7.46301203e-01 -6.20537575e-03 7.58240151e+01] [-7.46270569e-01 -6.65608367e-01 6.76311403e-03 -8.94899662e+01] [-9.17767015e-03 1.29499561e-04 -9.99957876e-01 2.85807734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.20762800000003 meters Centerline goodness [0,1] 0.9998648039657504 Centerline is valid? [True, True] Translation: X:75.88, Y:-89.59, Z:2.86 [[ 7.21458925e-01 -6.92414017e-01 -7.73613844e-03 7.58783067e+01] [-6.92376261e-01 -7.21500388e-01 7.23218173e-03 -8.95854053e+01] [-1.05892909e-02 1.38596550e-04 -9.99943922e-01 2.86118522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.237628 meters Centerline goodness [0,1] 0.9998871255389755 Centerline is valid? [True, True] Translation: X:75.87, Y:-89.59, Z:2.86 [[ 7.74309611e-01 -6.32760412e-01 -7.67385031e-03 7.58720641e+01] [-6.32730782e-01 -7.74347628e-01 6.12443509e-03 -8.95930513e+01] [-9.81752785e-03 1.13272353e-04 -9.99951801e-01 2.86046899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.86, Y:-89.60, Z:2.86 [[ 8.23985695e-01 -5.66581426e-01 -5.74991223e-03 7.58647031e+01] [-5.66568050e-01 -8.24005756e-01 3.89353511e-03 -8.96003148e+01] [-6.94396544e-03 4.94993247e-05 -9.99975889e-01 2.85649895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.86, Y:-89.61, Z:2.86 [[ 8.66900958e-01 -4.98453645e-01 -5.16653417e-03 7.58571385e+01] [-4.98444995e-01 -8.66916353e-01 2.93665027e-03 -8.96069282e+01] [-5.94273699e-03 2.94481698e-05 -9.99982341e-01 2.85541244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.85, Y:-89.61, Z:2.85 [[ 9.04162448e-01 -4.27160994e-01 -4.87366098e-03 7.58495324e+01] [-4.27154879e-01 -9.04175583e-01 2.28575335e-03 -8.96127235e+01] [-5.38302993e-03 1.51157239e-05 -9.99985511e-01 2.85486940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.84, Y:-89.62, Z:2.85 [[ 9.35615355e-01 -3.52991049e-01 -4.60719042e-03 7.58431870e+01] [-3.52986783e-01 -9.35626699e-01 1.73538933e-03 -8.96205997e+01] [-4.92318726e-03 2.62042466e-06 -9.99987881e-01 2.85409578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.84, Y:-89.63, Z:2.85 [[ 9.60964680e-01 -2.76634775e-01 -4.48172492e-03 7.58367141e+01] [-2.76631730e-01 -9.60975130e-01 1.29799982e-03 -8.96277385e+01] [-4.66589807e-03 -7.54466240e-06 -9.99989115e-01 2.85405799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.83, Y:-89.64, Z:2.86 [[ 9.80346822e-01 -1.97217384e-01 -5.04110569e-03 7.58311977e+01] [-1.97214637e-01 -9.80359782e-01 1.04136228e-03 -8.96353429e+01] [-5.14747202e-03 -2.67163780e-05 -9.99986751e-01 2.85510206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.82, Y:-89.64, Z:2.85 [[ 9.92918408e-01 -1.18706984e-01 -4.65685965e-03 7.58236761e+01] [-1.18705539e-01 -9.92929328e-01 5.86534322e-04 -8.96416857e+01] [-4.69355825e-03 -2.95856915e-05 -9.99988985e-01 2.85430846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.477628 meters Centerline goodness [0,1] 0.9998646178839775 Centerline is valid? [True, True] Translation: X:75.82, Y:-89.65, Z:2.86 [[ 9.99168827e-01 -4.03830347e-02 -5.55570239e-03 7.58172731e+01] [-4.03822048e-02 -9.99184272e-01 2.61520256e-04 -8.96489482e+01] [-5.56173143e-03 -3.69513757e-05 -9.99984533e-01 2.85709373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.81, Y:-89.66, Z:2.85 [[ 9.99229231e-01 3.89386658e-02 -4.97235349e-03 7.58113557e+01] [ 3.89383709e-02 -9.99241602e-01 -1.56139171e-04 -8.96567189e+01] [-4.97466232e-03 -3.75965206e-05 -9.99987626e-01 2.85444774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.81, Y:-89.66, Z:2.86 [[ 9.93116218e-01 1.16938748e-01 -6.74583607e-03 7.58058637e+01] [ 1.16936403e-01 -9.93139128e-01 -7.42305411e-04 -8.96645330e+01] [-6.78635801e-03 -5.16382639e-05 -9.99976971e-01 2.85652798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.80, Y:-89.67, Z:2.86 [[ 9.81005671e-01 1.93809553e-01 -8.10738222e-03 7.58005710e+01] [ 1.93803435e-01 -9.81039170e-01 -1.54118616e-03 -8.96727715e+01] [-8.25235612e-03 -5.93261504e-05 -9.99965947e-01 2.85761587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.59762800000001 meters Centerline goodness [0,1] 0.9998417864569207 Centerline is valid? [True, True] Translation: X:75.80, Y:-89.68, Z:2.86 [[ 9.63176475e-01 2.68714618e-01 -9.13961105e-03 7.57964497e+01] [ 2.68703071e-01 -9.63219835e-01 -2.49175685e-03 -8.96801925e+01] [-9.47302614e-03 -5.58399757e-05 -9.99955128e-01 2.86148169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.79, Y:-89.69, Z:2.86 [[ 9.39467083e-01 3.42527524e-01 -8.74616636e-03 7.57913765e+01] [ 3.42513149e-01 -9.39507793e-01 -3.13841615e-03 -8.96884146e+01] [-9.29208537e-03 -4.72383145e-05 -9.99956827e-01 2.85901527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.79, Y:-89.70, Z:2.86 [[ 9.10783982e-01 4.12803740e-01 -8.09997405e-03 7.57875942e+01] [ 4.12787646e-01 -9.10819999e-01 -3.64531538e-03 -8.96963439e+01] [-8.88241818e-03 -2.34743587e-05 -9.99960550e-01 2.85758781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.78, Y:-89.71, Z:2.86 [[ 8.76150214e-01 4.81978273e-01 -7.59916436e-03 7.57849005e+01] [ 4.81960287e-01 -8.76183168e-01 -4.16379435e-03 -8.97063542e+01] [-8.66511831e-03 -1.43861233e-05 -9.99962457e-01 2.85717494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.78, Y:-89.72, Z:2.86 [[ 8.35722574e-01 5.49104013e-01 -7.24993166e-03 7.57829218e+01] [ 5.49083502e-01 -8.35754021e-01 -4.74609826e-03 -8.97169232e+01] [-8.66526114e-03 -1.43964108e-05 -9.99962456e-01 2.85717624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.78, Y:-89.73, Z:2.86 [[ 7.92088222e-01 6.10370312e-01 -6.65813148e-03 7.57816315e+01] [ 6.10348621e-01 -7.92116205e-01 -5.14584086e-03 -8.97273788e+01] [-8.41488233e-03 1.21785748e-05 -9.99964594e-01 2.85718858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.78, Y:-89.74, Z:2.86 [[ 7.43417674e-01 6.68802407e-01 -5.78808817e-03 7.57817588e+01] [ 6.68781828e-01 -7.43440206e-01 -5.24666803e-03 -8.97378515e+01] [-7.81208167e-03 2.94975561e-05 -9.99969485e-01 2.85685383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.78, Y:-89.75, Z:2.86 [[ 6.90870167e-01 7.22961291e-01 -5.03836187e-03 7.57801164e+01] [ 7.22941545e-01 -6.90888536e-01 -5.34345945e-03 -8.97478880e+01] [-7.34406080e-03 4.91956069e-05 -9.99973031e-01 2.85719852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.78, Y:-89.76, Z:2.86 [[ 6.34506123e-01 7.72906690e-01 -4.15077564e-03 7.57788345e+01] [ 7.72889480e-01 -6.34519696e-01 -5.15808565e-03 -8.97574075e+01] [-6.62046780e-03 6.47461032e-05 -9.99978082e-01 2.85552939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.78, Y:-89.77, Z:2.85 [[ 5.76860345e-01 8.16839258e-01 -2.40177876e-03 7.57790965e+01] [ 8.16831681e-01 -5.76865341e-01 -3.51910227e-03 -8.97673846e+01] [-4.26004381e-03 6.81815640e-05 -9.99990924e-01 2.85266132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.78, Y:-89.78, Z:2.85 [[ 5.13851937e-01 8.57877153e-01 -1.72549003e-03 7.57809479e+01] [ 8.57871870e-01 -5.13854830e-01 -3.01159268e-03 -8.97788664e+01] [-3.47022794e-03 6.72633761e-05 -9.99993976e-01 2.85187819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.78, Y:-89.79, Z:2.85 [[ 4.48019072e-01 8.94022907e-01 -1.39750638e-03 7.57846450e+01] [ 8.94018028e-01 -4.48021246e-01 -2.95434367e-03 -8.97903684e+01] [-3.26736346e-03 7.42064152e-05 -9.99994659e-01 2.85168034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.95762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.79, Y:-89.80, Z:2.85 [[ 3.79260124e-01 9.25289332e-01 -1.18748843e-03 7.57894088e+01] [ 9.25284068e-01 -3.79261973e-01 -3.12241149e-03 -8.98017147e+01] [-3.33950324e-03 8.54420458e-05 -9.99994420e-01 2.85175002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.987628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.80, Y:-89.81, Z:2.85 [[ 3.09858417e-01 9.50781972e-01 -1.18482008e-03 7.57981881e+01] [ 9.50773392e-01 -3.09860657e-01 -4.04097649e-03 -8.98135932e+01] [-4.20921672e-03 1.25635170e-04 -9.99991133e-01 2.85293944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.81, Y:-89.82, Z:2.85 [[ 2.35813993e-01 9.71797700e-01 -9.95306354e-04 7.58061504e+01] [ 9.71786143e-01 -2.35816046e-01 -4.74179445e-03 -8.98245032e+01] [-4.84277415e-03 1.50956562e-04 -9.99988262e-01 2.85359005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.81, Y:-89.84, Z:2.85 [[ 1.60119572e-01 9.87097353e-01 -7.33213009e-04 7.58140728e+01] [ 9.87081091e-01 -1.60121145e-01 -5.66906126e-03 -8.98356916e+01] [-5.71331827e-03 1.83986965e-04 -9.99983662e-01 2.85380056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.82, Y:-89.85, Z:2.85 [[ 8.32709883e-02 9.96526898e-01 -2.91358334e-04 7.58246136e+01] [ 9.96510075e-01 -8.32712765e-02 -5.79359051e-03 -8.98460528e+01] [-5.79773055e-03 1.92096492e-04 -9.99983175e-01 2.85450431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.84, Y:-89.86, Z:2.85 [[ 4.90906714e-03 9.99987937e-01 1.62102865e-04 7.58367924e+01] [ 9.99971432e-01 -4.90805422e-03 -5.74865912e-03 -8.98555420e+01] [-5.74779416e-03 1.90318788e-04 -9.99983463e-01 2.85448398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.85, Y:-89.86, Z:2.85 [[-7.39591801e-02 9.97261075e-01 6.23656007e-04 7.58493285e+01] [ 9.97244056e-01 7.39615634e-02 -5.82928972e-03 -8.98632584e+01] [-5.85945030e-03 1.90807758e-04 -9.99982815e-01 2.85454150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.86, Y:-89.87, Z:2.85 [[-1.52883171e-01 9.88243731e-01 1.03169595e-03 7.58631105e+01] [ 9.88228376e-01 1.52886549e-01 -5.51184269e-03 -8.98699182e+01] [-5.60477642e-03 1.76883226e-04 -9.99984277e-01 2.85446816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.88, Y:-89.88, Z:2.85 [[-2.31388734e-01 9.72860312e-01 1.43763214e-03 7.58769553e+01] [ 9.72845724e-01 2.31393141e-01 -5.33017673e-03 -8.98753941e+01] [-5.51817562e-03 1.65251438e-04 -9.99984761e-01 2.85451039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.89, Y:-89.88, Z:2.85 [[-3.11703574e-01 9.50177886e-01 1.69327365e-03 7.58941164e+01] [ 9.50165985e-01 3.11708147e-01 -4.75727232e-03 -8.98788986e+01] [-5.04806215e-03 1.26032244e-04 -9.99987251e-01 2.85425431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.91, Y:-89.88, Z:2.85 [[-3.87806619e-01 9.21738833e-01 1.88415492e-03 7.59079952e+01] [ 9.21729206e-01 3.87811183e-01 -4.21398755e-03 -8.98828407e+01] [-4.61489232e-03 1.02468352e-04 -9.99989346e-01 2.85441168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.92, Y:-89.89, Z:2.86 [[-4.61696006e-01 8.87035887e-01 2.03305162e-03 7.59198800e+01] [ 8.87028043e-01 4.61700476e-01 -3.73112178e-03 -8.98876056e+01] [-4.24829982e-03 8.07297720e-05 -9.99990973e-01 2.85524351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.94, Y:-89.89, Z:2.85 [[-5.32187851e-01 8.46623316e-01 2.24793824e-03 7.59361344e+01] [ 8.46616285e-01 5.32192594e-01 -3.45084307e-03 -8.98870670e+01] [-4.11790029e-03 6.66443645e-05 -9.99991519e-01 2.85498844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.95, Y:-89.89, Z:2.86 [[-5.99059410e-01 8.00701694e-01 2.14926341e-03 7.59492729e+01] [ 8.00696826e-01 5.99063264e-01 -2.79250885e-03 -8.98873358e+01] [-3.52351132e-03 4.80296885e-05 -9.99993791e-01 2.85529200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.97, Y:-89.88, Z:2.86 [[-6.64193570e-01 7.47558078e-01 1.95482995e-03 7.59650808e+01] [ 7.47554946e-01 6.64196446e-01 -2.16428418e-03 -8.98832243e+01] [-2.91631923e-03 2.38391629e-05 -9.99995747e-01 2.85512319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.98, Y:-89.88, Z:2.86 [[-7.22604314e-01 6.91259276e-01 1.90237502e-03 7.59769369e+01] [ 6.91256933e-01 7.22606818e-01 -1.79972434e-03 -8.98797096e+01] [-2.61874530e-03 1.45413487e-05 -9.99996571e-01 2.85511708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.00, Y:-89.86, Z:2.86 [[-7.71381347e-01 6.36370588e-01 1.81450043e-03 7.59988486e+01] [ 6.36368848e-01 7.71383481e-01 -1.48804183e-03 -8.98594324e+01] [-2.34662171e-03 6.84384288e-06 -9.99997247e-01 2.85505422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.02, Y:-89.84, Z:2.86 [[-8.16978622e-01 5.76664020e-01 2.13053188e-03 7.60174708e+01] [ 5.76662046e-01 8.16981400e-01 -1.50874978e-03 -8.98350711e+01] [-2.61064664e-03 -4.01944482e-06 -9.99996592e-01 2.85538572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.02, Y:-89.81, Z:2.86 [[-8.56666442e-01 5.15865990e-01 2.21088080e-03 7.60249369e+01] [ 5.15864246e-01 8.56669295e-01 -1.34155113e-03 -8.98053295e+01] [-2.58605430e-03 -8.74747724e-06 -9.99996656e-01 2.85585791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.06, Y:-89.79, Z:2.86 [[-8.91480306e-01 4.53051801e-01 2.63229588e-03 7.60581299e+01] [ 4.53049782e-01 8.91484192e-01 -1.35284458e-03 -8.97917248e+01] [-2.95955884e-03 -1.34732298e-05 -9.99995620e-01 2.85627496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.07, Y:-89.77, Z:2.86 [[-9.21624625e-01 3.88071375e-01 2.94263165e-03 7.60728301e+01] [ 3.88069337e-01 9.21629322e-01 -1.25795146e-03 -8.97674493e+01] [-3.20019056e-03 -1.74139289e-05 -9.99994879e-01 2.85727647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.09, Y:-89.74, Z:2.86 [[-9.46716590e-01 3.22045446e-01 3.79867280e-03 7.60866008e+01] [ 3.22042761e-01 9.46724210e-01 -1.31513838e-03 -8.97446484e+01] [-4.01982983e-03 -2.17282485e-05 -9.99991920e-01 2.85838327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.10, Y:-89.72, Z:2.86 [[-9.66906684e-01 2.55105667e-01 3.54451046e-03 7.60995050e+01] [ 2.55103893e-01 9.66913180e-01 -9.51679071e-04 -8.97211531e+01] [-3.67001260e-03 -1.59664387e-05 -9.99993265e-01 2.85806616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.11, Y:-89.70, Z:2.86 [[-9.82329459e-01 1.87128556e-01 3.42601825e-03 7.61127412e+01] [ 1.87127380e-01 9.82335433e-01 -6.63515480e-04 -8.96973000e+01] [-3.48966181e-03 -1.06889859e-05 -9.99993911e-01 2.85776282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.28, Y:-88.91, Z:2.00 [[-9.66111192e-01 -2.58107361e-01 3.12319651e-03 7.62757824e+01] [ 2.58105993e-01 -9.66116240e-01 -8.40503894e-04 -8.89077091e+01] [ 3.23431111e-03 -5.90448214e-06 9.99994770e-01 1.99640030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.70762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.06, Y:-89.69, Z:2.86 [[-9.82348895e-01 1.87036441e-01 2.83163546e-03 7.60613431e+01] [ 1.87035674e-01 9.82352976e-01 -5.35827512e-04 -8.96909979e+01] [-2.88188479e-03 3.24728260e-06 -9.99995847e-01 2.85844750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.737628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.22, Y:-88.90, Z:2.00 [[-9.68061072e-01 -2.50695333e-01 3.10006598e-03 7.62235272e+01] [ 2.50694101e-01 -9.68066036e-01 -7.86082419e-04 -8.88950497e+01] [ 3.19813578e-03 1.61924657e-05 9.99994886e-01 1.99547222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.01, Y:-89.69, Z:2.86 [[-9.82358945e-01 1.86976645e-01 3.26159803e-03 7.60127377e+01] [ 1.86975672e-01 9.82364359e-01 -6.03541781e-04 -8.96869177e+01] [-3.31692587e-03 1.69448154e-05 -9.99994499e-01 2.85905182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.01, Y:-89.67, Z:2.86 [[-9.92438769e-01 1.22686089e-01 3.66250836e-03 7.60127504e+01] [ 1.22685404e-01 9.92445526e-01 -4.12050951e-04 -8.96654165e+01] [-3.68539295e-03 4.04009795e-05 -9.99993208e-01 2.85944014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.03, Y:-89.64, Z:2.86 [[-9.98473399e-01 5.50965828e-02 3.90348637e-03 7.60258904e+01] [ 5.50963783e-02 9.98481028e-01 -1.59975498e-04 -8.96423467e+01] [-3.90637118e-03 5.53366822e-05 -9.99992369e-01 2.85941432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.07, Y:-88.80, Z:1.99 [[-9.95766128e-01 -9.18132990e-02 4.48726510e-03 7.60740049e+01] [ 9.18122486e-02 -9.95776239e-01 -4.39972163e-04 -8.88010857e+01] [ 4.50870726e-03 -2.61234790e-05 9.99989835e-01 1.99450180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.94, Y:-89.64, Z:2.86 [[-9.98368587e-01 5.69146514e-02 4.57027043e-03 7.59370133e+01] [ 5.69145130e-02 9.98379042e-01 -1.60447098e-04 -8.96429878e+01] [-4.57199401e-03 9.99293737e-05 -9.99989543e-01 2.86030171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.98, Y:-88.79, Z:1.99 [[-9.96967070e-01 -7.76612559e-02 5.03889976e-03 7.59789178e+01] [ 7.76598572e-02 -9.96979801e-01 -4.72939449e-04 -8.87896355e+01] [ 5.06041035e-03 -8.01848212e-05 9.99987193e-01 1.99304490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.947628 meters Centerline goodness [0,1] 0.9999548553112726 Centerline is valid? [True, True] Translation: X:75.85, Y:-89.65, Z:2.86 [[-9.97913738e-01 6.42696255e-02 6.13082659e-03 7.58450119e+01] [ 6.42697442e-02 9.97932547e-01 -1.77858540e-04 -8.96534411e+01] [-6.12958229e-03 2.16539176e-04 -9.99981190e-01 2.86413621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.977628 meters Centerline goodness [0,1] 0.9998644557899968 Centerline is valid? [True, True] Translation: X:75.88, Y:-88.77, Z:1.99 [[-9.98346470e-01 -5.70724054e-02 6.86054045e-03 7.58816839e+01] [ 5.70697031e-02 -9.98370023e-01 -5.89177883e-04 -8.87726412e+01] [ 6.88298372e-03 -1.96674653e-04 9.99976293e-01 1.98853617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.75, Y:-89.65, Z:2.86 [[-9.97792292e-01 6.61656805e-02 5.71348277e-03 7.57481534e+01] [ 6.61660184e-02 9.97808619e-01 -1.30059981e-04 -8.96512219e+01] [-5.70956786e-03 2.48265560e-04 -9.99983669e-01 2.86219533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.78, Y:-88.77, Z:1.99 [[-9.98973106e-01 -4.49975252e-02 5.28731984e-03 7.57766761e+01] [ 4.49955339e-02 -9.98987065e-01 -4.95022461e-04 -8.87725521e+01] [ 5.30423892e-03 -2.56608347e-04 9.99985900e-01 1.99324439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.65, Y:-89.65, Z:2.86 [[-9.97690331e-01 6.77716654e-02 4.58305786e-03 7.56473347e+01] [ 6.77720383e-02 9.97700830e-01 -7.40709736e-05 -8.96504103e+01] [-4.57754054e-03 2.36703278e-04 -9.99989495e-01 2.86175724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.09762800000001 meters Centerline goodness [0,1] 0.9998417435340929 Centerline is valid? [True, True] Translation: X:75.65, Y:-89.62, Z:2.86 [[-9.99986115e-01 -2.48352187e-04 5.26387667e-03 7.56493176e+01] [-2.46827555e-04 9.99999927e-01 2.90288221e-04 -8.96203871e+01] [-5.26394838e-03 2.88984920e-04 -9.99986104e-01 2.86403400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.64, Y:-89.59, Z:2.86 [[-9.97499064e-01 -7.05502494e-02 4.27554850e-03 7.56395014e+01] [-7.05485584e-02 9.97508197e-01 5.45229641e-04 -8.95922107e+01] [-4.30336077e-03 2.42232273e-04 -9.99990711e-01 2.86080783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.61, Y:-89.57, Z:2.86 [[-9.89984558e-01 -1.41140702e-01 3.14281249e-03 7.56115464e+01] [-1.41139395e-01 9.89989529e-01 6.35223161e-04 -8.95687672e+01] [-3.20100730e-03 1.85286468e-04 -9.99994860e-01 2.85982087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.56, Y:-89.55, Z:2.86 [[-9.76805770e-01 -2.14117145e-01 2.08245629e-03 7.55556588e+01] [-2.14116385e-01 9.76807982e-01 5.83918952e-04 -8.95464097e+01] [-2.15918699e-03 1.24487389e-04 -9.99997661e-01 2.85942110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.49, Y:-89.54, Z:2.86 [[-9.57784316e-01 -2.87484207e-01 1.42663785e-03 7.54912038e+01] [-2.87483754e-01 9.57785375e-01 5.17259377e-04 -8.95356611e+01] [-1.51511677e-03 8.52877147e-05 -9.99998849e-01 2.85946513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.41, Y:-89.53, Z:2.86 [[-9.31758599e-01 -3.63078338e-01 -1.82913222e-04 7.54139262e+01] [-3.63078330e-01 9.31758617e-01 -7.94137281e-05 -8.95259664e+01] [ 1.99264376e-04 -7.58259683e-06 -9.99999980e-01 2.85796953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.33, Y:-89.53, Z:2.86 [[-9.00417726e-01 -4.35024658e-01 -1.21050704e-03 7.53284218e+01] [-4.35024174e-01 9.00418538e-01 -6.51953020e-04 -8.95303624e+01] [ 1.37357862e-03 -6.04302305e-05 -9.99999055e-01 2.85709785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.24, Y:-89.55, Z:2.86 [[-8.62973676e-01 -5.05244230e-01 -2.16861171e-03 7.52390315e+01] [-5.05242328e-01 8.62976394e-01 -1.39017725e-03 -8.95489325e+01] [ 2.57383975e-03 -1.04011943e-04 -9.99996682e-01 2.85569621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.15, Y:-89.58, Z:2.85 [[-8.19745496e-01 -5.72721003e-01 -2.82395677e-03 7.51483530e+01] [-5.72717062e-01 8.19750350e-01 -2.12863817e-03 -8.95753003e+01] [ 3.53405533e-03 -1.27613329e-04 -9.99993747e-01 2.85475202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.05, Y:-89.61, Z:2.86 [[-7.71139009e-01 -6.36660845e-01 -2.75644942e-03 7.50492060e+01] [-6.36656232e-01 7.71143926e-01 -2.42637708e-03 -8.96056856e+01] [ 3.67039851e-03 -1.16163317e-04 -9.99993257e-01 2.85532769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.95, Y:-89.65, Z:2.86 [[-7.17346828e-01 -6.96711598e-01 -2.54527525e-03 7.49532937e+01] [-6.96706716e-01 7.17351337e-01 -2.60994223e-03 -8.96529966e+01] [ 3.64423363e-03 -9.89234188e-05 -9.99993355e-01 2.85576615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.42762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.85, Y:-89.71, Z:2.86 [[-6.56307765e-01 -7.54490630e-01 -2.00152364e-03 7.48534119e+01] [-7.54486840e-01 6.56310815e-01 -2.39241820e-03 -8.97071874e+01] [ 3.11867872e-03 -6.00393960e-05 -9.99995135e-01 2.85704743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.45762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.76, Y:-89.77, Z:2.86 [[-5.94374658e-01 -8.04185752e-01 -2.01045513e-03 7.47622060e+01] [-8.04180826e-01 5.94378056e-01 -2.81540514e-03 -8.97716569e+01] [ 3.45907911e-03 -5.66360050e-05 -9.99994016e-01 2.85744431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.67, Y:-89.84, Z:2.86 [[-5.27547933e-01 -8.49523538e-01 -1.71362371e-03 7.46743416e+01] [-8.49518804e-01 5.27550715e-01 -2.83628965e-03 -8.98446487e+01] [ 3.31351823e-03 -4.05231726e-05 -9.99994509e-01 2.85781398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.59, Y:-89.93, Z:2.86 [[-4.59765959e-01 -8.88038995e-01 -1.41667108e-03 7.45944033e+01] [-8.88034545e-01 4.59768141e-01 -2.81135323e-03 -8.99273668e+01] [ 3.14793153e-03 -3.45116626e-05 -9.99995045e-01 2.85823247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.52, Y:-90.02, Z:2.86 [[-3.89796317e-01 -9.20900397e-01 -1.13618372e-03 7.45209319e+01] [-9.20896247e-01 3.89797972e-01 -2.76485454e-03 -9.00170771e+01] [ 2.98903775e-03 -3.14227927e-05 -9.99995532e-01 2.85846246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.45, Y:-90.11, Z:2.86 [[-3.17603484e-01 -9.48223087e-01 -1.00211864e-03 7.44547055e+01] [-9.48218027e-01 3.17605063e-01 -3.09802211e-03 -9.01139781e+01] [ 3.25589405e-03 -3.37156585e-05 -9.99994699e-01 2.85841229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.39, Y:-90.22, Z:2.86 [[-2.43793933e-01 -9.69826595e-01 -9.45390052e-04 7.43937054e+01] [-9.69818603e-01 2.43795763e-01 -3.93735299e-03 -9.02178695e+01] [ 4.04903173e-03 -4.30459128e-05 -9.99991802e-01 2.85819158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.34, Y:-90.33, Z:2.86 [[-1.68318665e-01 -9.85732427e-01 -6.39083548e-04 7.43435162e+01] [-9.85724319e-01 1.68319873e-01 -3.99842313e-03 -9.03270412e+01] [ 4.04894580e-03 -4.30490487e-05 -9.99991802e-01 2.85819585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.30, Y:-90.44, Z:2.86 [[-9.17783165e-02 -9.95779404e-01 -3.46263303e-04 7.43012663e+01] [-9.95770331e-01 9.17789585e-02 -4.25090314e-03 -9.04430458e+01] [ 4.26474148e-03 -4.53420092e-05 -9.99990905e-01 2.85769088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.27, Y:-90.56, Z:2.86 [[-1.43108014e-02 -9.99897595e-01 -2.02092888e-05 7.42674233e+01] [-9.99884353e-01 1.43107158e-02 -5.14617709e-03 -9.05583063e+01] [ 5.14593930e-03 -5.34389664e-05 -9.99986758e-01 2.85771923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.24, Y:-90.68, Z:2.86 [[ 6.43259076e-02 -9.97928868e-01 3.90324813e-04 7.42420996e+01] [-9.97914739e-01 -6.43270740e-02 -5.31056151e-03 -9.06772253e+01] [ 5.32467109e-03 -4.79041947e-05 -9.99985823e-01 2.85784902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.23, Y:-90.80, Z:2.86 [[ 1.42314535e-01 -9.89821173e-01 7.86496996e-04 7.42269259e+01] [-9.89807612e-01 -1.42316702e-01 -5.18145131e-03 -9.07987228e+01] [ 5.24064187e-03 -4.10848806e-05 -9.99986267e-01 2.85829627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.22, Y:-90.92, Z:2.86 [[ 2.19289987e-01 -9.75659124e-01 1.08448349e-03 7.42219298e+01] [-9.75647909e-01 -2.19292666e-01 -4.67814261e-03 -9.09215915e+01] [ 4.80209179e-03 -3.22042164e-05 -9.99988469e-01 2.85850100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.23, Y:-91.04, Z:2.86 [[ 2.94988174e-01 -9.55499907e-01 1.38001109e-03 7.42254830e+01] [-9.55489846e-01 -2.94991401e-01 -4.38496846e-03 -9.10426111e+01] [ 4.59692836e-03 -2.50727512e-05 -9.99989434e-01 2.85904923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.24, Y:-91.16, Z:2.86 [[ 3.69545812e-01 -9.29211694e-01 1.23309137e-03 7.42379242e+01] [-9.29206619e-01 -3.69547869e-01 -3.07119782e-03 -9.11617495e+01] [ 3.30947922e-03 -1.08483707e-05 -9.99994524e-01 2.86067761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.26, Y:-91.28, Z:2.86 [[ 4.40316199e-01 -8.97841884e-01 1.26361067e-03 7.42599430e+01] [-8.97838238e-01 -4.40318012e-01 -2.55857475e-03 -9.12780540e+01] [ 2.85358611e-03 -7.93606722e-06 -9.99995928e-01 2.86136022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.29, Y:-91.39, Z:2.86 [[ 5.08143548e-01 -8.61271941e-01 8.82778063e-04 7.42922875e+01] [-8.61270654e-01 -5.08144315e-01 -1.48870916e-03 -9.13935028e+01] [ 1.73076208e-03 -3.83288757e-06 -9.99998502e-01 2.86246752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.33, Y:-91.50, Z:2.86 [[ 5.72515515e-01 -8.19893745e-01 4.81877507e-04 7.43310558e+01] [-8.19893456e-01 -5.72515717e-01 -6.88301180e-04 -9.15029937e+01] [ 8.40216279e-04 -1.02511095e-06 -9.99999647e-01 2.86402435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.38, Y:-91.60, Z:2.87 [[ 6.31530265e-01 -7.75350194e-01 -1.26542030e-03 7.43771123e+01] [-7.75348686e-01 -6.31531532e-01 1.52930703e-03 -9.16028241e+01] [-1.98490132e-03 1.53382987e-05 -9.99998030e-01 2.86660591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.99762800000002 meters Centerline goodness [0,1] 0.9998475310927665 Centerline is valid? [True, True] Translation: X:74.43, Y:-91.70, Z:2.87 [[ 6.86572849e-01 -7.27055120e-01 -2.92839922e-03 7.44304450e+01] [-7.27048780e-01 -6.86579093e-01 3.03655014e-03 -9.16997372e+01] [-4.21831700e-03 4.42761998e-05 -9.99991102e-01 2.87052646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.49, Y:-91.78, Z:2.87 [[ 7.35817678e-01 -6.77172971e-01 -3.01880938e-03 7.44874696e+01] [-6.77167649e-01 -7.35823867e-01 2.68553910e-03 -9.17820671e+01] [-4.03988649e-03 6.81729049e-05 -9.99991837e-01 2.86799162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.49, Y:-91.79, Z:2.87 [[ 7.83828371e-01 -6.20969225e-01 -3.21035360e-03 7.44861794e+01] [-6.20964458e-01 -7.83834941e-01 2.43446262e-03 -9.17860769e+01] [-4.02811369e-03 8.53146122e-05 -9.99991883e-01 2.86782541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.48, Y:-91.79, Z:2.87 [[ 8.27485718e-01 -5.61478271e-01 -3.08812280e-03 7.44844919e+01] [-5.61474783e-01 -8.27491475e-01 1.98151562e-03 -9.17892115e+01] [-3.66797325e-03 9.42272031e-05 -9.99993269e-01 2.86704016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.48, Y:-91.79, Z:2.87 [[ 8.66652061e-01 -4.98905582e-01 -2.72498614e-03 7.44821420e+01] [-4.98903452e-01 -8.66656340e-01 1.46085602e-03 -9.17908075e+01] [-3.09045574e-03 9.34511099e-05 -9.99995220e-01 2.86662382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.48, Y:-91.80, Z:2.87 [[ 8.99840665e-01 -4.36212597e-01 -2.31235728e-03 7.44781461e+01] [-4.36211426e-01 -8.99843632e-01 1.01529544e-03 -9.17957678e+01] [-2.52364463e-03 9.50725370e-05 -9.99996811e-01 2.86555927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.17762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.47, Y:-91.80, Z:2.87 [[ 9.30092902e-01 -3.67316029e-01 -2.47582607e-03 7.44736697e+01] [-3.67315029e-01 -9.30096191e-01 8.63316536e-04 -9.18007853e+01] [-2.61986639e-03 1.06443543e-04 -9.99996562e-01 2.86564074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.20762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.47, Y:-91.81, Z:2.87 [[ 9.55290265e-01 -2.95657637e-01 -2.65925501e-03 7.44692429e+01] [-2.95656832e-01 -9.55293959e-01 6.99792439e-04 -9.18087662e+01] [-2.74726922e-03 1.17722007e-04 -9.99996219e-01 2.86586592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.46, Y:-91.81, Z:2.87 [[ 9.75049381e-01 -2.21966768e-01 -3.07557283e-03 7.44616919e+01] [-2.21966115e-01 -9.75054221e-01 5.56582904e-04 -9.18133166e+01] [-3.12239318e-03 1.39977135e-04 -9.99995116e-01 2.86660648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.45, Y:-91.82, Z:2.87 [[ 9.89476877e-01 -1.44648601e-01 -3.50598972e-03 7.44549693e+01] [-1.44648252e-01 -9.89483076e-01 3.54354102e-04 -9.18233626e+01] [-3.52037432e-03 1.56510093e-04 -9.99993791e-01 2.86622981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.297628 meters Centerline goodness [0,1] 0.9998666014495976 Centerline is valid? [True, True] Translation: X:74.45, Y:-91.83, Z:2.87 [[ 9.97883334e-01 -6.49489639e-02 -3.23798402e-03 7.44483448e+01] [-6.49490706e-02 -9.97888577e-01 7.23095358e-05 -9.18321300e+01] [-3.23584370e-03 1.38147572e-04 -9.99994755e-01 2.86768555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.44, Y:-91.84, Z:2.86 [[ 9.99822548e-01 1.86937767e-02 -2.32706275e-03 7.44428725e+01] [ 1.86935221e-02 -9.99825252e-01 -1.31087512e-04 -9.18428121e+01] [-2.32910662e-03 8.75632514e-05 -9.99997284e-01 2.86436502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.44, Y:-91.86, Z:2.87 [[ 9.94244772e-01 1.07053813e-01 -4.10053113e-03 7.44381476e+01] [ 1.07052439e-01 -9.94253222e-01 -5.53711893e-04 -9.18566794e+01] [-4.13624325e-03 1.11553297e-04 -9.99991439e-01 2.86754522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.44, Y:-91.87, Z:2.87 [[ 9.81497588e-01 1.91389589e-01 -5.70172973e-03 7.44355440e+01] [ 1.91385673e-01 -9.81514142e-01 -1.22979248e-03 -9.18692521e+01] [-5.83169785e-03 1.15808973e-04 -9.99982989e-01 2.86857102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.43, Y:-91.88, Z:2.87 [[ 9.62735073e-01 2.70363166e-01 -6.70350762e-03 7.44338785e+01] [ 2.70355752e-01 -9.62758404e-01 -2.00565848e-03 -9.18826248e+01] [-6.99611447e-03 1.18585921e-04 -9.99975520e-01 2.86891805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.43, Y:-91.89, Z:2.87 [[ 9.37799850e-01 3.47100150e-01 -7.27506702e-03 7.44316863e+01] [ 3.47088763e-01 -9.37828061e-01 -2.81388380e-03 -9.18928884e+01] [-7.79946149e-03 1.13765795e-04 -9.99969577e-01 2.86969826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.43, Y:-91.90, Z:2.87 [[ 9.07756914e-01 4.19437632e-01 -7.03258785e-03 7.44294638e+01] [ 4.19424072e-01 -9.07784148e-01 -3.37468814e-03 -9.19019442e+01] [-7.79954297e-03 1.13759860e-04 -9.99969577e-01 2.86969899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.43, Y:-91.91, Z:2.87 [[ 8.72145409e-01 4.89200228e-01 -6.74696292e-03 7.44281290e+01] [ 4.89184577e-01 -8.72171499e-01 -3.91478849e-03 -9.19110603e+01] [-7.79962419e-03 1.13754607e-04 -9.99969576e-01 2.86969973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.43, Y:-91.92, Z:2.87 [[ 8.30462880e-01 5.57034888e-01 -6.59834315e-03 7.44272636e+01] [ 5.57016281e-01 -8.30489086e-01 -4.55425655e-03 -9.19198227e+01] [-8.01673176e-03 1.06756451e-04 -9.99967860e-01 2.86994090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.43, Y:-91.93, Z:2.87 [[ 7.83993004e-01 6.20740759e-01 -5.99005206e-03 7.44262241e+01] [ 6.20721668e-01 -7.84015880e-01 -4.86930387e-03 -9.19282410e+01] [-7.71887131e-03 9.93450594e-05 -9.99970204e-01 2.86996533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.43, Y:-91.94, Z:2.87 [[ 7.33361220e-01 6.79821742e-01 -4.87038335e-03 7.44267187e+01] [ 6.79805924e-01 -7.33377387e-01 -4.63835169e-03 -9.19371187e+01] [-6.72508134e-03 9.06718016e-05 -9.99977382e-01 2.86874130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.43, Y:-91.95, Z:2.87 [[ 6.78726213e-01 7.34382081e-01 -3.69956445e-03 7.44275298e+01] [ 7.34370514e-01 -6.78736291e-01 -4.12252867e-03 -9.19461328e+01] [-5.53853983e-03 8.12172264e-05 -9.99984659e-01 2.86744722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.43, Y:-91.95, Z:2.86 [[ 6.22087924e-01 7.82945501e-01 -1.72001199e-03 7.44267384e+01] [ 7.82942268e-01 -6.22090299e-01 -2.25039139e-03 -9.19542428e+01] [-2.83193659e-03 5.32712233e-05 -9.99995989e-01 2.86494277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.43, Y:-91.96, Z:2.86 [[ 5.60819901e-01 8.27937120e-01 -1.07834845e-03 7.44282253e+01] [ 8.27935441e-01 -5.60820937e-01 -1.66801682e-03 -9.19641017e+01] [-1.98577343e-03 4.26541282e-05 -9.99998027e-01 2.86402690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.43, Y:-91.97, Z:2.86 [[ 4.98936664e-01 8.66637808e-01 -1.05618364e-03 7.44278537e+01] [ 8.66635608e-01 -4.98937778e-01 -1.95370063e-03 -9.19726257e+01] [-2.22012075e-03 5.94465208e-05 -9.99997534e-01 2.86400050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.43, Y:-91.98, Z:2.86 [[ 4.31976770e-01 9.01884140e-01 -1.03364038e-03 7.44313791e+01] [ 9.01881130e-01 -4.31978000e-01 -2.33130254e-03 -9.19832921e+01] [-2.54907469e-03 7.48477864e-05 -9.99996748e-01 2.86475824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.44, Y:-91.99, Z:2.87 [[ 3.61760625e-01 9.32270598e-01 -8.84080454e-04 7.44350133e+01] [ 9.32267229e-01 -3.61761696e-01 -2.50775708e-03 -9.19943428e+01] [-2.65773463e-03 8.30085323e-05 -9.99996465e-01 2.86520626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.44, Y:-92.00, Z:2.87 [[ 2.88861273e-01 9.57370751e-01 -6.39798529e-04 7.44407276e+01] [ 9.57367745e-01 -2.88861971e-01 -2.40064891e-03 -9.20048884e+01] [-2.48312451e-03 8.09320262e-05 -9.99996914e-01 2.86558459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.45, Y:-92.02, Z:2.87 [[ 2.13572074e-01 9.76927128e-01 -5.95876255e-04 7.44513713e+01] [ 9.76921784e-01 -2.13572878e-01 -3.23314810e-03 -9.20157371e+01] [-3.28581310e-03 1.08385651e-04 -9.99994596e-01 2.86604488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.46, Y:-92.02, Z:2.87 [[ 1.36593392e-01 9.90627100e-01 -4.39606836e-04 7.44617890e+01] [ 9.90618149e-01 -1.36594027e-01 -4.21371863e-03 -9.20249922e+01] [-4.23427154e-03 1.40083609e-04 -9.99991026e-01 2.86690740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.89762800000003 meters Centerline goodness [0,1] 0.9998875064683781 Centerline is valid? [True, True] Translation: X:74.47, Y:-92.03, Z:2.87 [[ 5.86938729e-02 9.98276011e-01 -1.86358400e-04 7.44734358e+01] [ 9.98249833e-01 -5.86936840e-02 -7.23345091e-03 -9.20345054e+01] [-7.23191858e-03 2.38527006e-04 -9.99973821e-01 2.87160885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.48, Y:-92.04, Z:2.87 [[-2.00322324e-02 9.99799253e-01 4.04104620e-04 7.44831725e+01] [ 9.99769844e-01 2.00347443e-02 -7.67260194e-03 -9.20440231e+01] [-7.67915782e-03 2.50312268e-04 -9.99970484e-01 2.87016987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.95762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.49, Y:-92.05, Z:2.87 [[-9.77223106e-02 9.95213105e-01 1.10720591e-03 7.44937611e+01] [ 9.95177668e-01 9.77281796e-02 -8.40311507e-03 -9.20508690e+01] [-8.47109546e-03 2.80694774e-04 -9.99964080e-01 2.87026950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.50, Y:-92.06, Z:2.87 [[-1.74579402e-01 9.84641481e-01 1.78515244e-03 7.45046851e+01] [ 9.84605702e-01 1.74588286e-01 -8.39890399e-03 -9.20571388e+01] [-8.58157597e-03 2.91395636e-04 -9.99963135e-01 2.87076555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.52, Y:-92.06, Z:2.87 [[-2.49962093e-01 9.68252631e-01 2.40701512e-03 7.45159425e+01] [ 9.68218547e-01 2.49973504e-01 -8.12967257e-03 -9.20636218e+01] [-8.47326686e-03 2.98406706e-04 -9.99964057e-01 2.87120609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.53, Y:-92.07, Z:2.87 [[-3.24820173e-01 9.45770968e-01 3.02177683e-03 7.45274889e+01] [ 9.45738212e-01 3.24834090e-01 -7.87711245e-03 -9.20682035e+01] [-8.43152040e-03 2.99164788e-04 -9.99964409e-01 2.87131711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.54, Y:-92.07, Z:2.87 [[-3.98236582e-01 9.17275729e-01 3.58620438e-03 7.45386944e+01] [ 9.17244909e-01 3.98252621e-01 -7.52508511e-03 -9.20723984e+01] [-8.33079322e-03 2.92663535e-04 -9.99965256e-01 2.87072500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.55, Y:-92.08, Z:2.87 [[-4.69624379e-01 8.82855098e-01 4.45180892e-03 7.45499238e+01] [ 8.82821408e-01 4.69645380e-01 -7.71871658e-03 -9.20757383e+01] [-8.90527977e-03 3.05254735e-04 -9.99960301e-01 2.87071795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.56, Y:-92.08, Z:2.87 [[-5.39146520e-01 8.42187842e-01 6.37714334e-03 7.45611393e+01] [ 8.42136671e-01 5.39184113e-01 -9.29082929e-03 -9.20800934e+01] [-1.12630779e-02 3.61307979e-04 -9.99936504e-01 2.87169974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.57, Y:-92.08, Z:2.87 [[-6.04845656e-01 7.96300357e-01 8.21422135e-03 7.45714463e+01] [ 7.96235651e-01 6.04901301e-01 -1.01589514e-02 -9.20837848e+01] [-1.30583698e-02 3.95858270e-04 -9.99914658e-01 2.87313967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.58, Y:-92.09, Z:2.87 [[-6.66963610e-01 7.45032420e-01 9.28634578e-03 7.45815557e+01] [ 7.44968030e-01 6.67028147e-01 -9.80227269e-03 -9.20854464e+01] [-1.34972650e-02 3.80271538e-04 -9.99908835e-01 2.87411393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.60, Y:-92.08, Z:2.87 [[-7.27352836e-01 6.86202209e-01 9.18589286e-03 7.45970882e+01] [ 6.86152231e-01 7.27410787e-01 -8.28635663e-03 -9.20800986e+01] [-1.23680338e-02 2.75815880e-04 -9.99923475e-01 2.87263314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.62, Y:-92.06, Z:2.87 [[-7.75977257e-01 6.30701627e-01 8.64607755e-03 7.46195972e+01] [ 6.30665490e-01 7.76025395e-01 -6.75467606e-03 -9.20614076e+01] [-1.09697609e-02 2.11307730e-04 -9.99939808e-01 2.87198530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.63, Y:-92.03, Z:2.87 [[-8.20539313e-01 5.71538299e-01 7.69467606e-03 7.46349626e+01] [ 5.71514852e-01 8.20575378e-01 -5.17910828e-03 -9.20348388e+01] [-9.27412045e-03 1.47959701e-04 -9.99956983e-01 2.86993345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.66, Y:-92.02, Z:2.87 [[-8.60685106e-01 5.09091768e-01 6.83526412e-03 7.46604498e+01] [ 5.09076623e-01 8.60712241e-01 -3.92809105e-03 -9.20166551e+01] [-7.88295432e-03 9.88237113e-05 -9.99968924e-01 2.86865919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.68, Y:-91.99, Z:2.87 [[-8.97385041e-01 4.41224451e-01 4.59049201e-03 7.46751240e+01] [ 4.41218861e-01 8.97396781e-01 -2.22127268e-03 -9.19897643e+01] [-5.09957257e-03 3.20747798e-05 -9.99986997e-01 2.86639302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.69, Y:-91.97, Z:2.86 [[-9.27689683e-01 3.73333504e-01 3.73444585e-03 7.46931124e+01] [ 3.73330530e-01 9.27697200e-01 -1.49013778e-03 -9.19659068e+01] [-4.02075332e-03 1.17972044e-05 -9.99991917e-01 2.86430935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.70, Y:-91.94, Z:2.86 [[-9.52670708e-01 3.03985172e-01 3.39675744e-03 7.46987549e+01] [ 3.03983242e-01 9.52676763e-01 -1.08323717e-03 -9.19377205e+01] [-3.56529992e-03 5.89011201e-07 -9.99993644e-01 2.86337070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.96, Y:-91.17, Z:1.99 [[-9.27998636e-01 -3.72572813e-01 2.83392178e-03 7.49586649e+01] [ 3.72570963e-01 -9.28002962e-01 -1.17446148e-03 -9.11653769e+01] [ 3.06746022e-03 -3.40616812e-05 9.99995295e-01 1.99247834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.66, Y:-91.92, Z:2.86 [[-9.55789130e-01 2.94039637e-01 2.79848105e-03 7.46588770e+01] [ 2.94038320e-01 9.55793226e-01 -8.80314940e-04 -9.19230874e+01] [-2.93361672e-03 -1.85347831e-05 -9.99995697e-01 2.86322607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.90, Y:-91.15, Z:1.99 [[-9.28168792e-01 -3.72145823e-01 3.19042264e-03 7.49030360e+01] [ 3.72143819e-01 -9.28174274e-01 -1.22266257e-03 -9.11500115e+01] [ 3.41627699e-03 5.24588230e-05 9.99994163e-01 1.99133838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.61, Y:-91.91, Z:2.86 [[-9.57329723e-01 2.88980061e-01 3.21333696e-03 7.46073152e+01] [ 2.88978340e-01 9.57335116e-01 -9.97914518e-04 -9.19067599e+01] [-3.36461771e-03 -2.67484505e-05 -9.99994339e-01 2.86358125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.86, Y:-91.14, Z:1.99 [[-9.29274151e-01 -3.69371554e-01 3.76919282e-03 7.48611166e+01] [ 3.69368838e-01 -9.29281792e-01 -1.41845368e-03 -9.11384433e+01] [ 4.02657870e-03 7.40900372e-05 9.99991891e-01 1.99067111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.57, Y:-91.90, Z:2.86 [[-9.58647071e-01 2.84562559e-01 4.46577652e-03 7.45668838e+01] [ 2.84559268e-01 9.58657472e-01 -1.36910550e-03 -9.18953031e+01] [-4.67074619e-03 -4.17108809e-05 -9.99989091e-01 2.86485114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.58, Y:-91.87, Z:2.87 [[-9.76192610e-01 2.16839743e-01 5.33986935e-03 7.45826268e+01] [ 2.16836252e-01 9.76207214e-01 -1.23120989e-03 -9.18727989e+01] [-5.47979422e-03 -4.40207426e-05 -9.99984985e-01 2.86532129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.77, Y:-91.08, Z:1.99 [[-9.55673890e-01 -2.94341627e-01 7.10083197e-03 7.47738360e+01] [ 2.94334836e-01 -9.55700255e-01 -2.00692539e-03 -9.10786225e+01] [ 7.37698861e-03 1.72056011e-04 9.99972775e-01 1.98764648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.54, Y:-91.87, Z:2.87 [[-9.75584156e-01 2.19498215e-01 7.48924115e-03 7.45351371e+01] [ 2.19491660e-01 9.75612902e-01 -1.69634351e-03 -9.18690879e+01] [-7.67894466e-03 -1.10998756e-05 -9.99970516e-01 2.86774885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.70762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.54, Y:-91.84, Z:2.87 [[-9.88193107e-01 1.53021166e-01 7.67502574e-03 7.45362946e+01] [ 1.53016664e-01 9.88222911e-01 -1.17382323e-03 -9.18446143e+01] [-7.76425608e-03 1.44428164e-05 -9.99969858e-01 2.86732077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.68, Y:-91.02, Z:1.99 [[-9.77141577e-01 -2.12459931e-01 7.42407340e-03 7.46810837e+01] [ 2.12453612e-01 -9.77169779e-01 -1.63870900e-03 -9.10213150e+01] [ 7.60274017e-03 -2.39794872e-05 9.99971098e-01 1.98778580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.49, Y:-91.85, Z:2.87 [[-9.87265864e-01 1.58871351e-01 8.12453988e-03 7.44864578e+01] [ 1.58866816e-01 9.87299288e-01 -1.20466465e-03 -9.18473059e+01] [-8.21273913e-03 1.01395492e-04 -9.99966270e-01 2.86650867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.50, Y:-91.82, Z:2.87 [[-9.95778605e-01 9.14122563e-02 8.29268366e-03 7.44954424e+01] [ 9.14101580e-02 9.95813127e-01 -6.32497297e-04 -9.18237929e+01] [-8.31578125e-03 1.28208247e-04 -9.99965415e-01 2.86681708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.57, Y:-90.97, Z:1.99 [[-9.92122058e-01 -1.24978868e-01 8.60836122e-03 7.45709090e+01] [ 1.24973195e-01 -9.92159398e-01 -1.19590834e-03 -9.09673396e+01] [ 8.69032975e-03 -1.10672638e-04 9.99962232e-01 1.98844348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.41, Y:-91.82, Z:2.87 [[-9.95814045e-01 9.10335023e-02 8.20297243e-03 7.44116477e+01] [ 9.10318124e-02 9.95847816e-01 -5.79927203e-04 -9.18209970e+01] [-8.22170499e-03 1.69231794e-04 -9.99966187e-01 2.86696222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.48, Y:-90.96, Z:1.99 [[-9.93382064e-01 -1.14660635e-01 6.70930087e-03 7.44834566e+01] [ 1.14656454e-01 -9.93404694e-01 -1.00575652e-03 -9.09558504e+01] [ 6.78037166e-03 -2.29835837e-04 9.99976987e-01 1.98922171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.33, Y:-91.81, Z:2.86 [[-9.96064610e-01 8.84102578e-02 6.23849659e-03 7.43270408e+01] [ 8.84094553e-02 9.96084135e-01 -4.04834144e-04 -9.18140865e+01] [-6.24985897e-03 1.48301121e-04 -9.99980458e-01 2.86487331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.33, Y:-91.78, Z:2.86 [[-9.99824264e-01 1.77590291e-02 6.00491550e-03 7.43290248e+01] [ 1.77595776e-02 9.99842286e-01 3.80155226e-05 -9.17848780e+01] [-6.00329332e-03 1.44653604e-04 -9.99981970e-01 2.86491022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.33, Y:-90.92, Z:1.99 [[-9.99301193e-01 -3.68840910e-02 6.05714600e-03 7.43318299e+01] [ 3.68825517e-02 -9.99319540e-01 -3.65666754e-04 -9.09230076e+01] [ 6.06651164e-03 -1.42008223e-04 9.99981588e-01 1.99010887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.23, Y:-91.79, Z:2.87 [[-9.99898653e-01 1.29366490e-02 5.94370981e-03 7.42281579e+01] [ 1.29373268e-02 9.99916306e-01 7.55992611e-05 -9.17858430e+01] [-5.94223436e-03 1.52487315e-04 -9.99982333e-01 2.86507699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.23, Y:-90.92, Z:1.99 [[-9.99564715e-01 -2.88634331e-02 6.10588135e-03 7.42299524e+01] [ 2.88620046e-02 -9.99583354e-01 -3.21956353e-04 -9.09217165e+01] [ 6.11263013e-03 -1.45588235e-04 9.99981307e-01 1.98956386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.13, Y:-91.78, Z:2.87 [[-9.99953498e-01 7.63567464e-03 5.89051454e-03 7.41290878e+01] [ 7.63646724e-03 9.99970835e-01 1.12075490e-04 -9.17837882e+01] [-5.88948697e-03 1.57052999e-04 -9.99982644e-01 2.86533314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.12, Y:-91.75, Z:2.86 [[-9.97968042e-01 -6.33926609e-02 6.41539637e-03 7.41240567e+01] [-6.33902340e-02 9.97988648e-01 5.81132743e-04 -9.17540924e+01] [-6.43933230e-03 1.73278429e-04 -9.99979252e-01 2.86490969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.05, Y:-90.90, Z:1.99 [[-9.98733941e-01 4.97400791e-02 7.51263278e-03 7.40483191e+01] [-4.97396563e-02 -9.98762188e-01 2.43217209e-04 -9.09044904e+01] [ 7.51543119e-03 -1.30766491e-04 9.99971750e-01 1.98851983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.00, Y:-91.76, Z:2.87 [[-9.97549740e-01 -6.95363576e-02 7.69483022e-03 7.40013271e+01] [-6.95326399e-02 9.97579395e-01 7.49940755e-04 -9.17596985e+01] [-7.72835223e-03 2.13061347e-04 -9.99970113e-01 2.86741232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.99, Y:-91.73, Z:2.87 [[-9.90010893e-01 -1.40779143e-01 7.72423828e-03 7.39858905e+01] [-1.40773137e-01 9.90041002e-01 1.31853068e-03 -9.17318786e+01] [-7.83293422e-03 2.17994479e-04 -9.99969298e-01 2.86777747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.95, Y:-91.71, Z:2.87 [[-9.77295485e-01 -2.11756041e-01 7.27424191e-03 7.39517497e+01] [-2.11748554e-01 9.77322533e-01 1.79314265e-03 -9.17095128e+01] [-7.48898931e-03 2.12120004e-04 -9.99971935e-01 2.86752075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.24762800000002 meters Centerline goodness [0,1] 0.9998663310089781 Centerline is valid? [True, True] Translation: X:73.90, Y:-91.70, Z:2.87 [[-9.59225588e-01 -2.82540690e-01 7.55175567e-03 7.38966234e+01] [-2.82530043e-01 9.59255287e-01 2.46358695e-03 -9.16954976e+01] [-7.94012511e-03 2.29537784e-04 -9.99968450e-01 2.86934745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.83, Y:-91.69, Z:2.87 [[-9.35163378e-01 -3.54175483e-01 5.40217628e-03 7.38295538e+01] [-3.54168579e-01 9.35178968e-01 2.21714921e-03 -9.16868823e+01] [-5.83726153e-03 1.60115649e-04 -9.99982950e-01 2.86565915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.75, Y:-91.69, Z:2.87 [[-9.05611823e-01 -4.24079912e-01 4.84297891e-03 7.37527760e+01] [-4.24073007e-01 9.05624761e-01 2.42415296e-03 -9.16891765e+01] [-5.41395619e-03 1.41564950e-04 -9.99985334e-01 2.86505552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.67, Y:-91.70, Z:2.86 [[-8.70437168e-01 -4.92262124e-01 4.13985820e-03 7.36657191e+01] [-4.92255906e-01 8.70447005e-01 2.47697547e-03 -9.16977217e+01] [-4.82284837e-03 1.18181867e-04 -9.99988363e-01 2.86382757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.58, Y:-91.72, Z:2.86 [[-8.28859756e-01 -5.59444358e-01 3.67625135e-03 7.35764354e+01] [-5.59438348e-01 8.28867904e-01 2.59486907e-03 -9.17155322e+01] [-4.49881161e-03 9.41465627e-05 -9.99989876e-01 2.86369636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.48, Y:-91.75, Z:2.86 [[-7.82718432e-01 -6.22367646e-01 3.22009434e-03 7.34820570e+01] [-6.22361968e-01 7.82725052e-01 2.65962226e-03 -9.17488871e+01] [-4.17571135e-03 7.76711143e-05 -9.99991279e-01 2.86378542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.42762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.39, Y:-91.79, Z:2.86 [[-7.31400141e-01 -6.81941852e-01 3.02401974e-03 7.33897518e+01] [-6.81935640e-01 7.31406390e-01 2.91134865e-03 -9.17908237e+01] [-4.19715785e-03 6.71739741e-05 -9.99991190e-01 2.86420212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.45762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.29, Y:-91.84, Z:2.86 [[-6.73600439e-01 -7.39088905e-01 3.16841932e-03 7.32939568e+01] [-7.39080366e-01 6.73607889e-01 3.55325193e-03 -9.18420441e+01] [-4.76044133e-03 5.17555520e-05 -9.99988668e-01 2.86473310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.21, Y:-91.90, Z:2.87 [[-6.13240118e-01 -7.89890424e-01 3.11072868e-03 7.32056697e+01] [-7.89879901e-01 6.13248006e-01 4.07735181e-03 -9.18995903e+01] [-5.12830931e-03 4.32936416e-05 -9.99986849e-01 2.86536370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.12, Y:-91.97, Z:2.87 [[-5.48876189e-01 -8.35898083e-01 3.05339137e-03 7.31179474e+01] [-8.35884812e-01 5.48884681e-01 4.71036768e-03 -9.19702415e+01] [-5.61334706e-03 3.31251905e-05 -9.99984245e-01 2.86666681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.03, Y:-92.05, Z:2.87 [[-4.80916778e-01 -8.76761070e-01 3.01302682e-03 7.30342044e+01] [-8.76743584e-01 4.80926216e-01 5.53742782e-03 -9.20502424e+01] [-6.30404473e-03 2.13900164e-05 -9.99980129e-01 2.86748893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.96, Y:-92.14, Z:2.87 [[-4.08530345e-01 -9.12740291e-01 2.84941397e-03 7.29550400e+01] [-9.12718163e-01 4.08540282e-01 6.35558125e-03 -9.21359584e+01] [-6.96509546e-03 -4.26408970e-06 -9.99975743e-01 2.86907643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.88, Y:-92.23, Z:2.87 [[-3.35766133e-01 -9.41942315e-01 2.40386526e-03 7.28849800e+01] [-9.41918488e-01 3.35774738e-01 6.69983776e-03 -9.22319363e+01] [-7.11801791e-03 -1.46665100e-05 -9.99974666e-01 2.86864647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.82, Y:-92.34, Z:2.87 [[-2.60962013e-01 -9.65347263e-01 1.86819966e-03 7.28218827e+01] [-9.65323178e-01 2.60968699e-01 6.81905321e-03 -9.23362166e+01] [-7.07029598e-03 -2.39025812e-05 -9.99975005e-01 2.86824776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.77, Y:-92.44, Z:2.87 [[-1.84836869e-01 -9.82768264e-01 1.36820688e-03 7.27678397e+01] [-9.82742573e-01 1.84841930e-01 7.10599704e-03 -9.24434247e+01] [-7.23645038e-03 -3.11449074e-05 -9.99973816e-01 2.86795530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.72, Y:-92.55, Z:2.87 [[-1.07841849e-01 -9.94167781e-01 7.47754597e-04 7.27233583e+01] [-9.94145932e-01 1.07844436e-01 6.59109287e-03 -9.25507681e+01] [-6.63329334e-03 -3.25815499e-05 -9.99977999e-01 2.86718170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.69, Y:-92.67, Z:2.87 [[-3.04889332e-02 -9.99535079e-01 2.25987822e-04 7.26865608e+01] [-9.99515094e-01 3.04897527e-02 6.32079269e-03 -9.26686497e+01] [-6.32474433e-03 -3.31640131e-05 -9.99979998e-01 2.86657192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.66, Y:-92.78, Z:2.87 [[ 4.68503008e-02 -9.98901888e-01 -2.58697223e-04 7.26595410e+01] [-9.98882536e-01 -4.68510035e-02 6.21798812e-03 -9.27824959e+01] [-6.22328030e-03 -3.29064757e-05 -9.99980635e-01 2.86630628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.64, Y:-92.90, Z:2.87 [[ 1.23846145e-01 -9.92301153e-01 -7.44026988e-04 7.26418507e+01] [-9.92281557e-01 -1.23848375e-01 6.23631237e-03 -9.29025254e+01] [-6.28044649e-03 -3.40589881e-05 -9.99980277e-01 2.86625330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.63, Y:-93.02, Z:2.87 [[ 1.99968057e-01 -9.79801587e-01 -1.27564065e-03 7.26332756e+01] [-9.79780539e-01 -1.99972123e-01 6.42234171e-03 -9.30234812e+01] [-6.54771317e-03 -3.44153131e-05 -9.99978563e-01 2.86660876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.63, Y:-93.14, Z:2.87 [[ 2.74716245e-01 -9.61522786e-01 -2.21753132e-03 7.26343049e+01] [-9.61490259e-01 -2.74725192e-01 7.90888457e-03 -9.31433881e+01] [-8.21378444e-03 -4.05643087e-05 -9.99966265e-01 2.86786520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.64, Y:-93.26, Z:2.87 [[ 3.47979474e-01 -9.37496939e-01 -3.12639415e-03 7.26433188e+01] [-9.37457957e-01 -3.47993515e-01 8.54941789e-03 -9.32612696e+01] [-9.10301800e-03 -4.41588652e-05 -9.99958566e-01 2.86874365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.66, Y:-93.38, Z:2.87 [[ 4.18601943e-01 -9.08160987e-01 -4.00425099e-03 7.26616927e+01] [-9.08118521e-01 -4.18621093e-01 8.78249058e-03 -9.33789562e+01] [-9.65217925e-03 -4.00331393e-05 -9.99953416e-01 2.86976360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.69, Y:-93.50, Z:2.87 [[ 4.86474271e-01 -8.73681858e-01 -4.77440217e-03 7.26931401e+01] [-8.73639143e-01 -4.86497698e-01 8.63937799e-03 -9.35011417e+01] [-9.87080348e-03 -3.17304854e-05 -9.99951282e-01 2.86968366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.72, Y:-93.60, Z:2.87 [[ 5.49413820e-01 -8.35529671e-01 -5.88414331e-03 7.27236750e+01] [-8.35481784e-01 -5.49445328e-01 8.94536222e-03 -9.36000420e+01] [-1.07071306e-02 1.38891941e-06 -9.99942677e-01 2.87033913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.77, Y:-93.70, Z:2.87 [[ 6.09889701e-01 -7.92457927e-01 -6.70710830e-03 7.27664039e+01] [-7.92410551e-01 -6.09926579e-01 8.66520463e-03 -9.37034894e+01] [-1.09576537e-02 2.99643179e-05 -9.99939963e-01 2.87004510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.82, Y:-93.80, Z:2.87 [[ 6.66462646e-01 -7.45502880e-01 -7.27989923e-03 7.28169760e+01] [-7.45459461e-01 -6.66502402e-01 8.04619344e-03 -9.38025773e+01] [-1.08505307e-02 6.43823809e-05 -9.99941129e-01 2.87005183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.87, Y:-93.90, Z:2.87 [[ 7.18951318e-01 -6.95016449e-01 -7.81901656e-03 7.28743630e+01] [-6.94976915e-01 -7.18993828e-01 7.41373953e-03 -9.38965988e+01] [-1.07744956e-02 1.03918201e-04 -9.99941948e-01 2.86996852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.08762800000002 meters Centerline goodness [0,1] 0.9999122306578312 Centerline is valid? [True, True] Translation: X:72.87, Y:-93.90, Z:2.87 [[ 7.68370093e-01 -6.39946803e-01 -8.68846520e-03 7.28720633e+01] [-6.39908158e-01 -7.68419199e-01 7.03451421e-03 -9.38990844e+01] [-1.11780984e-02 1.54709417e-04 -9.99937511e-01 2.87175138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.87, Y:-93.90, Z:2.87 [[ 8.11246736e-01 -5.84656976e-01 -7.41311364e-03 7.28697727e+01] [-5.84634790e-01 -8.11280581e-01 5.09717019e-03 -9.39028985e+01] [-8.99421125e-03 1.98901459e-04 -9.99959531e-01 2.86923541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.87, Y:-93.91, Z:2.87 [[ 8.52387771e-01 -5.22854990e-01 -7.59912416e-03 7.28655118e+01] [-5.22836591e-01 -8.52421613e-01 4.39235251e-03 -9.39070337e+01] [-8.77422111e-03 2.29112603e-04 -9.99961480e-01 2.86878832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.17762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.86, Y:-93.91, Z:2.87 [[ 8.88844697e-01 -4.58149683e-01 -7.34662380e-03 7.28618144e+01] [-4.58136292e-01 -8.88875024e-01 3.51132479e-03 -9.39099031e+01] [-8.13894275e-03 2.44732567e-04 -9.99966848e-01 2.86889384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.20762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.86, Y:-93.91, Z:2.87 [[ 9.19645205e-01 -3.92698035e-01 -6.39924663e-03 7.28586057e+01] [-3.92690381e-01 -9.19667436e-01 2.46424912e-03 -9.39141089e+01] [-6.85288452e-03 2.46687707e-04 -9.99976488e-01 2.86727474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.85, Y:-93.92, Z:2.87 [[ 9.46936341e-01 -3.21362569e-01 -6.13726716e-03 7.28543639e+01] [-3.21357465e-01 -9.46956198e-01 1.82717542e-03 -9.39187648e+01] [-6.39890896e-03 2.42037812e-04 -9.99979497e-01 2.86673644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.85, Y:-93.93, Z:2.87 [[ 9.68910096e-01 -2.47343016e-01 -5.88713675e-03 7.28458172e+01] [-2.47339914e-01 -9.68927953e-01 1.26080654e-03 -9.39305522e+01] [-6.01606305e-03 2.34515711e-04 -9.99981876e-01 2.86618338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.84, Y:-93.94, Z:2.87 [[ 9.85250760e-01 -1.71008322e-01 -6.09052008e-03 7.28382528e+01] [-1.71006563e-01 -9.85269555e-01 8.12241129e-04 -9.39386591e+01] [-6.13970400e-03 2.41257717e-04 -9.99981123e-01 2.86679037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.83, Y:-93.96, Z:2.87 [[ 9.95711253e-01 -9.22230211e-02 -7.34955414e-03 7.28321908e+01] [-9.22225864e-02 -9.95738337e-01 3.98745855e-04 -9.39574379e+01] [-7.35500636e-03 2.80759157e-04 -9.99972912e-01 2.86819068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.83, Y:-93.97, Z:2.87 [[ 9.99882667e-01 -1.30655317e-02 -7.99644964e-03 7.28262841e+01] [-1.30674951e-02 -9.99914598e-01 -1.93334799e-04 -9.39672249e+01] [-7.99324071e-03 2.97805681e-04 -9.99968009e-01 2.86926088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.82, Y:-93.98, Z:2.87 [[ 9.97773247e-01 6.61556654e-02 -8.48388421e-03 7.28220553e+01] [ 6.61506294e-02 -9.97809266e-01 -8.73149123e-04 -9.39769727e+01] [-8.52306204e-03 3.09990556e-04 -9.99963630e-01 2.86968300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.82, Y:-93.99, Z:2.87 [[ 9.89419351e-01 1.44834405e-01 -8.50552247e-03 7.28196309e+01] [ 1.44826374e-01 -9.89455861e-01 -1.55595727e-03 -9.39923987e+01] [-8.64119521e-03 3.07670248e-04 -9.99962617e-01 2.86890904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.82, Y:-94.00, Z:2.87 [[ 9.75045061e-01 2.21849677e-01 -8.35763245e-03 7.28174172e+01] [ 2.21838812e-01 -9.75080831e-01 -2.21704262e-03 -9.40048000e+01] [-8.64121738e-03 3.07669207e-04 -9.99962617e-01 2.86890924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.82, Y:-94.02, Z:2.87 [[ 9.54494195e-01 2.98125496e-01 -7.87529003e-03 7.28162590e+01] [ 2.98112813e-01 -9.54526639e-01 -2.76538590e-03 -9.40172724e+01] [-8.34160617e-03 2.91819930e-04 -9.99965166e-01 2.86893344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.82, Y:-94.03, Z:2.87 [[ 9.27546476e-01 3.73613721e-01 -8.38580944e-03 7.28166408e+01] [ 3.73595472e-01 -9.27584333e-01 -3.70510403e-03 -9.40313827e+01] [-9.16282316e-03 3.03755753e-04 -9.99957974e-01 2.86896080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.82, Y:-94.04, Z:2.87 [[ 8.94900652e-01 4.46196796e-01 -7.82576805e-03 7.28184140e+01] [ 4.46176947e-01 -8.94934824e-01 -4.21811883e-03 -9.40432846e+01] [-8.88566346e-03 2.83119987e-04 -9.99960482e-01 2.86945501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.82, Y:-94.06, Z:2.87 [[ 8.56568776e-01 5.15978535e-01 -7.48887420e-03 7.28209798e+01] [ 5.15956011e-01 -8.56601470e-01 -4.82871204e-03 -9.40551605e+01] [-8.90649240e-03 2.72194299e-04 -9.99960299e-01 2.86925677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.82, Y:-94.07, Z:2.87 [[ 8.12773179e-01 5.82542278e-01 -6.65236246e-03 7.28236119e+01] [ 5.82520277e-01 -8.12800365e-01 -5.06879177e-03 -9.40658371e+01] [-8.35982815e-03 2.44641976e-04 -9.99965026e-01 2.86903230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.62762800000002 meters Centerline goodness [0,1] 0.9998685017971422 Centerline is valid? [True, True] Translation: X:72.83, Y:-94.08, Z:2.87 [[ 7.63695394e-01 6.45540161e-01 -6.87347169e-03 7.28257631e+01] [ 6.45510963e-01 -7.63726282e-01 -6.14507537e-03 -9.40763174e+01] [-9.21634392e-03 2.56064428e-04 -9.99957496e-01 2.87027513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.83, Y:-94.09, Z:2.87 [[ 7.07974577e-01 7.06212837e-01 -5.95208943e-03 7.28326279e+01] [ 7.06185420e-01 -7.07999567e-01 -6.22623239e-03 -9.40894755e+01] [-8.61112198e-03 2.04735470e-04 -9.99962903e-01 2.86984198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.84, Y:-94.10, Z:2.87 [[ 6.48808218e-01 7.60929992e-01 -5.78309603e-03 7.28379427e+01] [ 7.60897020e-01 -6.48833961e-01 -7.08630102e-03 -9.41001083e+01] [-9.14444808e-03 1.97309800e-04 -9.99958169e-01 2.87006649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.84, Y:-94.11, Z:2.87 [[ 5.85463334e-01 8.10681471e-01 -5.31393551e-03 7.28418186e+01] [ 8.10645235e-01 -5.85487421e-01 -7.66697243e-03 -9.41101492e+01] [-9.32671489e-03 1.81014733e-04 -9.99956489e-01 2.87049597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.85, Y:-94.12, Z:2.87 [[ 5.16667375e-01 8.56172931e-01 -4.76813451e-03 7.28506774e+01] [ 8.56133854e-01 -5.16689356e-01 -8.18129212e-03 -9.41210951e+01] [-9.46824520e-03 1.44845354e-04 -9.99955165e-01 2.86984716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.86, Y:-94.13, Z:2.87 [[ 4.46666993e-01 8.94690835e-01 -4.11192535e-03 7.28587604e+01] [ 8.94650199e-01 -4.46685900e-01 -8.52805081e-03 -9.41298487e+01] [-9.46670797e-03 1.30463975e-04 -9.99955181e-01 2.86964009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.87, Y:-94.14, Z:2.87 [[ 3.74173215e-01 9.27352531e-01 -3.41876612e-03 7.28677928e+01] [ 9.27310861e-01 -3.74188814e-01 -8.79192911e-03 -9.41375772e+01] [-9.43248176e-03 1.19445426e-04 -9.99955506e-01 2.86924066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.88, Y:-94.15, Z:2.87 [[ 2.99089729e-01 9.54221733e-01 -2.49353802e-03 7.28752268e+01] [ 9.54185800e-01 -2.99100107e-01 -8.28155897e-03 -9.41456663e+01] [-8.64826104e-03 9.76306514e-05 -9.99962598e-01 2.86957105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.89, Y:-94.15, Z:2.87 [[ 2.21938855e-01 9.75059039e-01 -1.73624978e-03 7.28864647e+01] [ 9.75026340e-01 -2.21945632e-01 -7.98578464e-03 -9.41530593e+01] [-8.17196456e-03 7.94666328e-05 -9.99966606e-01 2.86878704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.89, Y:-94.16, Z:2.87 [[ 1.44285178e-01 9.89535580e-01 -1.05968868e-03 7.28949636e+01] [ 9.89505127e-01 -1.44289052e-01 -7.76360258e-03 -9.41593095e+01] [-7.83526246e-03 7.16053992e-05 -9.99969301e-01 2.86925080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.90, Y:-94.16, Z:2.87 [[ 6.57240372e-02 9.97837742e-01 -4.37970624e-04 7.29017287e+01] [ 9.97808495e-01 -6.57254642e-02 -7.64006075e-03 -9.41646365e+01] [-7.65232679e-03 6.51248279e-05 -9.99970718e-01 2.86874394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.95762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.91, Y:-94.17, Z:2.87 [[-1.29606044e-02 9.99915995e-01 1.60907373e-04 7.29075046e+01] [ 9.99887092e-01 1.29614532e-02 -7.60290259e-03 -9.41699355e+01] [-7.60434950e-03 6.23509923e-05 -9.99971085e-01 2.86882386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.91, Y:-94.17, Z:2.87 [[-9.19467295e-02 9.95763609e-01 7.96288089e-04 7.29147684e+01] [ 9.95731731e-01 9.19501578e-02 -7.96800480e-03 -9.41745053e+01] [-8.00746803e-03 6.02573346e-05 -9.99967938e-01 2.86840470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.92, Y:-94.18, Z:2.87 [[-1.70051455e-01 9.85433925e-01 1.57567776e-03 7.29229828e+01] [ 9.85395009e-01 1.70058743e-01 -8.75789015e-03 -9.41784008e+01] [-8.89827984e-03 6.33730416e-05 -9.99960408e-01 2.86884553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.93, Y:-94.18, Z:2.87 [[-2.47320077e-01 9.68930707e-01 2.46262420e-03 7.29315213e+01] [ 9.68885192e-01 2.47332329e-01 -9.39165181e-03 -9.41817684e+01] [-9.70894641e-03 6.32560769e-05 -9.99952865e-01 2.86970351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.94, Y:-94.18, Z:2.87 [[-3.22846349e-01 9.46444825e-01 3.52544715e-03 7.29413932e+01] [ 9.46390584e-01 3.22865591e-01 -1.01328135e-02 -9.41843082e+01] [-1.07283945e-02 6.51081388e-05 -9.99942447e-01 2.87030920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.95, Y:-94.19, Z:2.87 [[-3.96351713e-01 9.18085975e-01 4.84379717e-03 7.29487088e+01] [ 9.18019508e-01 3.96381304e-01 -1.10473657e-02 -9.41882919e+01] [-1.20624222e-02 6.80579646e-05 -9.99927244e-01 2.87208997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.96, Y:-94.19, Z:2.87 [[-4.66935496e-01 8.84272105e-01 5.83832787e-03 7.29556600e+01] [ 8.84204880e-01 4.66971989e-01 -1.09037429e-02 -9.41905810e+01] [-1.23682112e-02 7.09334135e-05 -9.99923508e-01 2.87203804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.96, Y:-94.19, Z:2.87 [[-5.34574034e-01 8.45092401e-01 7.03109109e-03 7.29624772e+01] [ 8.45021217e-01 5.34620265e-01 -1.09687754e-02 -9.41926211e+01] [-1.30285926e-02 7.77986152e-05 -9.99915121e-01 2.87212030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.197628 meters Centerline goodness [0,1] 0.9999117679497077 Centerline is valid? [True, True] Translation: X:72.97, Y:-94.19, Z:2.87 [[-5.98911624e-01 8.00771331e-01 8.37514099e-03 7.29700805e+01] [ 8.00695062e-01 5.98970173e-01 -1.10521533e-02 -9.41941636e+01] [-1.38667072e-02 8.66709356e-05 -9.99903849e-01 2.87370280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.227628 meters Centerline goodness [0,1] 0.9999116412635299 Centerline is valid? [True, True] Translation: X:72.98, Y:-94.20, Z:2.88 [[-6.59504028e-01 7.51639583e-01 9.61117586e-03 7.29775972e+01] [ 7.51561893e-01 6.59574051e-01 -1.08070826e-02 -9.41964089e+01] [-1.44623132e-02 9.60790472e-05 -9.99895411e-01 2.87511978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.98, Y:-94.20, Z:2.87 [[-7.15567418e-01 6.98468121e-01 1.02739438e-02 7.29818103e+01] [ 6.98398345e-01 7.15641161e-01 -9.87318832e-03 -9.42006928e+01] [-1.42485644e-02 1.10373495e-04 -9.99898478e-01 2.87361304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.00, Y:-94.19, Z:2.87 [[-7.62480321e-01 6.46923679e-01 1.06542920e-02 7.30031867e+01] [ 6.46862762e-01 7.62554745e-01 -8.87853941e-03 -9.41868704e+01] [-1.38682183e-02 1.22153140e-04 -9.99903824e-01 2.87233317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.02, Y:-94.17, Z:2.87 [[-8.05845826e-01 5.92035853e-01 1.02982363e-02 7.30227085e+01] [ 5.91989446e-01 8.05911617e-01 -7.41364629e-03 -9.41713783e+01] [-1.26886126e-02 1.22191259e-04 -9.99919489e-01 2.87178024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.04, Y:-94.16, Z:2.87 [[-8.45112740e-01 5.34515170e-01 8.83119625e-03 7.30424065e+01] [ 5.34487367e-01 8.45158873e-01 -5.45281874e-03 -9.41587877e+01] [-1.03783782e-02 1.11916249e-04 -9.99946137e-01 2.86917135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.06, Y:-94.14, Z:2.87 [[-8.80564258e-01 4.73850878e-01 8.48131057e-03 7.30607580e+01] [ 4.73830082e-01 8.80605095e-01 -4.44066264e-03 -9.41420945e+01] [-9.57289719e-03 1.08411283e-04 -9.99954173e-01 2.86887454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.08, Y:-94.12, Z:2.87 [[-9.11769277e-01 4.10617221e-01 8.38344361e-03 7.30766836e+01] [ 4.10600938e-01 9.11807812e-01 -3.65839031e-03 -9.41214693e+01] [-9.14628744e-03 1.06641915e-04 -9.99958166e-01 2.86720055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.09, Y:-94.10, Z:2.87 [[-9.38324976e-01 3.45660445e-01 8.06825399e-03 7.30907304e+01] [ 3.45648636e-01 9.38359657e-01 -2.85918144e-03 -9.40993783e+01] [-8.55922997e-03 1.05939634e-04 -9.99963364e-01 2.86632954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.39, Y:-93.30, Z:1.99 [[-9.22743787e-01 -3.85360930e-01 6.39195750e-03 7.33876431e+01] [ 3.85350306e-01 -9.22765908e-01 -2.86730670e-03 -9.32976864e+01] [ 7.00322844e-03 -1.82646669e-04 9.99975460e-01 1.98942066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.05, Y:-94.09, Z:2.87 [[-9.39665604e-01 3.42037100e-01 6.25895886e-03 7.30476544e+01] [ 3.42030091e-01 9.39686445e-01 -2.19112447e-03 -9.40933359e+01] [-6.63090466e-03 8.18279758e-05 -9.99978012e-01 2.86512810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.34, Y:-93.28, Z:1.99 [[-9.23995111e-01 -3.82356937e-01 6.01731501e-03 7.33433405e+01] [ 3.82348222e-01 -9.24014700e-01 -2.58299276e-03 -9.32780052e+01] [ 6.54771272e-03 -8.59629911e-05 9.99978560e-01 1.99046961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.00, Y:-94.08, Z:2.86 [[-9.41688871e-01 3.36438271e-01 5.59996782e-03 7.30009872e+01] [ 3.36432705e-01 9.41705520e-01 -1.93631180e-03 -9.40794818e+01] [-5.92497000e-03 6.06090419e-05 -9.99982445e-01 2.86398212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.01, Y:-94.05, Z:2.86 [[-9.64215925e-01 2.65037264e-01 6.54966576e-03 7.30102819e+01] [ 2.65031446e-01 9.64238169e-01 -1.75660719e-03 -9.40507115e+01] [-6.78100408e-03 4.21187633e-05 -9.99977008e-01 2.86476246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.02, Y:-94.02, Z:2.87 [[-9.80976931e-01 1.93995618e-01 7.06833459e-03 7.30209824e+01] [ 1.93990803e-01 9.81002395e-01 -1.36711411e-03 -9.40239582e+01] [-7.19926731e-03 3.00845006e-05 -9.99974084e-01 2.86559661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.03, Y:-94.00, Z:2.87 [[-9.92452656e-01 1.22387595e-01 7.68123874e-03 7.30307762e+01] [ 1.22384087e-01 9.92482381e-01 -9.26964526e-04 -9.39963625e+01] [-7.73694307e-03 2.00929809e-05 -9.99970069e-01 2.86540653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.04, Y:-93.97, Z:2.87 [[-9.98675982e-01 5.08285684e-02 7.92088672e-03 7.30398049e+01] [ 5.08270855e-02 9.98707393e-01 -3.88531861e-04 -9.39688226e+01] [-7.93039664e-03 1.45781484e-05 -9.99968554e-01 2.86546622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.70762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.09, Y:-93.11, Z:1.99 [[-9.93448254e-01 -1.13987731e-01 8.20756022e-03 7.30903942e+01] [ 1.13983893e-01 -9.93482157e-01 -9.35444959e-04 -9.31123459e+01] [ 8.26069388e-03 6.21350299e-06 9.99965880e-01 1.98880961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.95, Y:-93.97, Z:2.87 [[-9.98848394e-01 4.72425533e-02 8.36816974e-03 7.29530166e+01] [ 4.72411802e-02 9.98883447e-01 -3.61782495e-04 -9.39651197e+01] [-8.37591776e-03 3.39563511e-05 -9.99964921e-01 2.86621218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.00, Y:-93.11, Z:1.99 [[-9.94508443e-01 -1.04308527e-01 8.52575151e-03 7.29989657e+01] [ 1.04304503e-01 -9.94544987e-01 -9.16492214e-04 -9.31051585e+01] [ 8.57484137e-03 -2.21849734e-05 9.99963235e-01 1.98888600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.86, Y:-93.96, Z:2.87 [[-9.98868892e-01 4.67948152e-02 8.43691113e-03 7.28598054e+01] [ 4.67938209e-02 9.98904519e-01 -3.15322360e-04 -9.39635370e+01] [-8.44242411e-03 7.98296112e-05 -9.99964359e-01 2.86557870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.87, Y:-93.94, Z:2.87 [[-9.99764353e-01 -2.02505685e-02 7.82009752e-03 7.28707995e+01] [-2.02491234e-02 9.99794931e-01 2.63928444e-04 -9.39381000e+01] [-7.82383856e-03 1.05516130e-04 -9.99969388e-01 2.86527872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.88, Y:-93.91, Z:2.86 [[-9.96636884e-01 -8.17233348e-02 6.01809942e-03 7.28752604e+01] [-8.17209857e-02 9.96655044e-01 6.35629096e-04 -9.39148212e+01] [-6.04991487e-03 1.41686385e-04 -9.99981689e-01 2.86346324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.86, Y:-93.89, Z:2.86 [[-9.88937913e-01 -1.48235210e-01 5.30353083e-03 7.28594285e+01] [-1.48232246e-01 9.88952122e-01 9.49941853e-04 -9.38929526e+01] [-5.38575289e-03 1.53279229e-04 -9.99985485e-01 2.86286461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.82, Y:-93.88, Z:2.86 [[-9.76523964e-01 -2.15363030e-01 4.43999240e-03 7.28176035e+01] [-2.15360089e-01 9.76534045e-01 1.13603439e-03 -9.38756560e+01] [-4.58046354e-03 1.53167651e-04 -9.99989498e-01 2.86199110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.76, Y:-93.86, Z:2.86 [[-9.59325620e-01 -2.82277353e-01 3.72161134e-03 7.27631846e+01] [-2.82274619e-01 9.59332827e-01 1.25126131e-03 -9.38616363e+01] [-3.92346666e-03 1.49850605e-04 -9.99992292e-01 2.86120484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.69, Y:-93.86, Z:2.86 [[-9.38474522e-01 -3.45331964e-01 3.37747820e-03 7.26906191e+01] [-3.45329071e-01 9.38480584e-01 1.42368976e-03 -9.38601556e+01] [-3.66134329e-03 1.69755159e-04 -9.99993283e-01 2.86174137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.61, Y:-93.87, Z:2.86 [[-9.10968884e-01 -4.12460377e-01 3.48283508e-03 7.26139605e+01] [-4.12456550e-01 9.10975522e-01 1.78698014e-03 -9.38661095e+01] [-3.90983601e-03 1.91365159e-04 -9.99992338e-01 2.86239208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.53, Y:-93.88, Z:2.86 [[-8.78089372e-01 -4.78478147e-01 4.20923207e-03 7.25268631e+01] [-4.78471266e-01 8.78099425e-01 2.57816944e-03 -9.38825563e+01] [-4.92972200e-03 2.49866588e-04 -9.99987818e-01 2.86281703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.067628 meters Centerline goodness [0,1] 0.999819110930222 Centerline is valid? [True, True] Translation: X:72.43, Y:-93.91, Z:2.87 [[-8.39943203e-01 -5.42653902e-01 4.70726985e-03 7.24329995e+01] [-5.42643335e-01 8.39956339e-01 3.39979203e-03 -9.39071362e+01] [-5.79881156e-03 3.01263590e-04 -9.99983141e-01 2.86613292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.33, Y:-93.94, Z:2.86 [[-7.95391614e-01 -6.06070984e-01 5.49029015e-03 7.23345281e+01] [-6.06053331e-01 7.95410480e-01 4.63996831e-03 -9.39432260e+01] [-7.17918448e-03 3.63183255e-04 -9.99974163e-01 2.86373388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.24, Y:-93.99, Z:2.86 [[-7.45915117e-01 -6.66020016e-01 5.28929230e-03 7.22394981e+01] [-6.65999718e-01 7.45933780e-01 5.21265429e-03 -9.39890664e+01] [-7.41719389e-03 3.65530461e-04 -9.99972425e-01 2.86388268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.14, Y:-94.04, Z:2.86 [[-6.90164628e-01 -7.23634609e-01 5.07336520e-03 7.21403250e+01] [-7.23611206e-01 6.90183185e-01 5.83046445e-03 -9.40447191e+01] [-7.72067721e-03 3.52836422e-04 -9.99970133e-01 2.86433008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.18762800000002 meters Centerline goodness [0,1] 0.9998657958307238 Centerline is valid? [True, True] Translation: X:72.05, Y:-94.11, Z:2.87 [[-6.31462932e-01 -7.75390896e-01 4.85010864e-03 7.20476855e+01] [-7.75363525e-01 6.31481456e-01 6.52492384e-03 -9.41098599e+01] [-8.12212020e-03 3.59650204e-04 -9.99966950e-01 2.86612302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.96, Y:-94.18, Z:2.86 [[-5.67732577e-01 -8.23201811e-01 4.30107106e-03 7.19555908e+01] [-8.23173571e-01 5.67748770e-01 6.82682175e-03 -9.41845935e+01] [-8.06177983e-03 3.35281080e-04 -9.99967447e-01 2.86333853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.87, Y:-94.27, Z:2.86 [[-5.00865902e-01 -8.65517711e-01 3.52714237e-03 7.18718177e+01] [-8.65491896e-01 5.00878232e-01 6.69142061e-03 -9.42704409e+01] [-7.55821188e-03 2.98791275e-04 -9.99971392e-01 2.86355846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.79, Y:-94.36, Z:2.86 [[-4.28315972e-01 -9.03623969e-01 3.02501131e-03 7.17893227e+01] [-9.03596898e-01 4.28326572e-01 6.99948264e-03 -9.43628154e+01] [-7.62059301e-03 2.64599371e-04 -9.99970928e-01 2.86358975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.72, Y:-94.46, Z:2.86 [[-3.54452778e-01 -9.35069976e-01 2.71460466e-03 7.17177975e+01] [-9.35036571e-01 3.54463074e-01 7.90830080e-03 -9.44639168e+01] [-8.35704174e-03 2.64864553e-04 -9.99965044e-01 2.86394713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.66, Y:-94.57, Z:2.86 [[-2.81114028e-01 -9.59672086e-01 2.09517981e-03 7.16566407e+01] [-9.59637985e-01 2.81121711e-01 8.09450281e-03 -9.45695961e+01] [-8.35706894e-03 2.64864158e-04 -9.99965044e-01 2.86394852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.60, Y:-94.68, Z:2.86 [[-2.03062444e-01 -9.79164580e-01 1.53934963e-03 7.16005778e+01] [-9.79126300e-01 2.03068122e-01 8.66182014e-03 -9.46809831e+01] [-8.79394032e-03 2.51672663e-04 -9.99961301e-01 2.86460291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.55, Y:-94.80, Z:2.86 [[-1.23060917e-01 -9.92398725e-01 8.84152688e-04 7.15518081e+01] [-9.92358365e-01 1.23063889e-01 8.95291447e-03 -9.47959140e+01] [-8.99366817e-03 2.24357550e-04 -9.99959531e-01 2.86471070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.42762800000003 meters Centerline goodness [0,1] 0.9999116822326731 Centerline is valid? [True, True] Translation: X:71.51, Y:-94.92, Z:2.87 [[-4.26296413e-02 -9.99090920e-01 2.15751583e-04 7.15131769e+01] [-9.99038286e-01 4.26296106e-02 1.02576344e-02 -9.49217281e+01] [-1.02575068e-02 2.21735181e-04 -9.99947366e-01 2.86742164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.45762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.48, Y:-95.04, Z:2.87 [[ 4.27882864e-02 -9.99083994e-01 -5.78751452e-04 7.14813752e+01] [-9.99031333e-01 -4.27919738e-02 1.02587645e-02 -9.50423592e+01] [-1.02741333e-02 1.39235881e-04 -9.99947210e-01 2.86630880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.46, Y:-95.16, Z:2.87 [[ 1.22990266e-01 -9.92407079e-01 -1.25871983e-03 7.14621379e+01] [-9.92363003e-01 -1.22996668e-01 9.35361523e-03 -9.51635440e+01] [-9.43741231e-03 9.87033583e-05 -9.99955462e-01 2.86520922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.45, Y:-95.29, Z:2.86 [[ 2.01742924e-01 -9.79437076e-01 -1.67507654e-03 7.14547664e+01] [-9.79405907e-01 -2.01749868e-01 7.81412532e-03 -9.52927755e+01] [-7.99139053e-03 6.41353639e-05 -9.99968066e-01 2.86373820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.45, Y:-95.41, Z:2.86 [[ 2.78362007e-01 -9.60474511e-01 -1.81862826e-03 7.14543225e+01] [-9.60454965e-01 -2.78367945e-01 6.12758288e-03 -9.54077992e+01] [-6.39163498e-03 4.10242790e-05 -9.99979572e-01 2.86175830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.47, Y:-95.53, Z:2.86 [[ 3.52791509e-01 -9.35700144e-01 -1.84173629e-03 7.14669677e+01] [-9.35687795e-01 -3.52796316e-01 4.80732960e-03 -9.55329825e+01] [-5.14797677e-03 2.73051014e-05 -9.99986749e-01 2.86041549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.49, Y:-95.65, Z:2.86 [[ 4.25009721e-01 -9.05187519e-01 -1.51428449e-03 7.14852838e+01] [-9.05181897e-01 -4.25012418e-01 3.19022911e-03 -9.56491357e+01] [-3.53134529e-03 1.48245265e-05 -9.99993765e-01 2.85982604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.51, Y:-95.76, Z:2.86 [[ 4.94052605e-01 -8.69430621e-01 -1.55508435e-03 7.15135894e+01] [-8.69426386e-01 -4.94055053e-01 2.71373590e-03 -9.57636331e+01] [-3.12770237e-03 1.13030719e-05 -9.99995109e-01 2.85987528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.55, Y:-95.88, Z:2.86 [[ 5.60503022e-01 -8.28150873e-01 -1.57940919e-03 7.15521090e+01] [-8.28147619e-01 -5.60505247e-01 2.32142648e-03 -9.58763525e+01] [-2.80775851e-03 6.81739975e-06 -9.99996058e-01 2.85958421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.60, Y:-95.98, Z:2.86 [[ 6.23046756e-01 -7.82182794e-01 -1.67838655e-03 7.15964017e+01] [-7.82179976e-01 -6.23049017e-01 2.09953363e-03 -9.59822025e+01] [-2.68793617e-03 4.69273830e-06 -9.99996387e-01 2.85975558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.65, Y:-96.08, Z:2.86 [[ 6.81501785e-01 -7.31812575e-01 -2.38150884e-03 7.16466262e+01] [-7.31808130e-01 -6.81505946e-01 2.55058908e-03 -9.60824446e+01] [-3.48956560e-03 4.57651598e-06 -9.99993911e-01 2.86083745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.70, Y:-96.17, Z:2.86 [[ 7.35787330e-01 -6.77203959e-01 -3.43544460e-03 7.16997143e+01] [-6.77196602e-01 -7.35795351e-01 3.15669159e-03 -9.61734242e+01] [-4.66550821e-03 3.81772984e-06 -9.99989116e-01 2.86194091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.70, Y:-96.18, Z:2.86 [[ 7.86610744e-01 -6.17428205e-01 -5.09401038e-03 7.16955904e+01] [-6.17415287e-01 -7.86627238e-01 3.99397627e-03 -9.61784807e+01] [-6.47308092e-03 3.41523160e-06 -9.99979049e-01 2.86367979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.69, Y:-96.18, Z:2.87 [[ 8.32951522e-01 -5.53289408e-01 -7.91156713e-03 7.16933058e+01] [-5.53264405e-01 -8.32989094e-01 5.25999383e-03 -9.61817351e+01] [-9.50054801e-03 -4.13138146e-06 -9.99954869e-01 2.86692127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.69, Y:-96.19, Z:2.87 [[ 8.73988252e-01 -4.85855772e-01 -9.41830841e-03 7.16889727e+01] [-4.85827411e-01 -8.74038997e-01 5.24962442e-03 -9.61877685e+01] [-1.07825292e-02 -1.24376879e-05 -9.99941867e-01 2.86741626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.69, Y:-96.19, Z:2.87 [[ 9.09648025e-01 -4.15239303e-01 -1.08070655e-02 7.16856867e+01] [-4.15209681e-01 -9.09712219e-01 4.95990266e-03 -9.61940486e+01] [-1.18908660e-02 -2.45674587e-05 -9.99929301e-01 2.86840429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.90762800000002 meters Centerline goodness [0,1] 0.9998671331768457 Centerline is valid? [True, True] Translation: X:71.68, Y:-96.20, Z:2.87 [[ 9.39445859e-01 -3.42473644e-01 -1.23806913e-02 7.16826759e+01] [-3.42443449e-01 -9.39527436e-01 4.54772022e-03 -9.61991679e+01] [-1.31894735e-02 -3.26502825e-05 -9.99913015e-01 2.87192686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.68, Y:-96.20, Z:2.87 [[ 9.63918702e-01 -2.65863355e-01 -1.33196051e-02 7.16798243e+01] [-2.65837052e-01 -9.64010722e-01 3.74021477e-03 -9.62026969e+01] [-1.38346281e-02 -6.44184264e-05 -9.99904295e-01 2.87121466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.96762800000002 meters Centerline goodness [0,1] 0.999799375835934 Centerline is valid? [True, True] Translation: X:71.68, Y:-96.21, Z:2.87 [[ 9.81780040e-01 -1.89508156e-01 -1.39503561e-02 7.16768053e+01] [-1.89488041e-01 -9.81879144e-01 2.76186405e-03 -9.62066816e+01] [-1.42209595e-02 -6.81173441e-05 -9.99898875e-01 2.87332470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.67, Y:-96.21, Z:2.87 [[ 9.93702489e-01 -1.11307625e-01 -1.28831651e-02 7.16709376e+01] [-1.11297338e-01 -9.93785997e-01 1.51494666e-03 -9.62104072e+01] [-1.29717342e-02 -7.15442874e-05 -9.99915861e-01 2.86993469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.66, Y:-96.21, Z:2.87 [[ 9.99398712e-01 -3.30771833e-02 -1.03978255e-02 7.16646452e+01] [-3.30747885e-02 -9.99452799e-01 4.02238098e-04 -9.62100103e+01] [-1.04054407e-02 -5.80903582e-05 -9.99945860e-01 2.86784402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.66, Y:-96.21, Z:2.87 [[ 9.98954603e-01 4.48614825e-02 -8.78346948e-03 7.16589085e+01] [ 4.48601475e-02 -9.98993216e-01 -3.49054767e-04 -9.62142708e+01] [-8.79028554e-03 -4.53378708e-05 -9.99961364e-01 2.86581639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.65, Y:-96.22, Z:2.86 [[ 9.92470214e-01 1.22269772e-01 -7.27858801e-03 7.16535093e+01] [ 1.22266726e-01 -9.92496903e-01 -8.63715824e-04 -9.62196442e+01] [-7.32958239e-03 -3.27168976e-05 -9.99973138e-01 2.86446038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.65, Y:-96.22, Z:2.86 [[ 9.80160592e-01 1.98137621e-01 -5.16694060e-03 7.16478211e+01] [ 1.98134951e-01 -9.80174211e-01 -1.02856624e-03 -9.62225747e+01] [-5.26829959e-03 -1.55914313e-05 -9.99986122e-01 2.86265849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.64, Y:-96.23, Z:2.86 [[ 9.61808579e-01 2.73692289e-01 -4.09743927e-03 7.16416028e+01] [ 2.73689850e-01 -9.61817306e-01 -1.15545774e-03 -9.62293823e+01] [-4.25722787e-03 -1.00983713e-05 -9.99990938e-01 2.86171518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.17762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.64, Y:-96.24, Z:2.86 [[ 9.37257294e-01 3.48625785e-01 -2.97091741e-03 7.16371982e+01] [ 3.48624064e-01 -9.37262003e-01 -1.09552607e-03 -9.62377858e+01] [-3.16645664e-03 -8.94350246e-06 -9.99994987e-01 2.86082482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.20762800000003 meters Centerline goodness [0,1] 0.9998418507975239 Centerline is valid? [True, True] Translation: X:71.63, Y:-96.25, Z:2.86 [[ 9.06943176e-01 4.21240976e-01 -3.18069361e-03 7.16344579e+01] [ 4.21238428e-01 -9.06948753e-01 -1.46505491e-03 -9.62484767e+01] [-3.50186726e-03 -1.11088227e-05 -9.99993868e-01 2.86390014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.63, Y:-96.26, Z:2.86 [[ 8.70340421e-01 4.92426720e-01 -4.84529545e-03 7.16340673e+01] [ 4.92419265e-01 -8.70353908e-01 -2.70984371e-03 -9.62614439e+01] [-5.55152128e-03 -2.74303060e-05 -9.99984590e-01 2.86354620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.63, Y:-96.27, Z:2.87 [[ 8.28998198e-01 5.59220611e-01 -5.85623069e-03 7.16331562e+01] [ 5.59206969e-01 -8.29018882e-01 -3.90634103e-03 -9.62736608e+01] [-7.03943224e-03 -3.64953350e-05 -9.99975222e-01 2.86596146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.63, Y:-96.28, Z:2.87 [[ 7.82739865e-01 6.22314650e-01 -6.54064862e-03 7.16324904e+01] [ 6.22293373e-01 -7.82767190e-01 -5.14624994e-03 -9.62845175e+01] [-8.32239188e-03 -4.20273047e-05 -9.99965367e-01 2.86672635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.63, Y:-96.30, Z:2.87 [[ 7.31728740e-01 6.81558886e-01 -7.10887144e-03 7.16333845e+01] [ 6.81527353e-01 -7.31763270e-01 -6.55624718e-03 -9.62956753e+01] [-9.67047953e-03 -4.74958446e-05 -9.99953239e-01 2.86782151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.357628 meters Centerline goodness [0,1] 0.9998417864569207 Centerline is valid? [True, True] Translation: X:71.63, Y:-96.31, Z:2.87 [[ 6.76561511e-01 7.36348814e-01 -7.41253159e-03 7.16343470e+01] [ 7.36305382e-01 -6.76602114e-01 -7.99773033e-03 -9.63063455e+01] [-1.09044538e-02 -4.69303826e-05 -9.99940544e-01 2.87128196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.64, Y:-96.32, Z:2.87 [[ 6.16685092e-01 7.87184334e-01 -6.34992165e-03 7.16356989e+01] [ 7.87143369e-01 -6.16717781e-01 -8.03092070e-03 -9.63162354e+01] [-1.02379246e-02 -4.57496493e-05 -9.99947590e-01 2.86797615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.417628 meters Centerline goodness [0,1] 0.9998646758987776 Centerline is valid? [True, True] Translation: X:71.64, Y:-96.33, Z:2.87 [[ 5.54215339e-01 8.32354852e-01 -5.54598055e-03 7.16376445e+01] [ 8.32313754e-01 -5.54243086e-01 -8.27136689e-03 -9.63266210e+01] [-9.95853374e-03 -3.18774951e-05 -9.99950412e-01 2.86979006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.64, Y:-96.34, Z:2.87 [[ 4.87597687e-01 8.73058025e-01 -4.26385303e-03 7.16397926e+01] [ 8.73025089e-01 -4.87616329e-01 -7.58350674e-03 -9.63370629e+01] [-8.69996578e-03 -2.47503288e-05 -9.99962154e-01 2.86653802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.64, Y:-96.35, Z:2.87 [[ 4.18831792e-01 9.08058474e-01 -3.12057210e-03 7.16408223e+01] [ 9.08033481e-01 -4.18843417e-01 -6.73710096e-03 -9.63468027e+01] [-7.42471270e-03 -1.18718739e-05 -9.99972436e-01 2.86604991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.64, Y:-96.36, Z:2.87 [[ 3.48121278e-01 9.37446746e-01 -2.27465089e-03 7.16436540e+01] [ 9.37426705e-01 -3.48128709e-01 -6.12978698e-03 -9.63558986e+01] [-6.53822014e-03 1.59078498e-06 -9.99978626e-01 2.86509751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.65, Y:-96.36, Z:2.86 [[ 2.77335966e-01 9.60772219e-01 -1.22688824e-03 7.16462743e+01] [ 9.60762520e-01 -2.77338680e-01 -4.31709666e-03 -9.63647526e+01] [-4.48801010e-03 1.85379381e-05 -9.99989929e-01 2.86406100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.65, Y:-96.38, Z:2.86 [[ 2.02975201e-01 9.79183624e-01 -7.06269170e-04 7.16488893e+01] [ 9.79177323e-01 -2.02976429e-01 -3.51287426e-03 -9.63751684e+01] [-3.58310494e-03 2.14636041e-05 -9.99993580e-01 2.86364600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.59762800000001 meters Centerline goodness [0,1] 0.9999323333709259 Centerline is valid? [True, True] Translation: X:71.65, Y:-96.38, Z:2.86 [[ 1.28612118e-01 9.91694930e-01 -2.99664464e-04 7.16549119e+01] [ 9.91691811e-01 -1.28612465e-01 -2.48700316e-03 -9.63842447e+01] [-2.50488901e-03 2.26839491e-05 -9.99996863e-01 2.86413806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.66, Y:-96.39, Z:2.86 [[ 5.04427144e-02 9.98726954e-01 -6.11628809e-05 7.16626441e+01] [ 9.98725859e-01 -5.04427497e-02 -1.47874170e-03 -9.63939122e+01] [-1.47994442e-03 1.35067947e-05 -9.99998905e-01 2.86230512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.67, Y:-96.40, Z:2.86 [[-2.80886051e-02 9.99605437e-01 3.69400804e-05 7.16705606e+01] [ 9.99604947e-01 2.80886279e-02 -9.89578763e-04 -9.64034318e+01] [-9.90225908e-04 9.12959996e-06 -9.99999510e-01 2.86196517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.68, Y:-96.41, Z:2.86 [[-1.07332057e-01 9.94223224e-01 1.05732600e-04 7.16801136e+01] [ 9.94222808e-01 1.07332109e-01 -9.09048353e-04 -9.64118012e+01] [-9.15145487e-04 7.55173312e-06 -9.99999581e-01 2.86211153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.69, Y:-96.42, Z:2.86 [[-1.87941900e-01 9.82180046e-01 4.46481154e-04 7.16941958e+01] [ 9.82177413e-01 1.87942430e-01 -2.27441832e-03 -9.64176858e+01] [-2.31780104e-03 1.10652042e-05 -9.99997314e-01 2.86412181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.71, Y:-96.42, Z:2.87 [[-2.66159396e-01 9.63928545e-01 9.67217170e-04 7.17067684e+01] [ 9.63922314e-01 2.66161153e-01 -3.46610542e-03 -9.64234562e+01] [-3.59851359e-03 9.78568867e-06 -9.99993525e-01 2.86574223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.72, Y:-96.43, Z:2.87 [[-3.42517334e-01 9.39509838e-01 1.77239330e-03 7.17190323e+01] [ 9.39497328e-01 3.42521919e-01 -4.84823031e-03 -9.64292332e+01] [-5.16204363e-03 4.55585269e-06 -9.99986677e-01 2.86705602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.73, Y:-96.43, Z:2.87 [[-4.16043747e-01 9.09341081e-01 2.52952649e-03 7.17313274e+01] [ 9.09324257e-01 4.16051436e-01 -5.53157690e-03 -9.64330208e+01] [-6.08250325e-03 -1.21817996e-06 -9.99981501e-01 2.86780899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.74, Y:-96.44, Z:2.87 [[-4.86885571e-01 8.73460112e-01 3.14211341e-03 7.17431677e+01] [ 8.73441818e-01 4.86895710e-01 -5.65321366e-03 -9.64359589e+01] [-6.46773818e-03 -8.01490941e-06 -9.99979084e-01 2.86836472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.76, Y:-96.44, Z:2.87 [[-5.54979038e-01 8.31857831e-01 3.28869512e-03 7.17554808e+01] [ 8.31843056e-01 5.54988782e-01 -4.95802828e-03 -9.64381253e+01] [-5.94956355e-03 -1.59235683e-05 -9.99982301e-01 2.86817616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.77, Y:-96.44, Z:2.87 [[-6.18880988e-01 7.85476311e-01 3.64520736e-03 7.17669518e+01] [ 7.85462504e-01 6.18891723e-01 -4.65728428e-03 -9.64392317e+01] [-5.91417514e-03 -1.91309917e-05 -9.99982511e-01 2.86797561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.78, Y:-96.44, Z:2.87 [[-6.79180983e-01 7.33962495e-01 3.49972449e-03 7.17793092e+01] [ 7.33952589e-01 6.79190000e-01 -3.81333059e-03 -9.64392410e+01] [-5.17581951e-03 -2.13097738e-05 -9.99986605e-01 2.86790127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.95762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.79, Y:-96.44, Z:2.87 [[-7.35359639e-01 6.77668130e-01 3.47937055e-03 7.17917137e+01] [ 6.77660383e-01 7.35367870e-01 -3.24047234e-03 -9.64376814e+01] [-4.75458215e-03 -2.50809898e-05 -9.99988697e-01 2.86784444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.82, Y:-96.42, Z:2.87 [[-7.82397349e-01 6.22774375e-01 2.54294962e-03 7.18208780e+01] [ 6.22770993e-01 7.82401481e-01 -2.05256089e-03 -9.64244756e+01] [-3.26788987e-03 -2.22429338e-05 -9.99994660e-01 2.86736630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.84, Y:-96.41, Z:2.87 [[-8.24509956e-01 5.65844382e-01 1.86212349e-03 7.18415102e+01] [ 5.65842896e-01 8.24512059e-01 -1.29651311e-03 -9.64053374e+01] [-2.26896793e-03 -1.53186201e-05 -9.99997426e-01 2.86680088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.85, Y:-96.38, Z:2.87 [[-8.62483731e-01 5.06083878e-01 9.60115653e-04 7.18506406e+01] [ 5.06083555e-01 8.62484266e-01 -5.71796877e-04 -9.63788388e+01] [-1.11746182e-03 -7.26676148e-06 -9.99999376e-01 2.86617164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.89, Y:-96.37, Z:2.87 [[-8.95881437e-01 4.44293150e-01 2.17341327e-04 7.18884302e+01] [ 4.44293136e-01 8.95881464e-01 -1.08950824e-04 -9.63687968e+01] [-2.43118171e-04 -1.04376063e-06 -9.99999970e-01 2.86586003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.91, Y:-96.35, Z:2.87 [[-9.24310853e-01 3.81640224e-01 4.31426573e-04 7.19082165e+01] [ 3.81640181e-01 9.24310954e-01 -1.79813412e-04 -9.63486714e+01] [-4.67396338e-04 -1.55377249e-06 -9.99999891e-01 2.86637926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.23, Y:-95.57, Z:1.99 [[-8.93057911e-01 -4.49939170e-01 1.52029234e-03 7.22343808e+01] [ 4.49938665e-01 -8.93059202e-01 -6.78522688e-04 -9.55732712e+01] [ 1.66300500e-03 7.80782506e-05 9.99998614e-01 1.98774731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.87, Y:-96.33, Z:2.87 [[-9.24895834e-01 3.80210490e-01 2.77111250e-03 7.18671854e+01] [ 3.80208762e-01 9.24899985e-01 -1.14640257e-03 -9.63332305e+01] [-2.99887619e-03 -6.70170793e-06 -9.99995503e-01 2.86865335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.88, Y:-96.31, Z:2.87 [[-9.49182769e-01 3.14700499e-01 3.95826121e-03 7.18782621e+01] [ 3.14697740e-01 9.49191022e-01 -1.31781413e-03 -9.63083170e+01] [-4.17186277e-03 -5.19061026e-06 -9.99991298e-01 2.87052308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.90, Y:-96.29, Z:2.87 [[-9.68743897e-01 2.47997458e-01 5.70294297e-03 7.18972668e+01] [ 2.47993165e-01 9.68760683e-01 -1.45914461e-03 -9.62865761e+01] [-5.88665108e-03 7.53438670e-07 -9.99982674e-01 2.87205192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.91, Y:-96.26, Z:2.87 [[-9.83895581e-01 1.78650321e-01 5.79209155e-03 7.19081657e+01] [ 1.78647230e-01 9.83912630e-01 -1.05091226e-03 -9.62606919e+01] [-5.88665784e-03 7.53184896e-07 -9.99982673e-01 2.87205200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.287628 meters Centerline goodness [0,1] 0.9998198806709445 Centerline is valid? [True, True] Translation: X:71.91, Y:-96.23, Z:2.87 [[-9.93958436e-01 1.09481472e-01 7.77400920e-03 7.19086683e+01] [ 1.09478197e-01 9.93988837e-01 -8.46774603e-04 -9.62333468e+01] [-7.81998449e-03 9.42575310e-06 -9.99969423e-01 2.87471689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.02, Y:-95.39, Z:1.98 [[-9.84617390e-01 -1.74616848e-01 6.12800401e-03 7.20159547e+01] [ 1.74612766e-01 -9.84636453e-01 -1.19909996e-03 -9.53947451e+01] [ 6.24323919e-03 -1.10626939e-04 9.99980505e-01 1.98363398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.85, Y:-96.23, Z:2.87 [[-9.94507353e-01 1.04488194e-01 6.11081525e-03 7.18501705e+01] [ 1.04486255e-01 9.94526127e-01 -6.36652155e-04 -9.62261818e+01] [-6.14388806e-03 5.34094969e-06 -9.99981126e-01 2.87142795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.95, Y:-95.39, Z:1.98 [[-9.85822534e-01 -1.67712855e-01 5.13117322e-03 7.19520469e+01] [ 1.67710252e-01 -9.85835886e-01 -9.36590932e-04 -9.53879027e+01] [ 5.21557304e-03 -6.27620937e-05 9.99986397e-01 1.98329115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.79, Y:-96.22, Z:2.87 [[-9.94603952e-01 1.03638847e-01 4.68697730e-03 7.17873615e+01] [ 1.03637801e-01 9.94614995e-01 -4.66260431e-04 -9.62207929e+01] [-4.71006060e-03 2.20035517e-05 -9.99988907e-01 2.87078007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.88, Y:-95.38, Z:1.98 [[-9.87133483e-01 -1.59848891e-01 3.97739517e-03 7.18809417e+01] [ 1.59847343e-01 -9.87141494e-01 -7.06035027e-04 -9.53785173e+01] [ 4.03911073e-03 -6.11747631e-05 9.99991841e-01 1.98429525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.72, Y:-96.22, Z:2.87 [[-9.94632619e-01 1.03424175e-01 3.06496376e-03 7.17199001e+01] [ 1.03423778e-01 9.94637340e-01 -2.88193078e-04 -9.62171712e+01] [-3.07833353e-03 3.03438963e-05 -9.99995261e-01 2.86914564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.81, Y:-95.37, Z:1.99 [[-9.88620562e-01 -1.50410202e-01 2.48097379e-03 7.18093629e+01] [ 1.50409574e-01 -9.88623673e-01 -4.38800052e-04 -9.53693581e+01] [ 2.51874942e-03 -6.06445431e-05 9.99996826e-01 1.98663076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.65, Y:-96.21, Z:2.87 [[-9.94937378e-01 1.00479772e-01 1.85179089e-03 7.16459678e+01] [ 1.00479639e-01 9.94939101e-01 -1.64900709e-04 -9.62112327e+01] [-1.85898835e-03 2.20014014e-05 -9.99998272e-01 2.86799115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.66, Y:-96.18, Z:2.87 [[-9.99561091e-01 2.95767962e-02 1.68453130e-03 7.16583321e+01] [ 2.95767882e-02 9.99562511e-01 -2.97035725e-05 -9.61840011e+01] [-1.68467287e-03 2.01324901e-05 -9.99998581e-01 2.86779972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.65, Y:-96.16, Z:2.87 [[-9.99118581e-01 -4.19543288e-02 1.37681516e-03 7.16515106e+01] [-4.19542666e-02 9.99119529e-01 7.39953520e-05 -9.61556310e+01] [-1.37870734e-03 1.61668609e-05 -9.99999049e-01 2.86836243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.65, Y:-96.12, Z:2.87 [[-9.93426114e-01 -1.14447803e-01 2.50144706e-03 7.16541760e+01] [-1.14447376e-01 9.93429263e-01 3.13560106e-04 -9.61243900e+01] [-2.52089698e-03 2.52147439e-05 -9.99996822e-01 2.87016332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.64, Y:-96.10, Z:2.87 [[-9.82467396e-01 -1.86406120e-01 3.25177861e-03 7.16372454e+01] [-1.86405000e-01 9.82472777e-01 6.46810174e-04 -9.60975816e+01] [-3.31535334e-03 2.93221143e-05 -9.99994504e-01 2.87070571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.60, Y:-96.08, Z:2.87 [[-9.65964154e-01 -2.58645359e-01 3.97882853e-03 7.16025795e+01] [-2.58643035e-01 9.65972348e-01 1.09692223e-03 -9.60764732e+01] [-4.12715218e-03 3.04912661e-05 -9.99991483e-01 2.87123578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.70762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.54, Y:-96.07, Z:2.87 [[-9.43897678e-01 -3.30206648e-01 4.55439060e-03 7.15411426e+01] [-3.30202653e-01 9.43908665e-01 1.62470219e-03 -9.60660857e+01] [-4.83541622e-03 2.96807655e-05 -9.99988309e-01 2.87188944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.48, Y:-96.06, Z:2.87 [[-9.15735525e-01 -4.01749688e-01 5.06324461e-03 7.14772769e+01] [-4.01743433e-01 9.15749522e-01 2.24204452e-03 -9.60604283e+01] [-5.53740452e-03 1.89945468e-05 -9.99984668e-01 2.87180743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.767628 meters Centerline goodness [0,1] 0.9998201155757426 Centerline is valid? [True, True] Translation: X:71.40, Y:-96.07, Z:2.87 [[-8.82964972e-01 -4.69397974e-01 6.19681828e-03 7.14018582e+01] [-4.69386249e-01 8.82986716e-01 3.31781570e-03 -9.60657262e+01] [-7.02908419e-03 2.08137587e-05 -9.99975295e-01 2.87415729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.31, Y:-96.08, Z:2.87 [[-8.44738762e-01 -5.35156880e-01 4.85148272e-03 7.13123510e+01] [-5.35147979e-01 8.44752694e-01 3.08665223e-03 -9.60848588e+01] [-5.75014627e-03 1.11536157e-05 -9.99983468e-01 2.87193655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.23, Y:-96.11, Z:2.87 [[-8.01352320e-01 -5.98175795e-01 4.49201878e-03 7.12311941e+01] [-5.98166351e-01 8.01364910e-01 3.36132813e-03 -9.61062078e+01] [-5.61041135e-03 6.63361016e-06 -9.99984262e-01 2.87201800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.14, Y:-96.14, Z:2.87 [[-7.53124204e-01 -6.57867543e-01 3.77210318e-03 7.11425688e+01] [-6.57859279e-01 7.53133651e-01 3.29752447e-03 -9.61410485e+01] [-5.01023216e-03 1.93241713e-06 -9.99987449e-01 2.87149989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.05, Y:-96.19, Z:2.87 [[-7.00634342e-01 -7.13513842e-01 3.08487056e-03 7.10510147e+01] [-7.13506921e-01 7.00641133e-01 3.14262003e-03 -9.61889457e+01] [-4.40369010e-03 7.51017182e-07 -9.99990304e-01 2.87118616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.96, Y:-96.25, Z:2.87 [[-6.44070124e-01 -7.64962257e-01 2.53410752e-03 7.09624533e+01] [-7.64956331e-01 6.44075109e-01 3.01106856e-03 -9.62455126e+01] [-3.93550938e-03 8.57708503e-07 -9.99992256e-01 2.87056180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.88, Y:-96.32, Z:2.87 [[-5.84394066e-01 -8.11468983e-01 1.29098504e-03 7.08758116e+01] [-8.11466990e-01 5.84395491e-01 1.79817036e-03 -9.63154449e+01] [-2.21360531e-03 3.24833878e-06 -9.99997550e-01 2.86902554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.80, Y:-96.39, Z:2.87 [[-5.20923764e-01 -8.53603030e-01 5.47358317e-04 7.07951809e+01] [-8.53602552e-01 5.20924052e-01 9.02738425e-04 -9.63896664e+01] [-1.05571237e-03 3.03144162e-06 -9.99999443e-01 2.86821747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.72, Y:-96.47, Z:2.87 [[-4.54560780e-01 -8.90715681e-01 2.69708768e-04 7.07192563e+01] [-8.90715520e-01 4.54560860e-01 5.34882299e-04 -9.64709497e+01] [-5.99027101e-04 2.90273012e-06 -9.99999821e-01 2.86745111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.65, Y:-96.56, Z:2.87 [[-3.85090595e-01 -9.22878774e-01 -4.63428693e-05 7.06460284e+01] [-9.22878768e-01 3.85090598e-01 -1.08643043e-04 -9.65649032e+01] [ 1.18110561e-04 9.31436118e-07 -9.99999993e-01 2.86741708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.58, Y:-96.66, Z:2.87 [[-3.14633209e-01 -9.49213328e-01 -4.52346913e-05 7.05828776e+01] [-9.49213318e-01 3.14633212e-01 -1.34727108e-04 -9.66595137e+01] [ 1.42117103e-04 5.47749111e-07 -9.99999990e-01 2.86807918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.53, Y:-96.76, Z:2.87 [[-2.41341267e-01 -9.70440300e-01 1.32284742e-04 7.05252668e+01] [-9.70440142e-01 2.41341303e-01 5.52841161e-04 -9.67647398e+01] [-5.68425114e-04 5.04896262e-06 -9.99999838e-01 2.86872120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.48, Y:-96.88, Z:2.87 [[-1.66731817e-01 -9.86002251e-01 2.48570361e-04 7.04755459e+01] [-9.86001030e-01 1.66732001e-01 1.55166766e-03 -9.68760467e+01] [-1.57139244e-03 1.36217346e-05 -9.99998765e-01 2.86945775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.43, Y:-96.99, Z:2.87 [[-9.17630644e-02 -9.95780829e-01 2.84174416e-04 7.04349644e+01] [-9.95774785e-01 9.17634976e-02 3.46957160e-03 -9.69895994e+01] [-3.48100972e-03 3.54048036e-05 -9.99993941e-01 2.87043801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.40, Y:-97.11, Z:2.87 [[-1.54364803e-02 -9.99880850e-01 1.60630130e-05 7.04023258e+01] [-9.99873338e-01 1.54364266e-02 3.87625443e-03 -9.71075094e+01] [-3.87604053e-03 4.37747467e-05 -9.99992487e-01 2.87088871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.38, Y:-97.23, Z:2.87 [[ 6.05630897e-02 -9.98164317e-01 -3.28597296e-04 7.03788215e+01] [-9.98154335e-01 -6.05639538e-02 4.46444607e-03 -9.72303488e+01] [-4.47615192e-03 5.76101673e-05 -9.99989980e-01 2.87131177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.36, Y:-97.35, Z:2.87 [[ 1.35444268e-01 -9.90784691e-01 -7.39715908e-04 7.03644800e+01] [-9.90772779e-01 -1.35446268e-01 4.85894064e-03 -9.73499222e+01] [-4.91435576e-03 7.47747258e-05 -9.99987922e-01 2.87190017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.36, Y:-97.47, Z:2.87 [[ 2.05919116e-01 -9.78568243e-01 -1.22909813e-03 7.03609239e+01] [-9.78554000e-01 -2.05922752e-01 5.28107845e-03 -9.74704564e+01] [-5.42099493e-03 1.15263888e-04 -9.99985300e-01 2.87327506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.37, Y:-97.60, Z:2.87 [[ 2.77963597e-01 -9.60590301e-01 -1.58482901e-03 7.03680647e+01] [-9.60577230e-01 -2.77968085e-01 5.01297918e-03 -9.75987974e+01] [-5.25595107e-03 1.28924936e-04 -9.99986179e-01 2.87366650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.38, Y:-97.71, Z:2.87 [[ 3.48258474e-01 -9.37396075e-01 -2.15268733e-03 7.03798975e+01] [-9.37380926e-01 -3.48265090e-01 5.33165847e-03 -9.77130415e+01] [-5.74758157e-03 1.61092803e-04 -9.99983470e-01 2.87351340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.36762800000002 meters Centerline goodness [0,1] 0.9999098754027443 Centerline is valid? [True, True] Translation: X:70.40, Y:-97.83, Z:2.88 [[ 4.16539216e-01 -9.09113691e-01 -2.71624179e-03 7.04032994e+01] [-9.09097276e-01 -4.16548028e-01 5.46648281e-03 -9.78299513e+01] [-6.10109952e-03 1.92323555e-04 -9.99981370e-01 2.87543121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.43, Y:-97.94, Z:2.87 [[ 4.82823913e-01 -8.75712914e-01 -2.82151042e-03 7.04319659e+01] [-8.75700195e-01 -4.82832119e-01 4.72363271e-03 -9.79389136e+01] [-5.49886203e-03 1.90114400e-04 -9.99984863e-01 2.87374859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.42762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.47, Y:-98.05, Z:2.87 [[ 5.46249494e-01 -8.37617112e-01 -3.01062871e-03 7.04701843e+01] [-8.37606322e-01 -5.46257755e-01 4.25602006e-03 -9.80479453e+01] [-5.20949451e-03 1.96872839e-04 -9.99986411e-01 2.87375891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.45762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.52, Y:-98.15, Z:2.87 [[ 6.05178840e-01 -7.96084220e-01 -2.91307054e-03 7.05154014e+01] [-7.96076507e-01 -6.05185819e-01 3.50979899e-03 -9.81499064e+01] [-4.55704458e-03 1.94970941e-04 -9.99989598e-01 2.87425021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.57, Y:-98.25, Z:2.87 [[ 6.63455984e-01 -7.48210105e-01 -2.79200138e-03 7.05680143e+01] [-7.48204578e-01 -6.63461835e-01 2.88149801e-03 -9.82514749e+01] [-4.00835229e-03 1.77241118e-04 -9.99991951e-01 2.87426396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.62, Y:-98.35, Z:2.87 [[ 7.18047738e-01 -6.95987511e-01 -2.97143563e-03 7.06233090e+01] [-6.95982565e-01 -7.18053864e-01 2.63011334e-03 -9.83475237e+01] [-3.96417688e-03 1.79520455e-04 -9.99992127e-01 2.87430130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.61, Y:-98.36, Z:2.87 [[ 7.70698611e-01 -6.37192369e-01 -3.08796807e-03 7.06139366e+01] [-6.37188133e-01 -7.70704778e-01 2.32998043e-03 -9.83578139e+01] [-3.86455749e-03 1.71903923e-04 -9.99992518e-01 2.87431164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.61, Y:-98.36, Z:2.88 [[ 8.18952953e-01 -5.73848798e-01 -3.69016764e-03 7.06069579e+01] [-5.73843993e-01 -8.18961245e-01 2.35605403e-03 -9.83619522e+01] [-4.37412306e-03 1.88083121e-04 -9.99990416e-01 2.87500511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.60, Y:-98.38, Z:2.88 [[ 8.62417458e-01 -5.06182412e-01 -3.93615191e-03 7.05957737e+01] [-5.06178092e-01 -8.62426422e-01 2.09921858e-03 -9.83762280e+01] [-4.45722893e-03 1.81991112e-04 -9.99990050e-01 2.87536696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.59, Y:-98.39, Z:2.88 [[ 9.00222166e-01 -4.35404787e-01 -4.76695724e-03 7.05869071e+01] [-4.35399857e-01 -9.00234764e-01 2.08160231e-03 -9.83853203e+01] [-5.19772024e-03 2.01627961e-04 -9.99986471e-01 2.87586183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.58, Y:-98.40, Z:2.88 [[ 9.33172878e-01 -3.59401084e-01 -4.38631511e-03 7.05790291e+01] [-3.59397908e-01 -9.33183174e-01 1.51938986e-03 -9.83981950e+01] [-4.63930582e-03 1.58579067e-04 -9.99989226e-01 2.87662415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.57, Y:-98.41, Z:2.88 [[ 9.59166801e-01 -2.82809798e-01 -4.20310739e-03 7.05736168e+01] [-2.82807705e-01 -9.59176000e-01 1.09648983e-03 -9.84093274e+01] [-4.34161780e-03 1.36954507e-04 -9.99990566e-01 2.87610322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.56, Y:-98.42, Z:2.88 [[ 9.79066013e-01 -2.03515092e-01 -3.36881324e-03 7.05649441e+01] [-2.03514225e-01 -9.79071804e-01 6.01669738e-04 -9.84183082e+01] [-3.42075893e-03 9.65270241e-05 -9.99994145e-01 2.87558400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.56, Y:-98.43, Z:2.87 [[ 9.92426940e-01 -1.22816614e-01 -2.20202534e-03 7.05574710e+01] [-1.22816435e-01 -9.92429381e-01 2.16836559e-04 -9.84332015e+01] [-2.21198577e-03 5.52504600e-05 -9.99997552e-01 2.87441877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.55, Y:-98.45, Z:2.87 [[ 9.99323029e-01 -3.67888811e-02 -2.47847033e-04 7.05506567e+01] [-3.67888813e-02 -9.99323060e-01 3.80604547e-06 -9.84464071e+01] [-2.47819275e-04 5.31454618e-06 -9.99999969e-01 2.87273980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.55, Y:-98.46, Z:2.87 [[ 9.98951888e-01 4.57708573e-02 3.93268420e-04 7.05465072e+01] [ 4.57708523e-02 -9.98951965e-01 2.16015301e-05 -9.84584703e+01] [ 3.93844982e-04 -3.57865846e-06 -9.99999922e-01 2.87259148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.54, Y:-98.47, Z:2.87 [[ 9.91810721e-01 1.27713228e-01 9.07898486e-04 7.05421431e+01] [ 1.27713169e-01 -9.91811137e-01 1.23320306e-04 -9.84700948e+01] [ 9.16213464e-04 -6.35980870e-06 -9.99999580e-01 2.87291489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.54, Y:-98.49, Z:2.87 [[ 9.77254937e-01 2.12066071e-01 8.77682091e-04 7.05399515e+01] [ 2.12065986e-01 -9.77255331e-01 1.90152083e-04 -9.84853409e+01] [ 8.98044307e-04 2.99456324e-07 -9.99999597e-01 2.87376025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.54, Y:-98.50, Z:2.87 [[ 9.56734111e-01 2.90962969e-01 6.25913577e-04 7.05376676e+01] [ 2.90962908e-01 -9.56734316e-01 1.87638526e-04 -9.84965342e+01] [ 6.53428861e-04 2.59745643e-06 -9.99999787e-01 2.87434706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.54, Y:-98.51, Z:2.88 [[ 9.30098298e-01 3.67310694e-01 1.03836477e-04 7.05371810e+01] [ 3.67310692e-01 -9.30098303e-01 3.91441287e-05 -9.85078627e+01] [ 1.10956188e-04 1.73236081e-06 -9.99999994e-01 2.87510909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.54, Y:-98.52, Z:2.88 [[ 8.97533584e-01 4.40946084e-01 -1.25862810e-04 7.05361165e+01] [ 4.40946080e-01 -8.97533593e-01 -6.21334178e-05 -9.85183358e+01] [-1.40363587e-04 2.68116757e-07 -9.99999990e-01 2.87608556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.54, Y:-98.53, Z:2.88 [[ 8.58951132e-01 5.12056506e-01 -1.04265890e-03 7.05369782e+01] [ 5.12056143e-01 -8.58951765e-01 -6.09872913e-04 -9.85273971e+01] [-1.20788309e-03 -1.00488632e-05 -9.99999270e-01 2.87732651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.54, Y:-98.54, Z:2.88 [[ 8.15946635e-01 5.78125286e-01 -1.49731931e-03 7.05387393e+01] [ 5.78124350e-01 -8.15948009e-01 -1.04045787e-03 -9.85369447e+01] [-1.82324971e-03 -1.66786564e-05 -9.99998338e-01 2.87810809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.54, Y:-98.55, Z:2.88 [[ 7.67845573e-01 6.40632391e-01 -1.82086075e-03 7.05392616e+01] [ 6.40630660e-01 -7.67847732e-01 -1.48906030e-03 -9.85467384e+01] [-2.35208406e-03 -2.31308620e-05 -9.99997234e-01 2.87872217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.54, Y:-98.55, Z:2.88 [[ 7.15851381e-01 6.98246108e-01 -3.02869414e-03 7.05374197e+01] [ 6.98240089e-01 -7.15857787e-01 -2.89955533e-03 -9.85522755e+01] [-4.19271751e-03 -3.91049790e-05 -9.99991210e-01 2.88072513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.54, Y:-98.56, Z:2.88 [[ 6.59988798e-01 7.51266093e-01 -3.74738206e-03 7.05363259e+01] [ 7.51254372e-01 -6.59999435e-01 -4.19685667e-03 -9.85589934e+01] [-5.62622616e-03 -4.53587707e-05 -9.99984172e-01 2.88174053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.54, Y:-98.57, Z:2.88 [[ 5.99121935e-01 8.00650546e-01 -3.40719698e-03 7.05376072e+01] [ 8.00638028e-01 -5.99131622e-01 -4.47750102e-03 -9.85677465e+01] [-5.62627310e-03 -4.53623947e-05 -9.99984171e-01 2.88174094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.17762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.54, Y:-98.58, Z:2.88 [[ 5.35964076e-01 8.44232382e-01 -3.76745889e-03 7.05356032e+01] [ 8.44212111e-01 -5.35977315e-01 -5.85052133e-03 -9.85751555e+01] [-6.95847206e-03 -4.48651676e-05 -9.99975789e-01 2.88308560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.20762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.54, Y:-98.58, Z:2.88 [[ 4.70294037e-01 8.82502076e-01 -3.68844288e-03 7.05371095e+01] [ 8.82475460e-01 -4.70308500e-01 -6.85400363e-03 -9.85831299e+01] [-7.78337847e-03 -3.15632889e-05 -9.99969709e-01 2.88328425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.54, Y:-98.59, Z:2.88 [[ 4.00484591e-01 9.16297850e-01 -3.21583629e-03 7.05416409e+01] [ 9.16268826e-01 -4.00497501e-01 -7.29310690e-03 -9.85933787e+01] [-7.97059258e-03 -2.57936109e-05 -9.99968234e-01 2.88374191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.55, Y:-98.60, Z:2.88 [[ 3.28298085e-01 9.44571015e-01 -2.44239861e-03 7.05486161e+01] [ 9.44545270e-01 -3.28307170e-01 -6.97385387e-03 -9.86026533e+01] [-7.38915720e-03 -1.74531788e-05 -9.99972700e-01 2.88379094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.297628 meters Centerline goodness [0,1] 0.9997775008899964 Centerline is valid? [True, True] Translation: X:70.55, Y:-98.61, Z:2.88 [[ 2.54741283e-01 9.67007262e-01 -1.95805743e-03 7.05546661e+01] [ 9.66978895e-01 -2.54748808e-01 -7.40683395e-03 -9.86114550e+01] [-7.66127502e-03 -6.57382822e-06 -9.99970652e-01 2.88356690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.327628 meters Centerline goodness [0,1] 0.9994423003993129 Centerline is valid? [True, True] Translation: X:70.56, Y:-98.62, Z:2.88 [[ 1.80691292e-01 9.83538966e-01 -1.32664104e-03 7.05600152e+01] [ 9.83511962e-01 -1.80696162e-01 -7.28815616e-03 -9.86206812e+01] [-7.40790451e-03 1.21390199e-05 -9.99972561e-01 2.88444519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.357628 meters Centerline goodness [0,1] 0.9992668458821177 Centerline is valid? [True, True] Translation: X:70.56, Y:-98.63, Z:2.88 [[ 1.06258661e-01 9.94338275e-01 -7.00969060e-04 7.05646133e+01] [ 9.94314506e-01 -1.06260968e-01 -6.87526790e-03 -9.86284465e+01] [-6.91082767e-03 3.35730570e-05 -9.99976119e-01 2.88382072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.387628 meters Centerline goodness [0,1] 0.9992419682072549 Centerline is valid? [True, True] Translation: X:70.57, Y:-98.64, Z:2.88 [[ 3.73010396e-02 9.99304069e-01 -9.89150744e-05 7.05662418e+01] [ 9.99294888e-01 -3.73011210e-02 -4.28415028e-03 -9.86353695e+01] [-4.28485845e-03 6.09579312e-05 -9.99990818e-01 2.88046405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.417628 meters Centerline goodness [0,1] 0.9995764223292313 Centerline is valid? [True, True] Translation: X:70.57, Y:-98.64, Z:2.88 [[-3.62065320e-02 9.99344317e-01 1.51006877e-04 7.05715156e+01] [ 9.99340620e-01 3.62068089e-02 -2.71901591e-03 -9.86428333e+01] [-2.72270058e-03 5.24611696e-05 -9.99996292e-01 2.87836861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.447628 meters Centerline goodness [0,1] 0.9993304617582074 Centerline is valid? [True, True] Translation: X:70.58, Y:-98.65, Z:2.88 [[-1.09437310e-01 9.93993664e-01 2.65286212e-04 7.05800420e+01] [ 9.93991720e-01 1.09437621e-01 -1.96667238e-03 -9.86495851e+01] [-1.98389218e-03 4.84649624e-05 -9.99998031e-01 2.87737196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.477628 meters Centerline goodness [0,1] 0.9994422381866048 Centerline is valid? [True, True] Translation: X:70.59, Y:-98.66, Z:2.88 [[-1.82216205e-01 9.83258416e-01 3.76692299e-04 7.05901141e+01] [ 9.83256868e-01 1.82216587e-01 -1.74571057e-03 -9.86554230e+01] [-1.78512420e-03 5.22885330e-05 -9.99998405e-01 2.87766007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.507628 meters Centerline goodness [0,1] 0.9995773739350935 Centerline is valid? [True, True] Translation: X:70.60, Y:-98.66, Z:2.88 [[-2.50588195e-01 9.68093282e-01 9.76624436e-04 7.05992876e+01] [ 9.68087784e-01 2.50590065e-01 -3.26508763e-03 -9.86620438e+01] [-3.40564178e-03 1.27265772e-04 -9.99994193e-01 2.87981580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.537628 meters Centerline goodness [0,1] 0.9997106674678952 Centerline is valid? [True, True] Translation: X:70.61, Y:-98.67, Z:2.88 [[-3.22816375e-01 9.46460178e-01 1.64888063e-03 7.06079410e+01] [ 9.46450590e-01 3.22820534e-01 -4.26422448e-03 -9.86692826e+01] [-4.56821119e-03 1.84022554e-04 -9.99989549e-01 2.88098261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.567628 meters Centerline goodness [0,1] 0.9993786200927631 Centerline is valid? [True, True] Translation: X:70.62, Y:-98.67, Z:2.88 [[-3.93982384e-01 9.19115064e-01 2.31969256e-03 7.06221593e+01] [ 9.19102378e-01 3.93989147e-01 -4.83436762e-03 -9.86724481e+01] [-5.35727380e-03 2.27379268e-04 -9.99985624e-01 2.88178452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.59762800000001 meters Centerline goodness [0,1] 0.9995560291244895 Centerline is valid? [True, True] Translation: X:70.64, Y:-98.68, Z:2.88 [[-4.62766914e-01 8.86473909e-01 3.28525177e-03 7.06351650e+01] [ 8.86455874e-01 4.62778483e-01 -5.66215582e-03 -9.86759282e+01] [-6.53969724e-03 2.91972355e-04 -9.99978573e-01 2.88273142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.62762800000002 meters Centerline goodness [0,1] 0.9999334590218476 Centerline is valid? [True, True] Translation: X:70.65, Y:-98.68, Z:2.88 [[-5.30894770e-01 8.47430772e-01 3.43956591e-03 7.06486568e+01] [ 8.47416164e-01 5.30905844e-01 -4.98300342e-03 -9.86762180e+01] [-6.04883608e-03 2.69293294e-04 -9.99981669e-01 2.88099971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.65762800000002 meters Centerline goodness [0,1] 0.9996899430824087 Centerline is valid? [True, True] Translation: X:70.66, Y:-98.68, Z:2.88 [[-5.96048642e-01 8.02941307e-01 3.35761735e-03 7.06617018e+01] [ 8.02930719e-01 5.96058053e-01 -4.13024185e-03 -9.86751500e+01] [-5.31767665e-03 2.34109069e-04 -9.99985834e-01 2.87989460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.68762800000002 meters Centerline goodness [0,1] 0.999778990872323 Centerline is valid? [True, True] Translation: X:70.67, Y:-98.68, Z:2.88 [[-6.58100268e-01 7.52924173e-01 3.03758261e-03 7.06729141e+01] [ 7.52917441e-01 6.58107252e-01 -3.18936212e-03 -9.86756115e+01] [-4.40040298e-03 1.88128859e-04 -9.99990300e-01 2.87932763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.71762800000002 meters Centerline goodness [0,1] 0.9998901847093189 Centerline is valid? [True, True] Translation: X:70.69, Y:-98.66, Z:2.88 [[-7.18766144e-01 6.95248180e-01 2.28013216e-03 7.06930598e+01] [ 6.95245180e-01 7.18769751e-01 -2.04554400e-03 -9.86632833e+01] [-3.06105077e-03 1.14983122e-04 -9.99995308e-01 2.87781205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.74762800000002 meters Centerline goodness [0,1] 0.9997154240182129 Centerline is valid? [True, True] Translation: X:70.72, Y:-98.64, Z:2.88 [[-7.68230072e-01 6.40170837e-01 1.96376280e-03 7.07155423e+01] [ 6.40169025e-01 7.68232577e-01 -1.52521816e-03 -9.86419315e+01] [-2.48502674e-03 8.54216654e-05 -9.99996909e-01 2.87756668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.77762800000002 meters Centerline goodness [0,1] 0.9998686543639588 Centerline is valid? [True, True] Translation: X:70.73, Y:-98.62, Z:2.88 [[-8.13724436e-01 5.81249251e-01 1.35984545e-03 7.07340945e+01] [ 5.81248543e-01 8.13725571e-01 -9.09102541e-04 -9.86164314e+01] [-1.63495619e-03 5.06492326e-05 -9.99998662e-01 2.87716841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.80762800000002 meters Centerline goodness [0,1] 0.9997382541552153 Centerline is valid? [True, True] Translation: X:70.75, Y:-98.59, Z:2.88 [[-8.54922388e-01 5.18754699e-01 1.12836142e-03 7.07535654e+01] [ 5.18754301e-01 8.54923132e-01 -6.43600292e-04 -9.85925433e+01] [-1.29853296e-03 3.51140434e-05 -9.99999156e-01 2.87707018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.83762800000002 meters Centerline goodness [0,1] 0.9997162996748358 Centerline is valid? [True, True] Translation: X:70.76, Y:-98.56, Z:2.88 [[-8.93480020e-01 4.49101219e-01 1.24467138e-03 7.07617792e+01] [ 4.49100823e-01 8.93480886e-01 -5.97458089e-04 -9.85577323e+01] [-1.38040924e-03 2.51660764e-05 -9.99999047e-01 2.87651741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.86762800000002 meters Centerline goodness [0,1] 0.999826136091974 Centerline is valid? [True, True] Translation: X:70.78, Y:-98.53, Z:2.88 [[-9.24667020e-01 3.80773239e-01 1.62547541e-03 7.07808106e+01] [ 3.80772697e-01 9.24668448e-01 -6.43178113e-04 -9.85322140e+01] [-1.74793084e-03 2.42110650e-05 -9.99998472e-01 2.87720007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.89762800000003 meters Centerline goodness [0,1] 0.9998261889760358 Centerline is valid? [True, True] Translation: X:70.79, Y:-98.50, Z:2.88 [[-9.50586715e-01 3.10451020e-01 2.24975467e-03 7.07939571e+01] [ 3.10450207e-01 9.50589377e-01 -7.10898089e-04 -9.85033960e+01] [-2.35929192e-03 2.26665242e-05 -9.99997217e-01 2.87772314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.92762800000003 meters Centerline goodness [0,1] 0.999782499945625 Centerline is valid? [True, True] Translation: X:70.80, Y:-98.47, Z:2.88 [[-9.71222386e-01 2.38157946e-01 2.80522103e-03 7.07975504e+01] [ 2.38156998e-01 9.71226437e-01 -6.72191333e-04 -9.84726776e+01] [-2.88459253e-03 1.52357478e-05 -9.99995839e-01 2.87837252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.95762800000003 meters Centerline goodness [0,1] 0.9997817022855771 Centerline is valid? [True, True] Translation: X:70.97, Y:-97.74, Z:1.98 [[-9.53867482e-01 -3.00206351e-01 3.60180000e-03 7.09743070e+01] [ 3.00204376e-01 -9.53874281e-01 -1.08983161e-03 -9.77386661e+01] [ 3.76283876e-03 4.17211894e-05 9.99992920e-01 1.97625672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.98762800000003 meters Centerline goodness [0,1] 0.9998261549828328 Centerline is valid? [True, True] Translation: X:70.75, Y:-98.45, Z:2.88 [[-9.74322553e-01 2.25123505e-01 3.86909611e-03 7.07474705e+01] [ 2.25121659e-01 9.74330235e-01 -9.11703302e-04 -9.84543569e+01] [-3.97502316e-03 -1.72757543e-05 -9.99992099e-01 2.87968825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.017628 meters Centerline goodness [0,1] 0.9998253656406898 Centerline is valid? [True, True] Translation: X:70.75, Y:-98.43, Z:2.88 [[-9.88020344e-01 1.54266788e-01 4.19022312e-03 7.07468710e+01] [ 1.54265299e-01 9.88029229e-01 -6.78078675e-04 -9.84260937e+01] [-4.24466794e-03 -2.35495022e-05 -9.99990991e-01 2.87958095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.047628 meters Centerline goodness [0,1] 0.9998257877659459 Centerline is valid? [True, True] Translation: X:70.88, Y:-97.69, Z:1.98 [[-9.72744381e-01 -2.31829837e-01 4.82656356e-03 7.08815131e+01] [ 2.31827354e-01 -9.72756352e-01 -1.07562973e-03 -9.76920767e+01] [ 4.94443343e-03 7.26166822e-05 9.99987774e-01 1.97568427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.077628 meters Centerline goodness [0,1] 0.9999781286907834 Centerline is valid? [True, True] Translation: X:70.70, Y:-98.42, Z:2.88 [[-9.88326976e-01 1.52253233e-01 5.36114728e-03 7.07020308e+01] [ 1.52250888e-01 9.88341516e-01 -8.45253274e-04 -9.84240177e+01] [-5.42733697e-03 -1.91471802e-05 -9.99985272e-01 2.87892428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.107628 meters Centerline goodness [0,1] 0.9999342566619915 Centerline is valid? [True, True] Translation: X:70.71, Y:-98.40, Z:2.88 [[-9.96422983e-01 8.43359709e-02 5.35569838e-03 7.07085141e+01] [ 8.43347273e-02 9.96437376e-01 -4.58014565e-04 -9.83997858e+01] [-5.37524514e-03 -4.70487683e-06 -9.99985553e-01 2.87873047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.78, Y:-97.64, Z:1.98 [[-9.88646833e-01 -1.50176382e-01 4.94917665e-03 7.07787228e+01] [ 1.50174407e-01 -9.88659220e-01 -7.70276429e-04 -9.76398810e+01] [ 5.00872645e-03 -1.82916821e-05 9.99987456e-01 1.97687109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.64, Y:-98.40, Z:2.88 [[-9.96269050e-01 8.61607358e-02 4.93023901e-03 7.06420289e+01] [ 8.61598222e-02 9.96281249e-01 -3.97810078e-04 -9.84010018e+01] [-4.94618029e-03 2.84626478e-05 -9.99987767e-01 2.87814101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.64, Y:-98.38, Z:2.88 [[-9.99740984e-01 2.22442641e-02 4.81229407e-03 7.06443738e+01] [ 2.22443044e-02 9.99752564e-01 -4.51578455e-05 -9.83811639e+01] [-4.81210783e-03 6.18999852e-05 -9.99988420e-01 2.87766180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.67, Y:-97.59, Z:1.98 [[-9.98133323e-01 -6.08462285e-02 5.25410064e-03 7.06666310e+01] [ 6.08451792e-02 -9.98147151e-01 -3.59487092e-04 -9.75891562e+01] [ 5.26623902e-03 -3.91293507e-05 9.99986133e-01 1.97794722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.56, Y:-98.39, Z:2.88 [[-9.99730078e-01 2.25369054e-02 5.64446384e-03 7.05553671e+01] [ 2.25371628e-02 9.99746006e-01 -1.80104610e-05 -9.83867844e+01] [-5.64343608e-03 1.09204601e-04 -9.99984070e-01 2.87801892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.55, Y:-98.36, Z:2.88 [[-9.98916411e-01 -4.61138930e-02 6.28599474e-03 7.05545718e+01] [-4.61121077e-02 9.98936179e-01 4.28719271e-04 -9.83620639e+01] [-6.29907749e-03 1.38394249e-04 -9.99980151e-01 2.87859414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.55, Y:-98.34, Z:2.88 [[-9.93447870e-01 -1.13994270e-01 8.16305716e-03 7.05476493e+01] [-1.13988690e-01 9.93481385e-01 1.14715063e-03 -9.83395392e+01] [-8.24061394e-03 2.09138153e-04 -9.99966024e-01 2.87960754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.42, Y:-97.53, Z:1.98 [[-9.95127565e-01 9.82009923e-02 8.81448932e-03 7.04150024e+01] [-9.81987854e-02 -9.95166584e-01 6.83863699e-04 -9.75292818e+01] [ 8.83904133e-03 -1.85040528e-04 9.99960918e-01 1.97548619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.40, Y:-98.36, Z:2.88 [[-9.92759809e-01 -1.19739933e-01 9.50317628e-03 7.04040652e+01] [-1.19731962e-01 9.92805259e-01 1.40537282e-03 -9.83628696e+01] [-9.60308264e-03 2.57363713e-04 -9.99953856e-01 2.88043416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.38, Y:-98.34, Z:2.88 [[-9.81337805e-01 -1.91941354e-01 1.16030017e-02 7.03777135e+01] [-1.91924245e-01 9.81406350e-01 2.58092805e-03 -9.83419898e+01] [-1.18826464e-02 3.05864913e-04 -9.99929352e-01 2.88208351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.32, Y:-98.33, Z:2.88 [[-9.64254312e-01 -2.64690914e-01 1.23427221e-02 7.03246116e+01] [-2.64665024e-01 9.64333252e-01 3.71549702e-03 -9.83268864e+01] [-1.28859556e-02 3.15997181e-04 -9.99916923e-01 2.88257059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.26, Y:-98.32, Z:2.88 [[-9.41500488e-01 -3.36787357e-01 1.22925401e-02 7.02621574e+01] [-3.36754464e-01 9.41580684e-01 4.71653412e-03 -9.83186262e+01] [-1.31628874e-02 3.01051428e-04 -9.99913320e-01 2.88281954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.19, Y:-98.32, Z:2.88 [[-9.13098660e-01 -4.07553150e-01 1.22990405e-02 7.01879094e+01] [-4.07511947e-01 9.13181443e-01 5.80213647e-03 -9.83201691e+01] [-1.35959346e-02 2.85917085e-04 -9.99907530e-01 2.88291769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.11, Y:-98.33, Z:2.88 [[-8.78199567e-01 -4.78132662e-01 1.24369323e-02 7.01064360e+01] [-4.78080731e-01 8.78287593e-01 7.05109728e-03 -9.83302280e+01] [-1.42945632e-02 2.46412907e-04 -9.99897797e-01 2.88308463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.02, Y:-98.35, Z:2.88 [[-8.38681886e-01 -5.44489581e-01 1.19912679e-02 7.00171886e+01] [-5.44430141e-01 8.38767576e-01 8.04827406e-03 -9.83528153e+01] [-1.44400881e-02 2.21533968e-04 -9.99895712e-01 2.88357148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.93, Y:-98.38, Z:2.88 [[-7.93991251e-01 -6.07830381e-01 1.09600210e-02 6.99302163e+01] [-6.07769162e-01 7.94066869e-01 8.62861517e-03 -9.83822286e+01] [-1.39477240e-02 1.89882147e-04 -9.99902708e-01 2.88367883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.84, Y:-98.42, Z:2.88 [[-7.44300272e-01 -6.67775289e-01 9.65763063e-03 6.98396332e+01] [-6.67716360e-01 7.44362909e-01 8.87259732e-03 -9.84230004e+01] [-1.31136833e-02 1.55318633e-04 -9.99914000e-01 2.88302715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.75, Y:-98.48, Z:2.88 [[-6.88688536e-01 -7.25016829e-01 7.66147324e-03 6.97476754e+01] [-7.24970449e-01 6.88731144e-01 8.20119821e-03 -9.84751531e+01] [-1.12227020e-02 9.37294932e-05 -9.99937019e-01 2.88089758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.66, Y:-98.54, Z:2.88 [[-6.30241858e-01 -7.76373056e-01 6.33078028e-03 6.96572585e+01] [-7.76332739e-01 6.30273649e-01 7.91239639e-03 -9.85369692e+01] [-1.01330954e-02 7.19314002e-05 -9.99948656e-01 2.87906985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.70762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.57, Y:-98.61, Z:2.88 [[-5.67887625e-01 -8.23089141e-01 5.28309869e-03 6.95727301e+01] [-8.23052597e-01 5.67912196e-01 7.75634384e-03 -9.86058331e+01] [-9.38449857e-03 5.64635816e-05 -9.99955963e-01 2.87863395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.49, Y:-98.69, Z:2.88 [[-5.02203948e-01 -8.64739348e-01 4.12983906e-03 6.94903820e+01] [-8.64709398e-01 5.02220926e-01 7.19705260e-03 -9.86861582e+01] [-8.29766616e-03 4.32775796e-05 -9.99965573e-01 2.87649832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.41, Y:-98.77, Z:2.88 [[-4.34426360e-01 -9.00701358e-01 3.28667991e-03 6.94147177e+01] [-9.00674822e-01 4.34438790e-01 6.91387032e-03 -9.87728137e+01] [-7.65519363e-03 4.33376672e-05 -9.99970698e-01 2.87651675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.34, Y:-98.87, Z:2.88 [[-3.64251648e-01 -9.31296855e-01 2.62768918e-03 6.93443166e+01] [-9.31271709e-01 3.64261123e-01 6.84388220e-03 -9.88657324e+01] [-7.33085098e-03 4.58027730e-05 -9.99973128e-01 2.87589053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.28, Y:-98.97, Z:2.88 [[-2.91913493e-01 -9.56442455e-01 2.08396952e-03 6.92810657e+01] [-9.56416815e-01 2.91920927e-01 7.00340322e-03 -9.89678745e+01] [-7.30670648e-03 5.12444029e-05 -9.99973304e-01 2.87772182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.23, Y:-99.08, Z:2.88 [[-2.18455702e-01 -9.75845598e-01 1.57342209e-03 6.92255219e+01] [-9.75818154e-01 2.18461358e-01 7.31888631e-03 -9.90757514e+01] [-7.48583491e-03 6.34786047e-05 -9.99971979e-01 2.87850657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.18, Y:-99.18, Z:2.88 [[-1.46803621e-01 -9.89165071e-01 1.07632301e-03 6.91803688e+01] [-9.89132930e-01 1.46807528e-01 7.97473298e-03 -9.91842027e+01] [-8.04633964e-03 1.06093140e-04 -9.99967622e-01 2.87776972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.14, Y:-99.29, Z:2.88 [[-7.28802125e-02 -9.97340593e-01 4.65002192e-04 6.91432887e+01] [-9.97307419e-01 7.28815815e-02 8.13552064e-03 -9.92920142e+01] [-8.14777508e-03 1.29168337e-04 -9.99966798e-01 2.87797851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.11, Y:-99.41, Z:2.88 [[ 1.45787042e-03 -9.99998923e-01 -1.71209063e-04 6.91138620e+01] [-9.99964248e-01 -1.45924589e-03 8.32910341e-03 -9.94093870e+01] [-8.32934427e-03 1.59060189e-04 -9.99965298e-01 2.87809356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.10, Y:-99.52, Z:2.88 [[ 7.53586766e-02 -9.97156134e-01 -8.44865586e-04 6.90951733e+01] [-9.97119013e-01 -7.53631631e-02 8.60624848e-03 -9.95248412e+01] [-8.64544521e-03 1.93876043e-04 -9.99962609e-01 2.87858750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.09, Y:-99.65, Z:2.88 [[ 1.45719240e-01 -9.89324859e-01 -1.49213820e-03 6.90851768e+01] [-9.89289104e-01 -1.45726665e-01 8.41475403e-03 -9.96455056e+01] [-8.54236967e-03 2.49964493e-04 -9.99963482e-01 2.87872420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.08, Y:-99.77, Z:2.88 [[ 2.18803734e-01 -9.75766024e-01 -2.36473939e-03 6.90837642e+01] [-9.75723227e-01 -2.18816297e-01 9.14398779e-03 -9.97665860e+01] [-9.43983613e-03 3.06592478e-04 -9.99955397e-01 2.87945107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.09, Y:-99.89, Z:2.88 [[ 2.93718097e-01 -9.55887169e-01 -3.06585730e-03 6.90913257e+01] [-9.55845473e-01 -2.93733938e-01 8.93337477e-03 -9.98896433e+01] [-9.43984466e-03 3.06591979e-04 -9.99955397e-01 2.87945151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.09762800000001 meters Centerline goodness [0,1] 0.9998419935894542 Centerline is valid? [True, True] Translation: X:69.11, Y:-100.01, Z:2.88 [[ 3.63995811e-01 -9.31390876e-01 -4.25277125e-03 6.91083674e+01] [-9.31339004e-01 -3.64020456e-01 9.83705692e-03 -1.00009118e+02] [-1.07102408e-02 3.80124225e-04 -9.99942571e-01 2.88233814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.14, Y:-100.13, Z:2.88 [[ 4.32336329e-01 -9.01698318e-01 -5.04392544e-03 6.91356483e+01] [-9.01647730e-01 -4.32365552e-01 9.56034528e-03 -1.00129716e+02] [-1.08013669e-02 4.14559339e-04 -9.99941578e-01 2.88143276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.16, Y:-100.24, Z:2.88 [[ 4.96809190e-01 -8.67835954e-01 -6.43321276e-03 6.91649978e+01] [-8.67776172e-01 -4.96850573e-01 1.01992169e-02 -1.00240166e+02] [-1.20475926e-02 5.15524058e-04 -9.99927292e-01 2.88155739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.20, Y:-100.35, Z:2.88 [[ 5.61039130e-01 -8.27756000e-01 -7.42291663e-03 6.92045601e+01] [-8.27696095e-01 -5.61087965e-01 9.97343972e-03 -1.00348375e+02] [-1.24204838e-02 5.48429158e-04 -9.99922712e-01 2.88136363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.25, Y:-100.45, Z:2.88 [[ 6.22398813e-01 -7.82661232e-01 -7.81750211e-03 6.92506894e+01] [-7.82609982e-01 -6.22447678e-01 8.97242200e-03 -1.00452999e+02] [-1.18883529e-02 5.33630380e-04 -9.99929189e-01 2.88108748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.30, Y:-100.55, Z:2.88 [[ 6.80766883e-01 -7.32453460e-01 -8.26920944e-03 6.93026432e+01] [-7.32408432e-01 -6.80816908e-01 8.13797823e-03 -1.00551898e+02] [-1.15905079e-02 5.16372647e-04 -9.99932694e-01 2.88099821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.29, Y:-100.57, Z:2.88 [[ 7.38208417e-01 -6.74522906e-01 -8.19644813e-03 6.92904156e+01] [-6.74487821e-01 -7.38253788e-01 6.89367467e-03 -1.00567096e+02] [-1.07010004e-02 4.39435775e-04 -9.99942646e-01 2.87960054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.28, Y:-100.58, Z:2.88 [[ 7.90499561e-01 -6.12401441e-01 -8.65554313e-03 6.92817494e+01] [-6.12370253e-01 -7.90546843e-01 6.19375758e-03 -1.00575159e+02] [-1.06356784e-02 4.04234488e-04 -9.99943358e-01 2.87965330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.27, Y:-100.59, Z:2.88 [[ 8.37914890e-01 -5.45727845e-01 -8.93060986e-03 6.92726581e+01] [-5.45701361e-01 -8.37962404e-01 5.38830561e-03 -1.00585048e+02] [-1.04240637e-02 3.58504450e-04 -9.99945604e-01 2.87933146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.26, Y:-100.60, Z:2.88 [[ 8.81699664e-01 -4.71734392e-01 -8.50674482e-03 6.92643323e+01] [-4.71715189e-01 -8.81740664e-01 4.26401496e-03 -1.00595191e+02] [-9.51222533e-03 2.53180180e-04 -9.99954726e-01 2.87922104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.26, Y:-100.60, Z:2.88 [[ 9.17541111e-01 -3.97540469e-01 -8.93781213e-03 6.92589538e+01] [-3.97523892e-01 -9.17584617e-01 3.63681415e-03 -1.00601376e+02] [-9.64697972e-03 2.16067361e-04 -9.99953443e-01 2.87945283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.42762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.25, Y:-100.62, Z:2.88 [[ 9.47340004e-01 -3.20080502e-01 -9.76677148e-03 6.92520656e+01] [-3.20065452e-01 -9.47390331e-01 3.10918988e-03 -1.00617722e+02] [-1.02481359e-02 1.80546169e-04 -9.99947470e-01 2.87871574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.45762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.25, Y:-100.63, Z:2.88 [[ 9.70686350e-01 -2.40135556e-01 -1.01452023e-02 6.92471665e+01] [-2.40123851e-01 -9.70739356e-01 2.37460820e-03 -1.00630296e+02] [-1.04185750e-02 1.31105285e-04 -9.99945717e-01 2.87932107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.24, Y:-100.65, Z:2.88 [[ 9.88006608e-01 -1.54121818e-01 -9.45557526e-03 6.92406169e+01] [-1.54115055e-01 -9.88051853e-01 1.44411615e-03 -1.00646846e+02] [-9.56516847e-03 3.04502047e-05 -9.99954252e-01 2.87830697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.24, Y:-100.66, Z:2.88 [[ 9.97367186e-01 -7.19722182e-02 -8.87113403e-03 6.92356680e+01] [-7.19692780e-02 -9.97406637e-01 6.50637322e-04 -1.00659470e+02] [-8.89495577e-03 -1.04752043e-05 -9.99960439e-01 2.87772148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.23, Y:-100.67, Z:2.88 [[ 9.99914706e-01 9.98189900e-03 -8.42278641e-03 6.92314157e+01] [ 9.98188649e-03 -9.99950179e-01 -4.35243088e-05 -1.00670794e+02] [-8.42280123e-03 -4.05547014e-05 -9.99964527e-01 2.87753555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.23, Y:-100.68, Z:2.88 [[ 9.95803364e-01 9.11393667e-02 -8.32323066e-03 6.92296148e+01] [ 9.11367262e-02 -9.95838145e-01 -6.96766650e-04 -1.00680930e+02] [-8.35209346e-03 -6.47094201e-05 -9.99965119e-01 2.87702815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.23, Y:-100.69, Z:2.88 [[ 9.85104495e-01 1.71773660e-01 -7.93371808e-03 6.92281723e+01] [ 1.71768796e-01 -9.85136438e-01 -1.29556640e-03 -1.00691262e+02] [-8.03833896e-03 -8.64969164e-05 -9.99967688e-01 2.87678936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.23, Y:-100.70, Z:2.88 [[ 9.68559412e-01 2.48652162e-01 -8.04779452e-03 6.92267850e+01] [ 2.48644364e-01 -9.68592842e-01 -1.97138301e-03 -1.00700219e+02] [-8.28522481e-03 -9.16371762e-05 -9.99965673e-01 2.87769325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.23, Y:-100.71, Z:2.88 [[ 9.46134299e-01 3.23673799e-01 -8.07220741e-03 6.92258810e+01] [ 3.23662862e-01 -9.46168729e-01 -2.66239467e-03 -1.00706263e+02] [-8.49941761e-03 -9.36908404e-05 -9.99963875e-01 2.87781018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.697628 meters Centerline goodness [0,1] 0.999846413761327 Centerline is valid? [True, True] Translation: X:69.22, Y:-100.71, Z:2.88 [[ 9.18600924e-01 3.95094104e-01 -8.54354219e-03 6.92241169e+01] [ 3.95077876e-01 -9.18640649e-01 -3.58189405e-03 -1.00710228e+02] [-9.26363036e-03 -8.50333154e-05 -9.99957088e-01 2.87924319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.22, Y:-100.72, Z:2.88 [[ 8.84918058e-01 4.65676626e-01 -8.08149366e-03 6.92226409e+01] [ 4.65658050e-01 -8.84954956e-01 -4.16013561e-03 -1.00715663e+02] [-9.08903578e-03 -8.18334579e-05 -9.99958691e-01 2.87657643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.22, Y:-100.72, Z:2.88 [[ 8.46404400e-01 5.32481097e-01 -7.96698418e-03 6.92215069e+01] [ 5.32458320e-01 -8.46441892e-01 -4.92560081e-03 -1.00721065e+02] [-9.36637849e-03 -7.30368164e-05 -9.99956132e-01 2.87677201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.22, Y:-100.73, Z:2.88 [[ 8.02725225e-01 5.96297782e-01 -7.82095943e-03 6.92206733e+01] [ 5.96270277e-01 -8.02763322e-01 -5.72766027e-03 -1.00726171e+02] [-9.69377049e-03 -6.56682731e-05 -9.99953012e-01 2.87753426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.22, Y:-100.73, Z:2.88 [[ 7.54763879e-01 6.55946661e-01 -8.09101765e-03 6.92187799e+01] [ 6.55909721e-01 -7.54807243e-01 -6.96153294e-03 -1.00730414e+02] [-1.06735530e-02 -5.26635257e-05 -9.99943035e-01 2.87915978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.22, Y:-100.73, Z:2.88 [[ 7.01653919e-01 7.12476207e-01 -7.70930270e-03 6.92172287e+01] [ 7.12433912e-01 -7.01696268e-01 -7.76321487e-03 -1.00734966e+02] [-1.09406948e-02 -4.52785471e-05 -9.99940148e-01 2.87961403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.22, Y:-100.74, Z:2.88 [[ 6.44160409e-01 7.64855504e-01 -7.30922604e-03 6.92154198e+01] [ 7.64806967e-01 -6.44201875e-01 -8.61666617e-03 -1.00739148e+02] [-1.12991217e-02 -3.96317926e-05 -9.99936162e-01 2.87985412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.21, Y:-100.74, Z:2.88 [[ 5.83157271e-01 8.12327759e-01 -7.15612375e-03 6.92106715e+01] [ 8.12267224e-01 -5.83201176e-01 -9.91692802e-03 -1.00742913e+02] [-1.22292557e-02 -2.95560906e-05 -9.99925219e-01 2.87998785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.21, Y:-100.75, Z:2.88 [[ 5.18234318e-01 8.55213281e-01 -6.59050297e-03 6.92082005e+01] [ 8.55144701e-01 -5.18276223e-01 -1.08303985e-02 -1.00747991e+02] [-1.26780017e-02 -2.31494798e-05 -9.99919631e-01 2.87997764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.21, Y:-100.75, Z:2.88 [[ 4.50500164e-01 8.92757616e-01 -5.78286085e-03 6.92057485e+01] [ 8.92684416e-01 -4.50537278e-01 -1.14321635e-02 -1.00753623e+02] [-1.28115454e-02 -1.20782241e-05 -9.99917929e-01 2.88018422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.20, Y:-100.76, Z:2.88 [[ 3.81560020e-01 9.24330716e-01 -4.96783180e-03 6.92001796e+01] [ 9.24251672e-01 -3.81592358e-01 -1.20880099e-02 -1.00758797e+02] [-1.30690055e-02 2.07744622e-05 -9.99914597e-01 2.88048074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.20, Y:-100.76, Z:2.88 [[ 3.09735252e-01 9.50814270e-01 -4.03700625e-03 6.91950533e+01] [ 9.50731609e-01 -3.09761557e-01 -1.25373755e-02 -1.00763677e+02] [-1.31712249e-02 4.51577288e-05 -9.99913255e-01 2.88035655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.19, Y:-100.77, Z:2.88 [[ 2.36579070e-01 9.71607364e-01 -3.07812764e-03 6.91896930e+01] [ 9.71520869e-01 -2.36599081e-01 -1.29643785e-02 -1.00769742e+02] [-1.33245678e-02 7.66353649e-05 -9.99911221e-01 2.88004939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.19, Y:-100.78, Z:2.88 [[ 1.62354056e-01 9.86730264e-01 -2.13244821e-03 6.91898818e+01] [ 9.86635513e-01 -1.62368018e-01 -1.36745022e-02 -1.00777103e+02] [-1.38392866e-02 1.16161767e-04 -9.99904226e-01 2.87883517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.18, Y:-100.79, Z:2.88 [[ 9.10075281e-02 9.95849710e-01 -9.92681756e-04 6.91848837e+01] [ 9.95765118e-01 -9.10127374e-02 -1.29811846e-02 -1.00785417e+02] [-1.30176556e-02 1.92907653e-04 -9.99915248e-01 2.87807319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.18, Y:-100.79, Z:2.88 [[ 1.59344971e-02 9.99873037e-01 2.70164347e-05 6.91835884e+01] [ 9.99789685e-01 -1.59328199e-02 -1.29124076e-02 -1.00793421e+02] [-1.29103377e-02 2.32763474e-04 -9.99916631e-01 2.87761408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.17762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.18, Y:-100.80, Z:2.88 [[-5.87236428e-02 9.98273788e-01 9.88471602e-04 6.91827804e+01] [ 9.98198648e-01 5.87313533e-02 -1.22509737e-02 -1.00802286e+02] [-1.22878802e-02 2.67269213e-04 -9.99924465e-01 2.87695876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.20762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.18, Y:-100.81, Z:2.88 [[-1.33567784e-01 9.91037958e-01 1.84751562e-03 6.91823020e+01] [ 9.90971002e-01 1.33580242e-01 -1.15235231e-02 -1.00812388e+02] [-1.16670404e-02 2.91662953e-04 -9.99931895e-01 2.87587248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.18, Y:-100.82, Z:2.87 [[-2.07608317e-01 9.78209096e-01 2.39830432e-03 6.91832374e+01] [ 9.78158903e-01 2.07621970e-01 -9.91350016e-03 -1.00822822e+02] [-1.01954167e-02 2.87797639e-04 -9.99947984e-01 2.87404159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.267628 meters Centerline goodness [0,1] 0.999819209039548 Centerline is valid? [True, True] Translation: X:69.19, Y:-100.83, Z:2.88 [[-2.82348516e-01 9.59306581e-01 3.19364236e-03 6.91856021e+01] [ 9.59256817e-01 2.82366414e-01 -9.77589315e-03 -1.00832301e+02] [-1.02798560e-02 3.03314282e-04 -9.99947115e-01 2.87585097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.20, Y:-100.84, Z:2.87 [[-3.56249035e-01 9.34382831e-01 3.91800139e-03 6.91958077e+01] [ 9.34335397e-01 3.56270449e-01 -9.41982280e-03 -1.00838562e+02] [-1.01975888e-02 3.04924598e-04 -9.99947957e-01 2.87197519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.20, Y:-100.85, Z:2.87 [[-4.27901574e-01 9.03813394e-01 4.64672379e-03 6.92004708e+01] [ 9.03767747e-01 4.27926690e-01 -9.08883379e-03 -1.00847590e+02] [-1.02030668e-02 3.10432807e-04 -9.99947899e-01 2.87287752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.20, Y:-100.86, Z:2.87 [[-4.97206997e-01 8.67616009e-01 5.25956197e-03 6.92041459e+01] [ 8.67573848e-01 4.97234719e-01 -8.55870387e-03 -1.00858393e+02] [-1.00409053e-02 3.07610965e-04 -9.99949542e-01 2.87279147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.21, Y:-100.86, Z:2.87 [[-5.63649837e-01 8.25994226e-01 5.69208231e-03 6.92149872e+01] [ 8.25957301e-01 5.63678500e-01 -7.81573751e-03 -1.00862249e+02] [-9.66425847e-03 2.96077760e-04 -9.99953256e-01 2.87143159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.23, Y:-100.86, Z:2.87 [[-6.27526810e-01 7.78571078e-01 6.09744398e-03 6.92283070e+01] [ 7.78538526e-01 6.27556372e-01 -7.12487338e-03 -1.00863054e+02] [-9.37371017e-03 2.76045981e-04 -9.99956028e-01 2.87079264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.24, Y:-100.86, Z:2.87 [[-6.87437774e-01 7.26212175e-01 6.72182702e-03 6.92442428e+01] [ 7.26181224e-01 6.87470584e-01 -6.71013040e-03 -1.00859574e+02] [-9.49403674e-03 2.68467462e-04 -9.99954895e-01 2.87057305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.27, Y:-100.84, Z:2.87 [[-7.37831953e-01 6.74943361e-01 7.44771276e-03 6.92677594e+01] [ 6.74912584e-01 7.37869493e-01 -6.45101755e-03 -1.00842878e+02] [-9.84951150e-03 2.66788186e-04 -9.99951457e-01 2.87201946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.30, Y:-100.82, Z:2.87 [[-7.85923445e-01 6.18262201e-01 8.72863009e-03 6.92957375e+01] [ 6.18227667e-01 7.85971873e-01 -6.53964203e-03 -1.00819157e+02] [-1.09036712e-02 2.56622620e-04 -9.99940520e-01 2.87150802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.537628 meters Centerline goodness [0,1] 0.9998216356015339 Centerline is valid? [True, True] Translation: X:69.32, Y:-100.80, Z:2.87 [[-8.28062530e-01 5.60548231e-01 9.90590034e-03 6.93170468e+01] [ 5.60511979e-01 8.28121736e-01 -6.38060357e-03 -1.00798357e+02] [-1.17799274e-02 2.68837075e-04 -9.99930578e-01 2.87420652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.567628 meters Centerline goodness [0,1] 0.9998216316247129 Centerline is valid? [True, True] Translation: X:69.33, Y:-100.77, Z:2.87 [[-8.66557359e-01 4.98954968e-01 1.10581886e-02 6.93308739e+01] [ 4.98918224e-01 8.66627873e-01 -6.06105415e-03 -1.00772854e+02] [-1.26075275e-02 2.64880725e-04 -9.99920487e-01 2.87465526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.35, Y:-100.75, Z:2.87 [[-9.01328673e-01 4.32957924e-01 1.24120328e-02 6.93541703e+01] [ 4.32920463e-01 9.01414100e-01 -5.70020244e-03 -1.00750087e+02] [-1.36563292e-02 2.35667076e-04 -9.99906720e-01 2.87325586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.62762800000002 meters Centerline goodness [0,1] 0.9997993668910785 Centerline is valid? [True, True] Translation: X:69.37, Y:-100.73, Z:2.88 [[-9.29956723e-01 3.67411086e-01 1.37690844e-02 6.93696260e+01] [ 3.67374696e-01 9.30058619e-01 -5.17675941e-03 -1.00725533e+02] [-1.47080544e-02 2.44250983e-04 -9.99891801e-01 2.87623030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.38, Y:-100.70, Z:2.87 [[-9.54273431e-01 2.98636916e-01 1.33496175e-02 6.93813217e+01] [ 2.98610660e-01 9.54366780e-01 -3.96508561e-03 -1.00699942e+02] [-1.39245524e-02 2.02562254e-04 -9.99903028e-01 2.87374548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.62, Y:-99.91, Z:1.98 [[-9.41631455e-01 -3.36390794e-01 1.30933652e-02 6.96226599e+01] [ 3.36355317e-01 -9.41722461e-01 -4.88948062e-03 -9.99116755e+01] [ 1.39750924e-02 -2.00065739e-04 9.99902324e-01 1.98200508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.71762800000002 meters Centerline goodness [0,1] 0.999844337210078 Centerline is valid? [True, True] Translation: X:69.33, Y:-100.68, Z:2.88 [[-9.56558493e-01 2.91228178e-01 1.34906901e-02 6.93331173e+01] [ 2.91201437e-01 9.56653608e-01 -3.94933513e-03 -1.00682527e+02] [-1.40560751e-02 1.50738297e-04 -9.99901197e-01 2.87543447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.35, Y:-100.66, Z:2.87 [[-9.74366740e-01 2.24611836e-01 1.26086793e-02 6.93513769e+01] [ 2.24595856e-01 9.74448294e-01 -2.68773459e-03 -1.00655594e+02] [-1.28902030e-02 2.13017931e-04 -9.99916895e-01 2.87222618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.36, Y:-100.63, Z:2.87 [[-9.87975488e-01 1.54116042e-01 1.23564365e-02 6.93584992e+01] [ 1.54105308e-01 9.88052749e-01 -1.82188067e-03 -1.00629213e+02] [-1.24895921e-02 1.04219016e-04 -9.99921997e-01 2.87215894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.80762800000002 meters Centerline goodness [0,1] 0.9998885744211441 Centerline is valid? [True, True] Translation: X:69.48, Y:-99.82, Z:1.98 [[-9.78912351e-01 -2.03864301e-01 1.30367396e-02 6.94843150e+01] [ 2.03845442e-01 -9.78999154e-01 -2.77352427e-03 -9.98197561e+01] [ 1.33283796e-02 -5.75572250e-05 9.99911172e-01 1.98147251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.30, Y:-100.62, Z:2.87 [[-9.88813809e-01 1.48612048e-01 1.27165583e-02 6.92951142e+01] [ 1.48600987e-01 9.88895571e-01 -1.81559673e-03 -1.00621947e+02] [-1.28451677e-02 9.44059981e-05 -9.99917493e-01 2.87110173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.30, Y:-100.60, Z:2.87 [[-9.96899362e-01 7.76952043e-02 1.24546253e-02 6.92993339e+01] [ 7.76902435e-02 9.96977155e-01 -8.82368106e-04 -1.00595023e+02] [-1.24855327e-02 8.79706737e-05 -9.99922049e-01 2.87150165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.36, Y:-99.77, Z:1.98 [[-9.91358366e-01 -1.30585752e-01 1.24880359e-02 6.93625119e+01] [ 1.30574364e-01 -9.91437015e-01 -1.72650184e-03 -9.97744363e+01] [ 1.26065575e-02 -8.09647048e-05 9.99920531e-01 1.98434368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.22, Y:-100.59, Z:2.87 [[-9.97274389e-01 7.27622789e-02 1.22247433e-02 6.92184760e+01] [ 7.27579621e-02 9.97349308e-01 -7.98082377e-04 -1.00591882e+02] [-1.22504095e-02 9.35402923e-05 -9.99924957e-01 2.87211868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.95762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.22, Y:-100.56, Z:2.87 [[-9.99923493e-01 1.71224997e-03 1.22505338e-02 6.92209417e+01] [ 1.71326757e-03 9.99998530e-01 7.25716162e-05 -1.00564243e+02] [-1.22503915e-02 9.35545063e-05 -9.99924957e-01 2.87211847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.22, Y:-99.73, Z:1.98 [[-9.98506261e-01 -5.32459333e-02 1.22522041e-02 6.92193941e+01] [ 5.32407927e-02 -9.98581425e-01 -7.45590039e-04 -9.97338887e+01] [ 1.22745231e-02 -9.21592627e-05 9.99924661e-01 1.98310690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.017628 meters Centerline goodness [0,1] 0.9998654527514912 Centerline is valid? [True, True] Translation: X:69.12, Y:-100.57, Z:2.87 [[-9.99909231e-01 -1.88330890e-03 1.33410410e-02 6.91181687e+01] [-1.88130934e-03 9.99998217e-01 1.62429018e-04 -1.00568449e+02] [-1.33413231e-02 1.37315649e-04 -9.99910991e-01 2.87279389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.12, Y:-100.54, Z:2.87 [[-9.97237451e-01 -7.31095593e-02 1.31323717e-02 6.91151448e+01] [-7.31014300e-02 9.97323906e-01 1.09862601e-03 -1.00542729e+02] [-1.31775483e-02 1.35595847e-04 -9.99913163e-01 2.87083256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.11, Y:-100.52, Z:2.87 [[-9.89513095e-01 -1.43800027e-01 1.36157267e-02 6.91051943e+01] [-1.43784356e-01 9.89606755e-01 2.12801177e-03 -1.00517767e+02] [-1.37802232e-02 1.47967020e-04 -9.99905037e-01 2.87105699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.08, Y:-100.50, Z:2.87 [[-9.76595019e-01 -2.14636592e-01 1.39032868e-02 6.90813743e+01] [-2.14612555e-01 9.76693969e-01 3.21599655e-03 -1.00495561e+02] [-1.42695269e-02 1.56906317e-04 -9.99898173e-01 2.87105203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.03, Y:-100.48, Z:2.87 [[-9.58174337e-01 -2.85835568e-01 1.41409781e-02 6.90309139e+01] [-2.85801911e-01 9.58278666e-01 4.38941016e-03 -1.00482225e+02] [-1.48056472e-02 1.64301615e-04 -9.99890377e-01 2.87183168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.167628 meters Centerline goodness [0,1] 0.999932353206458 Centerline is valid? [True, True] Translation: X:68.97, Y:-100.48, Z:2.87 [[-9.34533656e-01 -3.55586128e-01 1.43300985e-02 6.89693445e+01] [-3.55541425e-01 9.34643501e-01 5.64098569e-03 -1.00475464e+02] [-1.53993897e-02 1.76747344e-04 -9.99881407e-01 2.87304325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.90, Y:-100.48, Z:2.87 [[-9.05103377e-01 -4.24942258e-01 1.45586608e-02 6.88969132e+01] [-4.24884178e-01 9.05220441e-01 7.02768345e-03 -1.00479929e+02] [-1.61651570e-02 1.75035408e-04 -9.99869320e-01 2.87230863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.82, Y:-100.49, Z:2.87 [[-8.70041972e-01 -4.92788992e-01 1.36373305e-02 6.88161005e+01] [-4.92725732e-01 8.70148830e-01 7.89725638e-03 -1.00491682e+02] [-1.57581882e-02 1.51480833e-04 -9.99875821e-01 2.87241056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.73, Y:-100.52, Z:2.87 [[-8.29013386e-01 -5.59113753e-01 1.13409071e-02 6.87266839e+01] [-5.59059843e-01 8.29090949e-01 7.76466944e-03 -1.00515421e+02] [-1.37439769e-02 9.67691378e-05 -9.99905542e-01 2.86976003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.287628 meters Centerline goodness [0,1] 0.999977400619223 Centerline is valid? [True, True] Translation: X:68.64, Y:-100.55, Z:2.87 [[-7.83767383e-01 -6.20973685e-01 1.00185619e-02 6.86396720e+01] [-6.20921636e-01 7.83831408e-01 8.04026649e-03 -1.00545508e+02] [-1.28456574e-02 8.09567688e-05 -9.99917488e-01 2.86805966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.55, Y:-100.59, Z:2.87 [[-7.33707930e-01 -6.79406748e-01 8.89623607e-03 6.85467793e+01] [-6.79355686e-01 7.33761859e-01 8.32985489e-03 -1.00588710e+02] [-1.21870783e-02 6.79720336e-05 -9.99925733e-01 2.86724491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.46, Y:-100.64, Z:2.87 [[-6.79195588e-01 -7.33918623e-01 7.53714272e-03 6.84552427e+01] [-7.33872539e-01 6.79237405e-01 8.22459123e-03 -1.00641858e+02] [-1.11556899e-02 5.48040120e-05 -9.99937772e-01 2.86849718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.37, Y:-100.70, Z:2.87 [[-6.20012610e-01 -7.84567849e-01 6.13634235e-03 6.83678095e+01] [-7.84528832e-01 6.20042974e-01 7.82448192e-03 -1.00701215e+02] [-9.94363291e-03 3.71399631e-05 -9.99950560e-01 2.86685241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.28, Y:-100.78, Z:2.87 [[-5.57425340e-01 -8.30209317e-01 5.42968700e-03 6.82805835e+01] [-8.30169392e-01 5.57451783e-01 8.14187809e-03 -1.00775140e+02] [-9.78625174e-03 3.09292012e-05 -9.99952113e-01 2.86694226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.20, Y:-100.85, Z:2.87 [[-4.91409509e-01 -8.70915773e-01 4.73412356e-03 6.81993439e+01] [-8.70874867e-01 4.91432311e-01 8.44096113e-03 -1.00854568e+02] [-9.67786747e-03 2.51393321e-05 -9.99953168e-01 2.86584085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.12, Y:-100.94, Z:2.87 [[-4.22267189e-01 -9.06462030e-01 4.12420010e-03 6.81231885e+01] [-9.06418320e-01 4.22287328e-01 8.90177503e-03 -1.00941359e+02] [-9.81071851e-03 2.06769943e-05 -9.99951874e-01 2.86592819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.05, Y:-101.04, Z:2.87 [[-3.49791759e-01 -9.36820057e-01 3.72900562e-03 6.80510098e+01] [-9.36766560e-01 3.49811635e-01 1.00115867e-02 -1.01037731e+02] [-1.06835048e-02 8.76276681e-06 -9.99942930e-01 2.86699738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.99, Y:-101.14, Z:2.87 [[-2.75562780e-01 -9.61278284e-01 3.03550668e-03 6.79868679e+01] [-9.61219951e-01 2.75579499e-01 1.05898622e-02 -1.01141607e+02] [-1.10163279e-02 3.82273085e-07 -9.99939318e-01 2.86675447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.93, Y:-101.25, Z:2.87 [[-1.99760900e-01 -9.79842260e-01 2.17456964e-03 6.79322774e+01] [-9.79784536e-01 1.99772735e-01 1.06356844e-02 -1.01245803e+02] [-1.08557127e-02 -6.01582928e-06 -9.99941075e-01 2.86573472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.89, Y:-101.36, Z:2.87 [[-1.22667014e-01 -9.92446968e-01 1.34902667e-03 6.78854977e+01] [-9.92388061e-01 1.22674432e-01 1.08129632e-02 -1.01359614e+02] [-1.08967836e-02 -1.23640456e-05 -9.99940628e-01 2.86523464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.85, Y:-101.48, Z:2.87 [[-4.55211058e-02 -9.98963252e-01 5.00902675e-04 6.78479745e+01] [-9.98905298e-01 4.55238604e-02 1.07602472e-02 -1.01476933e+02] [-1.07718946e-02 -1.05359834e-05 -9.99941981e-01 2.86632779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.82, Y:-101.59, Z:2.86 [[ 3.17133211e-02 -9.99496946e-01 -3.46115449e-04 6.78199443e+01] [-9.99435100e-01 -3.17152091e-02 1.11187012e-02 -1.01594492e+02] [-1.11240851e-02 -6.69101419e-06 -9.99938125e-01 2.86474375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.80, Y:-101.72, Z:2.87 [[ 1.08743187e-01 -9.94069095e-01 -1.24632189e-03 6.78012731e+01] [-9.94003602e-01 -1.08750329e-01 1.14107562e-02 -1.01715984e+02] [-1.14786180e-02 -1.99354562e-06 -9.99934119e-01 2.86545578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.70762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.79, Y:-101.84, Z:2.87 [[ 1.84009419e-01 -9.82921670e-01 -2.35038719e-03 6.77924279e+01] [-9.82842701e-01 -1.84024429e-01 1.24593324e-02 -1.01837432e+02] [-1.26790764e-02 1.74263732e-05 -9.99919617e-01 2.86701127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.79, Y:-101.96, Z:2.87 [[ 2.58747206e-01 -9.65939291e-01 -3.34194287e-03 6.77935003e+01] [-9.65860228e-01 -2.58768786e-01 1.23586076e-02 -1.01962509e+02] [-1.28024552e-02 3.00945157e-05 -9.99918045e-01 2.86729076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.76762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.80, Y:-102.09, Z:2.87 [[ 3.31471083e-01 -9.43455714e-01 -4.27045051e-03 6.78040870e+01] [-9.43379278e-01 -3.31498587e-01 1.20093858e-02 -1.02085876e+02] [-1.27459720e-02 4.78904060e-05 -9.99918766e-01 2.86741716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.82, Y:-102.20, Z:2.87 [[ 4.02627300e-01 -9.15350674e-01 -4.93972749e-03 6.78204456e+01] [-9.15283560e-01 -4.02657597e-01 1.10843886e-02 -1.02197191e+02] [-1.21351214e-02 5.83739031e-05 -9.99926365e-01 2.86786560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.827628 meters Centerline goodness [0,1] 0.9999773319732518 Centerline is valid? [True, True] Translation: X:67.85, Y:-102.31, Z:2.87 [[ 4.70993204e-01 -8.82119762e-01 -5.48879302e-03 6.78475371e+01] [-8.82061641e-01 -4.71025180e-01 1.01262347e-02 -1.02311847e+02] [-1.15179115e-02 7.20660411e-05 -9.99933664e-01 2.86705994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.90, Y:-102.45, Z:2.87 [[ 5.35877207e-01 -8.44278883e-01 -5.36529282e-03 6.78974167e+01] [-8.44238125e-01 -5.35904059e-01 8.29622739e-03 -1.02445220e+02] [-9.87961179e-03 8.38255862e-05 -9.99951192e-01 2.86642316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.93, Y:-102.53, Z:2.87 [[ 5.98577920e-01 -8.01044743e-01 -5.63856604e-03 6.79252977e+01] [-8.01010596e-01 -5.98604470e-01 7.39681538e-03 -1.02531877e+02] [-9.30045091e-03 8.89807770e-05 -9.99956746e-01 2.86625414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.97, Y:-102.63, Z:2.87 [[ 6.57961510e-01 -7.53029024e-01 -5.82582063e-03 6.79715557e+01] [-7.53000706e-01 -6.57987295e-01 6.53124060e-03 -1.02632135e+02] [-8.75152969e-03 8.95421180e-05 -9.99961701e-01 2.86655230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.03, Y:-102.73, Z:2.87 [[ 7.12699011e-01 -7.01444266e-01 -6.00511814e-03 6.80279159e+01] [-7.01420525e-01 -7.12724303e-01 5.77197182e-03 -1.02730376e+02] [-8.32871018e-03 9.84345104e-05 -9.99965311e-01 2.86701274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.02, Y:-102.74, Z:2.87 [[ 7.64857343e-01 -6.44171902e-01 -5.98378356e-03 6.80222742e+01] [-6.44153168e-01 -7.64880743e-01 4.91374142e-03 -1.02737192e+02] [-7.74217498e-03 9.61619316e-05 -9.99970024e-01 2.86615400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.02, Y:-102.74, Z:2.87 [[ 8.12269443e-01 -5.83254694e-01 -5.68451525e-03 6.80157104e+01] [-5.83241209e-01 -8.12289328e-01 3.96733255e-03 -1.02744944e+02] [-6.93143641e-03 9.29005485e-05 -9.99975973e-01 2.86506899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.01, Y:-102.75, Z:2.86 [[ 8.55307921e-01 -5.18086561e-01 -5.88859791e-03 6.80076202e+01] [-5.18075023e-01 -8.55328187e-01 3.45880570e-03 -1.02750412e+02] [-6.82864453e-03 9.23915827e-05 -9.99976680e-01 2.86493358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.00, Y:-102.76, Z:2.87 [[ 8.93137554e-01 -4.49739567e-01 -6.29529385e-03 6.80000893e+01] [-4.49729145e-01 -8.93159735e-01 3.06320255e-03 -1.02756551e+02] [-7.00034638e-03 9.53158886e-05 -9.99975493e-01 2.86521127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.09762800000001 meters Centerline goodness [0,1] 0.9999548705914209 Centerline is valid? [True, True] Translation: X:67.99, Y:-102.76, Z:2.87 [[ 9.25622120e-01 -3.78396213e-01 -6.32427379e-03 6.79930381e+01] [-3.78388055e-01 -9.25643721e-01 2.48645281e-03 -1.02762251e+02] [-6.79488865e-03 9.15139290e-05 -9.99976910e-01 2.86628447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.12762800000002 meters Centerline goodness [0,1] 0.9998876707404745 Centerline is valid? [True, True] Translation: X:67.99, Y:-102.77, Z:2.87 [[ 9.52464696e-01 -3.04571729e-01 -6.86033406e-03 6.79870158e+01] [-3.04564542e-01 -9.52489398e-01 2.09453047e-03 -1.02770514e+02] [-7.17233022e-03 9.44481731e-05 -9.99974274e-01 2.86675824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.15762800000002 meters Centerline goodness [0,1] 0.9996390380363669 Centerline is valid? [True, True] Translation: X:67.98, Y:-102.78, Z:2.87 [[ 9.73511297e-01 -2.28528996e-01 -7.08895370e-03 6.79786147e+01] [-2.28523620e-01 -9.73537102e-01 1.57011420e-03 -1.02776546e+02] [-7.26017607e-03 9.14694551e-05 -9.99973640e-01 2.86750150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.18762800000002 meters Centerline goodness [0,1] 0.9998414711477489 Centerline is valid? [True, True] Translation: X:67.97, Y:-102.79, Z:2.87 [[ 9.88535078e-01 -1.50808549e-01 -7.42833045e-03 6.79706417e+01] [-1.50804961e-01 -9.88562984e-01 1.04404079e-03 -1.02785659e+02] [-7.50082280e-03 8.81581449e-05 -9.99971865e-01 2.86671241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.21762800000002 meters Centerline goodness [0,1] 0.9996610016271922 Centerline is valid? [True, True] Translation: X:67.96, Y:-102.79, Z:2.87 [[ 9.97327074e-01 -7.26325187e-02 -7.95137517e-03 6.79627741e+01] [-7.26309408e-02 -9.97358766e-01 4.87409729e-04 -1.02793320e+02] [-7.96577552e-03 9.14089399e-05 -9.99968269e-01 2.86698150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.24762800000002 meters Centerline goodness [0,1] 0.9997506347479144 Centerline is valid? [True, True] Translation: X:67.96, Y:-102.80, Z:2.87 [[ 9.99949454e-01 5.82582647e-03 -8.19449432e-03 6.79560752e+01] [ 5.82486926e-03 -9.99983025e-01 -1.40673711e-04 -1.02802222e+02] [-8.19517477e-03 9.29347428e-05 -9.99966415e-01 2.86720317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.27762800000002 meters Centerline goodness [0,1] 0.9996834441278886 Centerline is valid? [True, True] Translation: X:67.95, Y:-102.81, Z:2.87 [[ 9.96419197e-01 8.41213631e-02 -8.50760361e-03 6.79484155e+01] [ 8.41174695e-02 -9.96455512e-01 -8.15092699e-04 -1.02810504e+02] [-8.54601522e-03 9.65359256e-05 -9.99963477e-01 2.86690190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.30762800000002 meters Centerline goodness [0,1] 0.9996607332684957 Centerline is valid? [True, True] Translation: X:67.94, Y:-102.82, Z:2.87 [[ 9.86660127e-01 1.62604071e-01 -7.85557436e-03 6.79436023e+01] [ 1.62598241e-01 -9.86691395e-01 -1.37949666e-03 -1.02820924e+02] [-7.97533940e-03 8.37917766e-05 -9.99968193e-01 2.86632834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.33762800000002 meters Centerline goodness [0,1] 0.9998641273579565 Centerline is valid? [True, True] Translation: X:67.94, Y:-102.83, Z:2.87 [[ 9.70713713e-01 2.40135850e-01 -7.04700293e-03 6.79392664e+01] [ 2.40128994e-01 -9.70739290e-01 -1.81585922e-03 -1.02833253e+02] [-7.27685552e-03 7.04897241e-05 -9.99973521e-01 2.86552561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.36762800000002 meters Centerline goodness [0,1] 0.9997293823151343 Centerline is valid? [True, True] Translation: X:67.93, Y:-102.84, Z:2.87 [[ 9.48805928e-01 3.15790912e-01 -6.58868444e-03 6.79345096e+01] [ 3.15782824e-01 -9.48828802e-01 -2.26106475e-03 -1.02844805e+02] [-6.96555727e-03 6.47182623e-05 -9.99975738e-01 2.86536979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.39762800000003 meters Centerline goodness [0,1] 0.9997062810664257 Centerline is valid? [True, True] Translation: X:67.93, Y:-102.85, Z:2.86 [[ 9.20865270e-01 3.89832849e-01 -6.12405820e-03 6.79318157e+01] [ 3.89823818e-01 -9.20885632e-01 -2.65397840e-03 -1.02854775e+02] [-6.67416517e-03 5.66527847e-05 -9.99977726e-01 2.86489094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.42762800000003 meters Centerline goodness [0,1] 0.9996617126361607 Centerline is valid? [True, True] Translation: X:67.93, Y:-102.87, Z:2.86 [[ 8.87122795e-01 4.61505730e-01 -5.06041975e-03 6.79285943e+01] [ 4.61497942e-01 -8.87137227e-01 -2.68148869e-03 -1.02865706e+02] [-5.72680914e-03 4.34364458e-05 -9.99983601e-01 2.86441253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.45762800000003 meters Centerline goodness [0,1] 0.9997524975249753 Centerline is valid? [True, True] Translation: X:67.93, Y:-102.87, Z:2.86 [[ 8.48234782e-01 5.29599687e-01 -4.68261373e-03 6.79271053e+01] [ 5.29591346e-01 -8.48247705e-01 -2.97259311e-03 -1.02874971e+02] [-5.54630073e-03 4.15851587e-05 -9.99984618e-01 2.86452950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.48762800000003 meters Centerline goodness [0,1] 0.9998198522788687 Centerline is valid? [True, True] Translation: X:67.92, Y:-102.88, Z:2.86 [[ 8.04021591e-01 5.94582886e-01 -4.52468685e-03 6.79241264e+01] [ 5.94573183e-01 -8.04034321e-01 -3.39705926e-03 -1.02884323e+02] [-5.65783682e-03 4.10515309e-05 -9.99983993e-01 2.86481057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.51762800000003 meters Centerline goodness [0,1] 0.999685336689742 Centerline is valid? [True, True] Translation: X:67.92, Y:-102.89, Z:2.86 [[ 7.55065058e-01 6.55633251e-01 -4.66879070e-03 6.79229718e+01] [ 6.55620344e-01 -7.55079491e-01 -4.11431127e-03 -1.02892767e+02] [-6.22278738e-03 4.56185172e-05 -9.99980637e-01 2.86496810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.547628 meters Centerline goodness [0,1] 0.9996405625196567 Centerline is valid? [True, True] Translation: X:67.92, Y:-102.90, Z:2.87 [[ 7.01722431e-01 7.12434027e-01 -4.83599320e-03 6.79216412e+01] [ 7.12416578e-01 -7.01739093e-01 -4.98647080e-03 -1.02900836e+02] [-6.94613695e-03 5.38766845e-05 -9.99975874e-01 2.86577335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.577628 meters Centerline goodness [0,1] 0.9997750129367562 Centerline is valid? [True, True] Translation: X:67.92, Y:-102.91, Z:2.87 [[ 6.45211245e-01 7.63988754e-01 -4.86134043e-03 6.79237052e+01] [ 7.63966204e-01 -6.45229555e-01 -5.87031626e-03 -1.02911905e+02] [-7.62153612e-03 7.36942658e-05 -9.99970953e-01 2.86525134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.607628 meters Centerline goodness [0,1] 0.9997977618983417 Centerline is valid? [True, True] Translation: X:67.93, Y:-102.92, Z:2.86 [[ 5.84602030e-01 8.11309977e-01 -4.07267568e-03 6.79259995e+01] [ 8.11289343e-01 -5.84616211e-01 -5.78682767e-03 -1.02921895e+02] [-7.07586325e-03 7.88728308e-05 -9.99974963e-01 2.86476387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.637628 meters Centerline goodness [0,1] 0.9997989231216068 Centerline is valid? [True, True] Translation: X:67.93, Y:-102.93, Z:2.86 [[ 5.20553266e-01 8.53822829e-01 -3.29738634e-03 6.79273240e+01] [ 8.53804694e-01 -5.20563703e-01 -5.56547926e-03 -1.02932483e+02] [-6.46843289e-03 8.18044712e-05 -9.99979076e-01 2.86408153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.667628 meters Centerline goodness [0,1] 0.9997981746013949 Centerline is valid? [True, True] Translation: X:67.93, Y:-102.94, Z:2.86 [[ 4.55262536e-01 8.90355245e-01 -1.88694720e-03 6.79296388e+01] [ 8.90346956e-01 -4.55266441e-01 -3.84265695e-03 -1.02941871e+02] [-4.28039351e-03 6.93800573e-05 -9.99990837e-01 2.86269069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.697628 meters Centerline goodness [0,1] 0.9998206599713056 Centerline is valid? [True, True] Translation: X:67.93, Y:-102.95, Z:2.86 [[ 3.85515683e-01 9.22699917e-01 -1.58787213e-03 6.79324740e+01] [ 9.22691258e-01 -3.85518945e-01 -3.99807494e-03 -1.02951569e+02] [-4.30117821e-03 7.62048568e-05 -9.99990747e-01 2.86242567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.727628 meters Centerline goodness [0,1] 0.999887899917046 Centerline is valid? [True, True] Translation: X:67.94, Y:-102.96, Z:2.86 [[ 3.13295824e-01 9.49654413e-01 -1.49056915e-03 6.79352616e+01] [ 9.49642162e-01 -3.13299355e-01 -4.82467121e-03 -1.02960864e+02] [-5.04876466e-03 9.60420326e-05 -9.99987250e-01 2.86266629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.757628 meters Centerline goodness [0,1] 0.9999327414581652 Centerline is valid? [True, True] Translation: X:67.94, Y:-102.97, Z:2.86 [[ 2.38482849e-01 9.71145791e-01 -1.33531355e-03 6.79393013e+01] [ 9.71127652e-01 -2.38486558e-01 -5.93673417e-03 -1.02970410e+02] [-6.08388874e-03 1.19049367e-04 -9.99981486e-01 2.86333025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.787628 meters Centerline goodness [0,1] 0.999888140674288 Centerline is valid? [True, True] Translation: X:67.94, Y:-102.98, Z:2.86 [[ 1.60739397e-01 9.86996287e-01 -1.08394393e-03 6.79441224e+01] [ 9.86967517e-01 -1.60742990e-01 -7.53740465e-03 -1.02980008e+02] [-7.61362679e-03 1.41740432e-04 -9.99971006e-01 2.86454133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.817628 meters Centerline goodness [0,1] 0.9998428978611666 Centerline is valid? [True, True] Translation: X:67.95, Y:-102.99, Z:2.86 [[ 8.22038272e-02 9.96615375e-01 -5.70820756e-04 6.79509543e+01] [ 9.96576062e-01 -8.22056555e-02 -8.85337673e-03 -1.02989082e+02] [-8.87033606e-03 1.58915150e-04 -9.99960645e-01 2.86491388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.84762800000001 meters Centerline goodness [0,1] 0.9998881281603794 Centerline is valid? [True, True] Translation: X:67.96, Y:-103.00, Z:2.87 [[ 2.64923195e-03 9.99996481e-01 1.39585979e-04 6.79580649e+01] [ 9.99947212e-01 -2.64771563e-03 -9.92791194e-03 -1.02998160e+02] [-9.92750742e-03 1.65879952e-04 -9.99950707e-01 2.86521359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.87762800000002 meters Centerline goodness [0,1] 0.9998881281603794 Centerline is valid? [True, True] Translation: X:67.97, Y:-103.01, Z:2.87 [[-7.57268219e-02 9.97128180e-01 9.17227009e-04 6.79661189e+01] [ 9.97079181e-01 7.57321949e-02 -9.88641624e-03 -1.03006781e+02] [-9.92748785e-03 1.65881073e-04 -9.99950708e-01 2.86521343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.90762800000002 meters Centerline goodness [0,1] 0.9998202408772245 Centerline is valid? [True, True] Translation: X:67.98, Y:-103.01, Z:2.87 [[-1.54473496e-01 9.87995242e-01 1.82789669e-03 6.79754569e+01] [ 9.87938515e-01 1.54484217e-01 -1.05885223e-02 -1.03013963e+02] [-1.07437909e-02 1.70203481e-04 -9.99942269e-01 2.86607383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.93762800000002 meters Centerline goodness [0,1] 0.9997752758488955 Centerline is valid? [True, True] Translation: X:67.99, Y:-103.02, Z:2.87 [[-2.31790221e-01 9.72761699e-01 2.82330057e-03 6.79850495e+01] [ 9.72698534e-01 2.31807348e-01 -1.10867233e-02 -1.03021128e+02] [-1.14392016e-02 1.76426290e-04 -9.99934555e-01 2.86636598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.96762800000002 meters Centerline goodness [0,1] 0.9998428837564249 Centerline is valid? [True, True] Translation: X:67.99, Y:-103.03, Z:2.87 [[-3.08273731e-01 9.51289430e-01 3.96566668e-03 6.79939666e+01] [ 9.51217951e-01 3.08299187e-01 -1.16628160e-02 -1.03028489e+02] [-1.23173254e-02 1.76873523e-04 -9.99924123e-01 2.86635494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.99762800000002 meters Centerline goodness [0,1] 0.9997074839116151 Centerline is valid? [True, True] Translation: X:68.00, Y:-103.04, Z:2.87 [[-3.81750725e-01 9.24253280e-01 4.71792502e-03 6.80013985e+01] [ 9.24188210e-01 3.81779838e-01 -1.09684673e-02 -1.03035555e+02] [-1.19388505e-02 1.73030335e-04 -9.99928714e-01 2.86566428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.02762800000002 meters Centerline goodness [0,1] 0.9996400044999437 Centerline is valid? [True, True] Translation: X:68.01, Y:-103.04, Z:2.86 [[-4.52763821e-01 8.91616263e-01 5.03609848e-03 6.80081708e+01] [ 8.91564970e-01 4.52791800e-01 -9.56506866e-03 -1.03042960e+02] [-1.08086749e-02 1.59291954e-04 -9.99941572e-01 2.86439191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.05762800000002 meters Centerline goodness [0,1] 0.9998423920385464 Centerline is valid? [True, True] Translation: X:68.01, Y:-103.05, Z:2.86 [[-5.21065366e-01 8.53500065e-01 5.34080386e-03 6.80148788e+01] [ 8.53458142e-01 5.21092715e-01 -8.46064816e-03 -1.03049291e+02] [-1.00042177e-02 1.49601808e-04 -9.99949945e-01 2.86367246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.08762800000002 meters Centerline goodness [0,1] 0.999797434166104 Centerline is valid? [True, True] Translation: X:68.03, Y:-103.05, Z:2.86 [[-5.85812589e-01 8.10425411e-01 5.85352580e-03 6.80278632e+01] [ 8.10387525e-01 5.85841813e-01 -7.83769689e-03 -1.03050698e+02] [-9.78110889e-03 1.52202776e-04 -9.99952152e-01 2.86150406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.11762800000002 meters Centerline goodness [0,1] 0.9998424310635903 Centerline is valid? [True, True] Translation: X:68.04, Y:-103.05, Z:2.86 [[-6.47001749e-01 7.62464249e-01 6.08321824e-03 6.80389446e+01] [ 7.62432701e-01 6.47030329e-01 -6.93760562e-03 -1.03052755e+02] [-9.22570295e-03 1.49401540e-04 -9.99957431e-01 2.86075398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.14762800000003 meters Centerline goodness [0,1] 0.9999321435841759 Centerline is valid? [True, True] Translation: X:68.05, Y:-103.05, Z:2.86 [[-7.03551689e-01 7.10616760e-01 6.23233797e-03 6.80502055e+01] [ 7.10590817e-01 7.03579275e-01 -6.07412763e-03 -1.03054603e+02] [-8.70132072e-03 1.55179378e-04 -9.99962131e-01 2.86051385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.17762800000003 meters Centerline goodness [0,1] 0.9999548206379326 Centerline is valid? [True, True] Translation: X:68.66, Y:-102.45, Z:1.99 [[-6.81015330e-01 -7.32249672e-01 5.34216031e-03 6.86648318e+01] [ 7.32225029e-01 -6.81036258e-01 -6.01007091e-03 -1.02445937e+02] [ 8.03907732e-03 -1.81286934e-04 9.99967670e-01 1.99472137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.20762800000003 meters Centerline goodness [0,1] 0.9999548481769951 Centerline is valid? [True, True] Translation: X:68.65, Y:-102.43, Z:2.00 [[-6.81474039e-01 -7.31824730e-01 5.06927428e-03 6.86459917e+01] [ 7.31802935e-01 -6.81492879e-01 -5.64973176e-03 -1.02426529e+02] [ 7.58928775e-03 -1.40435719e-04 9.99971191e-01 1.99570770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.63, Y:-102.41, Z:2.00 [[-6.81697681e-01 -7.31618416e-01 4.77115962e-03 6.86276066e+01] [ 7.31599128e-01 -6.81714365e-01 -5.31412414e-03 -1.02406324e+02] [ 7.14047914e-03 -1.32049886e-04 9.99974498e-01 1.99603597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.26762800000003 meters Centerline goodness [0,1] 0.9999549397318914 Centerline is valid? [True, True] Translation: X:68.61, Y:-102.39, Z:2.00 [[-6.81539687e-01 -7.31767431e-01 4.48123720e-03 6.86099897e+01] [ 7.31750442e-01 -6.81554409e-01 -4.98790998e-03 -1.02386664e+02] [ 6.70419704e-03 -1.20311305e-04 9.99977519e-01 1.99656397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.59, Y:-102.37, Z:2.00 [[-6.80954614e-01 -7.32313548e-01 4.20478469e-03 6.85911293e+01] [ 7.32298619e-01 -6.80967588e-01 -4.67724105e-03 -1.02367179e+02] [ 6.28852908e-03 -1.05830851e-04 9.99980221e-01 1.99748201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.57, Y:-102.35, Z:2.00 [[-6.80627130e-01 -7.32616743e-01 4.40655332e-03 6.85734575e+01] [ 7.32600374e-01 -6.80641386e-01 -4.89843290e-03 -1.02347365e+02] [ 6.58795651e-03 -1.05763715e-04 9.99978294e-01 1.99736410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.55, Y:-102.33, Z:2.00 [[-6.80185231e-01 -7.33024987e-01 4.73504504e-03 6.85546331e+01] [ 7.33006120e-01 -6.80201703e-01 -5.26032085e-03 -1.02327811e+02] [ 7.07673232e-03 -1.07175558e-04 9.99974954e-01 1.99714950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.53, Y:-102.31, Z:2.00 [[-6.78681633e-01 -7.34412414e-01 5.44495795e-03 6.85345005e+01] [ 7.34387539e-01 -6.78703467e-01 -6.04544114e-03 -1.02308508e+02] [ 8.13535885e-03 -1.04220603e-04 9.99966902e-01 1.99579368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.52, Y:-102.29, Z:2.00 [[-6.78127870e-01 -7.34920416e-01 5.87998621e-03 6.85158447e+01] [ 7.34891462e-01 -6.78153354e-01 -6.52439544e-03 -1.02289153e+02] [ 8.78244378e-03 -1.03222715e-04 9.99961428e-01 1.99533992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.50, Y:-102.27, Z:1.99 [[-6.77463916e-01 -7.35530301e-01 6.14968725e-03 6.84979967e+01] [ 7.35498696e-01 -6.77491821e-01 -6.81921732e-03 -1.02270048e+02] [ 9.18210378e-03 -9.66867238e-05 9.99957839e-01 1.99438825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.48, Y:-102.25, Z:1.99 [[-6.76360427e-01 -7.36538347e-01 6.91637141e-03 6.84777932e+01] [ 7.36498473e-01 -6.76395783e-01 -7.66447941e-03 -1.02251958e+02] [ 1.03233875e-02 -9.00535794e-05 9.99946708e-01 1.99480569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.46, Y:-102.23, Z:1.99 [[-6.75807893e-01 -7.37046351e-01 6.80937790e-03 6.84580833e+01] [ 7.37007771e-01 -6.75842193e-01 -7.54160994e-03 -1.02231932e+02] [ 1.01605810e-02 -7.81150953e-05 9.99948377e-01 1.99450739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.44, Y:-102.21, Z:1.99 [[-6.75246232e-01 -7.37559066e-01 7.01070537e-03 6.84398534e+01] [ 7.37518252e-01 -6.75282622e-01 -7.75936514e-03 -1.02213154e+02] [ 1.04571976e-02 -6.89589090e-05 9.99945320e-01 1.99392961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.42, Y:-102.19, Z:1.99 [[-6.74896661e-01 -7.37878392e-01 7.06933396e-03 6.84206085e+01] [ 7.37836963e-01 -6.74933681e-01 -7.81931969e-03 -1.02193577e+02] [ 1.05410386e-02 -6.12168478e-05 9.99944440e-01 1.99410329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.40, Y:-102.17, Z:1.99 [[-6.74645203e-01 -7.38115509e-01 6.27257687e-03 6.84013180e+01] [ 7.38082943e-01 -6.74674361e-01 -6.93366915e-03 -1.02174122e+02] [ 9.34979552e-03 -4.80846343e-05 9.99956289e-01 1.99435816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.38, Y:-102.15, Z:1.99 [[-6.74908366e-01 -7.37877974e-01 5.89854092e-03 6.83844868e+01] [ 7.37849195e-01 -6.74934140e-01 -6.51704201e-03 -1.02154598e+02] [ 8.78990840e-03 -4.61725055e-05 9.99961367e-01 1.99420529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.37, Y:-102.13, Z:2.00 [[-6.75653921e-01 -7.37197426e-01 5.63333524e-03 6.83661910e+01] [ 7.37171186e-01 -6.75677403e-01 -6.22010434e-03 -1.02134701e+02] [ 8.39176223e-03 -4.99054614e-05 9.99964787e-01 1.99583723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.35, Y:-102.11, Z:2.00 [[-6.76769807e-01 -7.36177653e-01 5.00925406e-03 6.83482043e+01] [ 7.36156903e-01 -6.76788343e-01 -5.52753544e-03 -1.02113845e+02] [ 7.45945282e-03 -5.32721342e-05 9.99972176e-01 1.99639641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.33, Y:-102.09, Z:2.00 [[-6.78818613e-01 -7.34291663e-01 4.58750019e-03 6.83320848e+01] [ 7.34274239e-01 -6.78834111e-01 -5.05880652e-03 -1.02093154e+02] [ 6.82879106e-03 -6.55288084e-05 9.99976681e-01 1.99635240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.32, Y:-102.07, Z:2.00 [[-6.80007099e-01 -7.33189442e-01 4.85667098e-03 6.83154920e+01] [ 7.33169905e-01 -6.80024438e-01 -5.35291356e-03 -1.02073404e+02] [ 7.22735466e-03 -7.92542237e-05 9.99973879e-01 1.99627073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.30, Y:-102.05, Z:2.00 [[-6.81270317e-01 -7.32014312e-01 5.07952319e-03 6.82968928e+01] [ 7.31992932e-01 -6.81289247e-01 -5.59546655e-03 -1.02051883e+02] [ 7.55658613e-03 -9.38501932e-05 9.99971444e-01 1.99644611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.28, Y:-102.03, Z:2.00 [[-6.82656089e-01 -7.30720962e-01 5.24792670e-03 6.82800965e+01] [ 7.30698128e-01 -6.82676251e-01 -5.77763812e-03 -1.02031121e+02] [ 7.80447621e-03 -1.09489628e-04 9.99969539e-01 1.99656315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.26, Y:-102.01, Z:2.00 [[-6.83991569e-01 -7.29467368e-01 5.73528216e-03 6.82618321e+01] [ 7.29440081e-01 -6.84015601e-01 -6.31076380e-03 -1.02009137e+02] [ 8.52651873e-03 -1.32964546e-04 9.99963640e-01 1.99614722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.25, Y:-101.99, Z:1.99 [[-6.86639269e-01 -7.26967451e-01 6.69615678e-03 6.82455058e+01] [ 7.26930179e-01 -6.86671893e-01 -7.36384391e-03 -1.01987574e+02] [ 9.95133750e-03 -1.88665959e-04 9.99950466e-01 1.99447254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.23, Y:-101.97, Z:1.99 [[-6.87916493e-01 -7.25755911e-01 7.01837280e-03 6.82267188e+01] [ 7.25714945e-01 -6.87952261e-01 -7.71395340e-03 -1.01966848e+02] [ 1.04267527e-02 -2.13217736e-04 9.99945617e-01 1.99430085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.21, Y:-101.95, Z:1.99 [[-6.89224646e-01 -7.24511451e-01 7.24871969e-03 6.82075736e+01] [ 7.24467733e-01 -6.89262723e-01 -7.96261539e-03 -1.01946363e+02] [ 1.07652783e-02 -2.36567262e-04 9.99942025e-01 1.99455786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.95762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.19, Y:-101.92, Z:1.99 [[-6.91110797e-01 -7.22713832e-01 7.11215236e-03 6.81934611e+01] [ 7.22671687e-01 -6.91147344e-01 -7.80913458e-03 -1.01923214e+02] [ 1.05593148e-02 -2.57226086e-04 9.99944216e-01 1.99374230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.17, Y:-101.90, Z:2.00 [[-6.91945908e-01 -7.21918655e-01 6.65706801e-03 6.81743331e+01] [ 7.21881738e-01 -6.91977886e-01 -7.30493542e-03 -1.01904054e+02] [ 9.88011299e-03 -2.49004345e-04 9.99951159e-01 1.99521991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.01762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.16, Y:-101.88, Z:2.00 [[-6.92487384e-01 -7.21405918e-01 5.89271440e-03 6.81555017e+01] [ 7.21377009e-01 -6.92512419e-01 -6.46215071e-03 -1.01883733e+02] [ 8.74261167e-03 -2.24089146e-04 9.99961758e-01 1.99616823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.14, Y:-101.86, Z:2.00 [[-6.92065289e-01 -7.21818375e-01 4.88552801e-03 6.81362972e+01] [ 7.21798536e-01 -6.92082510e-01 -5.35468358e-03 -1.01863618e+02] [ 7.24629749e-03 -1.79423678e-04 9.99973729e-01 1.99777036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.12, Y:-101.85, Z:2.00 [[-6.91421230e-01 -7.22437017e-01 4.63024320e-03 6.81181107e+01] [ 7.22419234e-01 -6.91436714e-01 -5.07158607e-03 -1.01845008e+02] [ 6.86542166e-03 -1.61625529e-04 9.99976420e-01 1.99779232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.10, Y:-101.83, Z:2.00 [[-6.90448759e-01 -7.23366891e-01 4.56634888e-03 6.80979393e+01] [ 7.23349634e-01 -6.90463843e-01 -4.99887525e-03 -1.01825496e+02] [ 6.76891964e-03 -1.48400427e-04 9.99977080e-01 1.99775858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.08, Y:-101.81, Z:2.00 [[-6.89141736e-01 -7.24612524e-01 4.51190378e-03 6.80777042e+01] [ 7.24595720e-01 -6.89156493e-01 -4.93660489e-03 -1.01805883e+02] [ 6.68653352e-03 -1.32714293e-04 9.99977636e-01 1.99776308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.06, Y:-101.79, Z:2.00 [[-6.88008266e-01 -7.25687821e-01 4.67028137e-03 6.80584683e+01] [ 7.25669858e-01 -6.88024106e-01 -5.10748777e-03 -1.01787367e+02] [ 6.91970784e-03 -1.24911391e-04 9.99976051e-01 1.99727149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.04, Y:-101.77, Z:2.00 [[-6.85555102e-01 -7.28004388e-01 4.87992511e-03 6.80377162e+01] [ 7.27984854e-01 -6.85572462e-01 -5.33400995e-03 -1.01769517e+02] [ 7.22872492e-03 -1.04246164e-04 9.99973867e-01 1.99702110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.02, Y:-101.75, Z:2.00 [[-6.84337193e-01 -7.29148927e-01 4.94448924e-03 6.80188401e+01] [ 7.29128928e-01 -6.84355050e-01 -5.40119163e-03 -1.01751423e+02] [ 7.32205926e-03 -9.10661837e-05 9.99973189e-01 1.99671308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.00, Y:-101.73, Z:2.00 [[-6.83355653e-01 -7.30067799e-01 5.10490369e-03 6.79992205e+01] [ 7.30046531e-01 -6.83374716e-01 -5.57312787e-03 -1.01732488e+02] [ 7.55732330e-03 -8.16112037e-05 9.99971440e-01 1.99644708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.98, Y:-101.72, Z:2.00 [[-6.81279368e-01 -7.32005051e-01 5.19887654e-03 6.79786910e+01] [ 7.31983069e-01 -6.81299201e-01 -5.67312811e-03 -1.01715192e+02] [ 7.69474887e-03 -5.94955301e-05 9.99970393e-01 1.99612307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.96, Y:-101.70, Z:2.00 [[-6.80644906e-01 -7.32598089e-01 4.74902508e-03 6.79591412e+01] [ 7.32579782e-01 -6.80661471e-01 -5.17920890e-03 -1.01696030e+02] [ 7.02675694e-03 -4.61623947e-05 9.99975311e-01 1.99646426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.94, Y:-101.68, Z:2.00 [[-6.79898549e-01 -7.33294118e-01 4.20705788e-03 6.79396964e+01] [ 7.33279782e-01 -6.79911564e-01 -4.58543459e-03 -1.01676734e+02] [ 6.22289952e-03 -3.26798429e-05 9.99980637e-01 1.99762250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.92, Y:-101.66, Z:2.00 [[-6.79409695e-01 -7.33750881e-01 3.47991781e-03 6.79218232e+01] [ 7.33741091e-01 -6.79418607e-01 -3.79054551e-03 -1.01657801e+02] [ 5.14563702e-03 -2.19746822e-05 9.99986761e-01 1.99873584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.90, Y:-101.64, Z:2.00 [[-6.78946308e-01 -7.34183366e-01 2.58740256e-03 6.79028489e+01] [ 7.34177963e-01 -6.78951239e-01 -2.81672299e-03 -1.01637806e+02] [ 3.82471134e-03 -1.27897282e-05 9.99992686e-01 2.00046951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.88, Y:-101.62, Z:2.00 [[-6.79186956e-01 -7.33961143e-01 2.47358514e-03 6.78849345e+01] [ 7.33956210e-01 -6.79191460e-01 -2.69117638e-03 -1.01618047e+02] [ 3.65525679e-03 -1.23087219e-05 9.99993319e-01 2.00043389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.87, Y:-101.60, Z:2.00 [[-6.79674776e-01 -7.33509796e-01 2.36163719e-03 6.78671195e+01] [ 7.33505302e-01 -6.79678879e-01 -2.56774187e-03 -1.01598595e+02] [ 3.48861874e-03 -1.29559811e-05 9.99993915e-01 2.00055091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.85, Y:-101.58, Z:2.00 [[-6.80192610e-01 -7.33029969e-01 2.25333981e-03 6.78492846e+01] [ 7.33025880e-01 -6.80196342e-01 -2.44843470e-03 -1.01579115e+02] [ 3.32748952e-03 -1.36507926e-05 9.99994464e-01 2.00061684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.83, Y:-101.56, Z:2.00 [[-6.81284923e-01 -7.32015781e-01 1.93642664e-03 6.78323680e+01] [ 7.32012760e-01 -6.81287675e-01 -2.10301805e-03 -1.01559575e+02] [ 2.85870600e-03 -1.52654789e-05 9.99995914e-01 2.00024408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.82, Y:-101.54, Z:2.00 [[-6.82245128e-01 -7.31121250e-01 1.81746799e-03 6.78150241e+01] [ 7.31118589e-01 -6.82247549e-01 -1.97258837e-03 -1.01539762e+02] [ 2.68216436e-03 -1.70041711e-05 9.99996403e-01 1.99999455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.80, Y:-101.52, Z:2.00 [[-6.83112310e-01 -7.30310732e-01 1.95090101e-03 6.77975364e+01] [ 7.30307667e-01 -6.83115096e-01 -2.11609110e-03 -1.01519769e+02] [ 2.87809397e-03 -2.07699148e-05 9.99995858e-01 1.99956251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.78, Y:-101.50, Z:2.00 [[-6.83812916e-01 -7.29652915e-01 2.55332640e-03 6.77808639e+01] [ 7.29647667e-01 -6.83817682e-01 -2.76772812e-03 -1.01500788e+02] [ 3.76549063e-03 -2.95795807e-05 9.99992910e-01 1.99836908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.76, Y:-101.48, Z:2.00 [[-6.85129794e-01 -7.28410197e-01 3.96872817e-03 6.77642271e+01] [ 7.28397510e-01 -6.85141286e-01 -4.29947660e-03 -1.01480425e+02] [ 5.85092212e-03 -5.48878042e-05 9.99982882e-01 1.99633128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.75, Y:-101.46, Z:1.99 [[-6.86070975e-01 -7.27520177e-01 4.58368026e-03 6.77467457e+01] [ 7.27503254e-01 -6.86086283e-01 -4.96264668e-03 -1.01460407e+02] [ 6.75522574e-03 -7.00855363e-05 9.99977181e-01 1.99489077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.70762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.73, Y:-101.44, Z:1.99 [[-6.86779532e-01 -7.26846382e-01 5.31137054e-03 6.77295067e+01] [ 7.26823667e-01 -6.86800065e-01 -5.74700738e-03 -1.01440429e+02] [ 7.82504115e-03 -8.64972324e-05 9.99969380e-01 1.99375743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.71, Y:-101.42, Z:1.99 [[-6.87532510e-01 -7.26129234e-01 5.94849308e-03 6.77120285e+01] [ 7.26100745e-01 -6.87558234e-01 -6.43288888e-03 -1.01419811e+02] [ 8.76104407e-03 -1.03614977e-04 9.99961616e-01 1.99284433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.76762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.69, Y:-101.40, Z:1.99 [[-6.87751243e-01 -7.25922048e-01 5.95043104e-03 6.76942657e+01] [ 7.25893568e-01 -6.87776977e-01 -6.43109630e-03 -1.01400892e+02] [ 8.76104407e-03 -1.03614861e-04 9.99961616e-01 1.99284424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.68, Y:-101.38, Z:1.99 [[-6.90052082e-01 -7.23727788e-01 6.79800059e-03 6.76791738e+01] [ 7.23690540e-01 -6.90085550e-01 -7.34404347e-03 -1.01378630e+02] [ 1.00062903e-02 -1.48123764e-04 9.99949925e-01 1.99169655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.66, Y:-101.36, Z:1.99 [[-6.91596192e-01 -7.22250488e-01 6.99564177e-03 6.76623351e+01] [ 7.22211010e-01 -6.91631551e-01 -7.55346320e-03 -1.01357383e+02] [ 1.02938991e-02 -1.71616879e-04 9.99947002e-01 1.99210765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.65, Y:-101.34, Z:1.99 [[-6.93567668e-01 -7.20358412e-01 6.90272230e-03 6.76462385e+01] [ 7.20319923e-01 -6.93601990e-01 -7.44911501e-03 -1.01335580e+02] [ 1.01537746e-02 -1.94296930e-04 9.99948430e-01 1.99249295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.63, Y:-101.31, Z:1.99 [[-6.95826370e-01 -7.18179051e-01 6.67192383e-03 6.76299024e+01] [ 7.18143029e-01 -6.95858322e-01 -7.19618401e-03 -1.01313060e+02] [ 9.81086232e-03 -2.15899002e-04 9.99951849e-01 1.99310231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.62, Y:-101.29, Z:1.99 [[-7.01215667e-01 -7.12928631e-01 5.41807486e-03 6.76176281e+01] [ 7.12904745e-01 -7.01236560e-01 -5.84052154e-03 -1.01288436e+02] [ 7.96322720e-03 -2.32893927e-04 9.99968266e-01 1.99468724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.60, Y:-101.27, Z:2.00 [[-7.04501772e-01 -7.09687561e-01 4.56277805e-03 6.76022798e+01] [ 7.09670570e-01 -7.04516512e-01 -4.91592733e-03 -1.01265623e+02] [ 6.70332495e-03 -2.25210211e-04 9.99977507e-01 1.99586178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.58, Y:-101.25, Z:2.00 [[-7.07744857e-01 -7.06456751e-01 4.00951793e-03 6.75824561e+01] [ 7.06443595e-01 -7.07756179e-01 -4.31722886e-03 -1.01247168e+02] [ 5.88769656e-03 -2.22998262e-04 9.99982643e-01 1.99814158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.56, Y:-101.23, Z:2.00 [[-7.11090908e-01 -7.03091214e-01 3.53071760e-03 6.75622569e+01] [ 7.03080982e-01 -7.11099639e-01 -3.79943106e-03 -1.01228271e+02] [ 5.18203860e-03 -2.19360481e-04 9.99986549e-01 1.99967145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.55, Y:-101.20, Z:2.00 [[-7.17214371e-01 -6.96847700e-01 2.61346850e-03 6.75544923e+01] [ 6.96842056e-01 -7.17219106e-01 -2.81118555e-03 -1.01198663e+02] [ 3.83339773e-03 -1.95047907e-04 9.99992633e-01 2.00088436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.067628 meters Centerline goodness [0,1] 0.9999773129452334 Centerline is valid? [True, True] Translation: X:67.54, Y:-101.18, Z:2.00 [[-7.19911752e-01 -6.94062352e-01 2.12624891e-03 6.75381859e+01] [ 6.94058609e-01 -7.19914872e-01 -2.28575187e-03 -1.01177339e+02] [ 3.11717253e-03 -1.69798273e-04 9.99995127e-01 2.00172075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.09762800000001 meters Centerline goodness [0,1] 0.9997959970079561 Centerline is valid? [True, True] Translation: X:67.52, Y:-101.16, Z:2.00 [[-7.23283073e-01 -6.90549189e-01 1.84788771e-03 6.75228867e+01] [ 6.90546353e-01 -7.23285415e-01 -1.98531494e-03 -1.01156064e+02] [ 2.70750785e-03 -1.59892573e-04 9.99996322e-01 2.00220722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.12762800000002 meters Centerline goodness [0,1] 0.9999773519952893 Centerline is valid? [True, True] Translation: X:67.50, Y:-101.14, Z:2.00 [[-7.23984657e-01 -6.89812728e-01 2.14860336e-03 6.74977132e+01] [ 6.89808896e-01 -7.23987821e-01 -2.30711689e-03 -1.01141880e+02] [ 3.14704126e-03 -1.88191520e-04 9.99995030e-01 2.00195746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.15762800000002 meters Centerline goodness [0,1] 0.9997961494903738 Centerline is valid? [True, True] Translation: X:67.48, Y:-101.12, Z:2.00 [[-7.23794631e-01 -6.90008835e-01 3.02328832e-03 6.74847241e+01] [ 6.90001257e-01 -7.23800898e-01 -3.24433905e-03 -1.01118377e+02] [ 4.42688141e-03 -2.62162445e-04 9.99990167e-01 1.99999468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.46, Y:-101.11, Z:2.00 [[-7.22952927e-01 -6.90884666e-01 4.17644681e-03 6.74581936e+01] [ 6.90870236e-01 -7.22964905e-01 -4.47920890e-03 -1.01106282e+02] [ 6.11404122e-03 -3.52874396e-04 9.99981247e-01 1.99896989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.21762800000002 meters Centerline goodness [0,1] 0.999887232459009 Centerline is valid? [True, True] Translation: X:67.44, Y:-101.09, Z:2.00 [[-7.22022519e-01 -6.91850097e-01 5.18900420e-03 6.74372771e+01] [ 6.91827871e-01 -7.22041039e-01 -5.56192882e-03 -1.01088844e+02] [ 7.59469497e-03 -4.25940128e-04 9.99971069e-01 1.99530246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.41, Y:-101.07, Z:2.00 [[-7.19809758e-01 -6.94149345e-01 5.53170413e-03 6.74139383e+01] [ 6.94124181e-01 -7.19830887e-01 -5.92585792e-03 -1.01073202e+02] [ 8.09532188e-03 -4.25800756e-04 9.99967142e-01 1.99822675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.38, Y:-101.06, Z:2.00 [[-7.15591673e-01 -6.98498588e-01 5.31787650e-03 6.73841706e+01] [ 6.98475477e-01 -7.15611342e-01 -5.69336062e-03 -1.01063448e+02] [ 7.78233709e-03 -3.59715130e-04 9.99969652e-01 2.00001803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.30762800000002 meters Centerline goodness [0,1] 0.9998884774947584 Centerline is valid? [True, True] Translation: X:67.36, Y:-101.05, Z:2.00 [[-7.14089305e-01 -7.00035883e-01 5.12125192e-03 6.73634770e+01] [ 7.00014513e-01 -7.14107593e-01 -5.47964357e-03 -1.01045188e+02] [ 7.49307201e-03 -3.28004201e-04 9.99971873e-01 1.99791315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.35, Y:-101.02, Z:2.00 [[-7.11904061e-01 -7.02264617e-01 4.12497222e-03 6.73497642e+01] [ 7.02250804e-01 -7.11915970e-01 -4.41129455e-03 -1.01021826e+02] [ 6.03452967e-03 -2.43653444e-04 9.99981762e-01 1.99965691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.32, Y:-101.01, Z:2.00 [[-7.10204701e-01 -7.03985057e-01 3.78436150e-03 6.73217624e+01] [ 7.03973464e-01 -7.10214753e-01 -4.04561429e-03 -1.01008901e+02] [ 5.53576138e-03 -2.09124218e-04 9.99984656e-01 2.00136601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.30, Y:-101.00, Z:2.00 [[-7.07263915e-01 -7.06941301e-01 3.42796117e-03 6.72951821e+01] [ 7.06931834e-01 -7.07272203e-01 -3.66239844e-03 -1.00995763e+02] [ 5.01360236e-03 -1.66947381e-04 9.99987418e-01 2.00238481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.42762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.27, Y:-100.98, Z:2.00 [[-7.06423514e-01 -7.07782961e-01 3.01640862e-03 6.72746745e+01] [ 7.07775647e-01 -7.06429940e-01 -3.22086359e-03 -1.00977109e+02] [ 4.41055373e-03 -1.40353209e-04 9.99990264e-01 2.00251608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.45762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.25, Y:-100.96, Z:2.00 [[-7.05631229e-01 -7.08574492e-01 2.59957775e-03 6.72530774e+01] [ 7.08569071e-01 -7.05636008e-01 -2.77420980e-03 -1.00958387e+02] [ 3.80008996e-03 -1.15588678e-04 9.99992773e-01 2.00288719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.23, Y:-100.94, Z:2.00 [[-7.05659607e-01 -7.08548064e-01 2.03956805e-03 6.72298594e+01] [ 7.08544731e-01 -7.05662548e-01 -2.17534957e-03 -1.00941047e+02] [ 2.98058651e-03 -8.99311266e-05 9.99995554e-01 2.00306404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.51762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.21, Y:-100.92, Z:2.00 [[-7.06472596e-01 -7.07737595e-01 1.99195241e-03 6.72107605e+01] [ 7.07734416e-01 -7.06475398e-01 -2.12329810e-03 -1.00921536e+02] [ 2.91000326e-03 -9.02786407e-05 9.99995762e-01 2.00293358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.19, Y:-100.90, Z:2.00 [[-7.07695250e-01 -7.06513931e-01 2.34473289e-03 6.71889583e+01] [ 7.06509524e-01 -7.07699126e-01 -2.49791251e-03 -1.00903139e+02] [ 3.42417541e-03 -1.11184699e-04 9.99994131e-01 2.00277618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.17, Y:-100.88, Z:2.00 [[-7.08816016e-01 -7.05388200e-01 2.70970520e-03 6.71706297e+01] [ 7.05382311e-01 -7.08821183e-01 -2.88552985e-03 -1.00883509e+02] [ 3.95611515e-03 -1.33931651e-04 9.99992166e-01 2.00227517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.15, Y:-100.87, Z:2.00 [[-7.11356731e-01 -7.02823404e-01 3.29606507e-03 6.71484374e+01] [ 7.02814672e-01 -7.11364345e-01 -3.50789609e-03 -1.00865688e+02] [ 4.81013464e-03 -1.78842602e-04 9.99988415e-01 2.00098591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.13, Y:-100.85, Z:2.00 [[-7.12725149e-01 -7.01435243e-01 3.38555968e-03 6.71301449e+01] [ 7.01426022e-01 -7.12733164e-01 -3.60164211e-03 -1.00846068e+02] [ 4.93931937e-03 -1.92261251e-04 9.99987783e-01 2.00050385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.667628 meters Centerline goodness [0,1] 0.9999348067018711 Centerline is valid? [True, True] Translation: X:67.11, Y:-100.83, Z:2.00 [[-7.14335690e-01 -6.99792523e-01 3.86593807e-03 6.71110533e+01] [ 6.99780486e-01 -7.14346114e-01 -4.11098545e-03 -1.00826246e+02] [ 5.63845472e-03 -2.31315603e-04 9.99984077e-01 1.99837956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.09, Y:-100.81, Z:2.00 [[-7.15202562e-01 -6.98907731e-01 3.64410762e-03 6.70933933e+01] [ 6.98897033e-01 -7.15211811e-01 -3.87333688e-03 -1.00806384e+02] [ 5.31341390e-03 -2.23364452e-04 9.99985859e-01 1.99984215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.07, Y:-100.79, Z:2.00 [[-7.16375594e-01 -6.97705461e-01 3.61917569e-03 6.70729395e+01] [ 6.97694905e-01 -7.16384700e-01 -3.84469973e-03 -1.00787021e+02] [ 5.27519009e-03 -2.29168613e-04 9.99986060e-01 1.99976839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.05, Y:-100.77, Z:2.00 [[-7.17189237e-01 -6.96869047e-01 3.62346278e-03 6.70533067e+01] [ 6.96858464e-01 -7.17198352e-01 -3.84768280e-03 -1.00767518e+02] [ 5.28007258e-03 -2.34475978e-04 9.99986033e-01 1.99971734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.03, Y:-100.75, Z:2.00 [[-7.19231823e-01 -6.94760841e-01 3.59986526e-03 6.70321895e+01] [ 6.94750381e-01 -7.19240789e-01 -3.82045081e-03 -1.00748679e+02] [ 5.24346955e-03 -2.46782040e-04 9.99986222e-01 2.00031074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.01, Y:-100.73, Z:2.00 [[-7.20567409e-01 -6.93375490e-01 3.61102943e-03 6.70120609e+01] [ 6.93364958e-01 -7.20576411e-01 -3.83013402e-03 -1.00728959e+02] [ 5.25774368e-03 -2.56108481e-04 9.99986145e-01 2.00059129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.99, Y:-100.71, Z:2.00 [[-7.22019555e-01 -6.91865466e-01 3.15258570e-03 6.69914842e+01] [ 6.91857433e-01 -7.22026400e-01 -3.34209925e-03 -1.00709301e+02] [ 4.58853316e-03 -2.31921161e-04 9.99989446e-01 2.00055814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.87762800000002 meters Centerline goodness [0,1] 0.9998917936288089 Centerline is valid? [True, True] Translation: X:66.97, Y:-100.69, Z:2.00 [[-7.24166077e-01 -6.89616911e-01 3.46543618e-03 6.69725186e+01] [ 6.89607190e-01 -7.24174319e-01 -3.67150738e-03 -1.00689619e+02] [ 5.04151346e-03 -2.68991390e-04 9.99987255e-01 1.99783782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.90762800000002 meters Centerline goodness [0,1] 0.9998702702702703 Centerline is valid? [True, True] Translation: X:66.95, Y:-100.67, Z:2.00 [[-7.27192662e-01 -6.86420832e-01 4.15609982e-03 6.69542551e+01] [ 6.86406814e-01 -7.27204456e-01 -4.40051099e-03 -1.00669779e+02] [ 6.04293672e-03 -3.47244065e-04 9.99981681e-01 1.99709808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.93, Y:-100.65, Z:2.00 [[-7.28532085e-01 -6.85002265e-01 3.59133988e-03 6.69336676e+01] [ 6.84991793e-01 -7.28540871e-01 -3.80039883e-03 -1.00650164e+02] [ 5.21971970e-03 -3.08674140e-04 9.99986330e-01 2.00019626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.92, Y:-100.63, Z:2.00 [[-7.29931147e-01 -6.83510815e-01 3.67238278e-03 6.69150067e+01] [ 6.83499857e-01 -7.29940313e-01 -3.88384256e-03 -1.00630564e+02] [ 5.33526863e-03 -3.24864551e-04 9.99985715e-01 1.99983019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.89, Y:-100.61, Z:2.00 [[-7.31321422e-01 -6.82021078e-01 4.02818144e-03 6.68939142e+01] [ 6.82007883e-01 -7.31332424e-01 -4.25838460e-03 -1.00612731e+02] [ 5.85024775e-03 -3.66996389e-04 9.99982820e-01 1.99969816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.87, Y:-100.59, Z:2.00 [[-7.31248954e-01 -6.82098909e-01 4.00562658e-03 6.68726170e+01] [ 6.82085878e-01 -7.31259835e-01 -4.23190206e-03 -1.00594760e+02] [ 5.81572961e-03 -3.62392635e-04 9.99983023e-01 1.99974388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.85, Y:-100.58, Z:2.00 [[-7.30549979e-01 -6.82848717e-01 3.78921090e-03 6.68509655e+01] [ 6.82837078e-01 -7.30559728e-01 -4.00101882e-03 -1.00576284e+02] [ 5.50033546e-03 -3.35530515e-04 9.99984817e-01 1.99967747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.83, Y:-100.56, Z:2.00 [[-7.29678798e-01 -6.83780203e-01 3.67236654e-03 6.68292573e+01] [ 6.83769293e-01 -7.29687970e-01 -3.87546094e-03 -1.00558053e+02] [ 5.32964516e-03 -3.16790208e-04 9.99985747e-01 2.00001299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.80, Y:-100.55, Z:2.00 [[-7.26694533e-01 -6.86954354e-01 2.96175291e-03 6.68012419e+01] [ 6.86947292e-01 -7.26700530e-01 -3.12371079e-03 -1.00545609e+02] [ 4.29815413e-03 -2.35415415e-04 9.99990735e-01 2.00093463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.78, Y:-100.53, Z:2.00 [[-7.24812791e-01 -6.88940913e-01 2.61473771e-03 6.67785416e+01] [ 6.88935428e-01 -7.24817480e-01 -2.75616507e-03 -1.00528318e+02] [ 3.79404248e-03 -1.96318257e-04 9.99992783e-01 2.00118946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.17762800000003 meters Centerline goodness [0,1] 0.9998940431032656 Centerline is valid? [True, True] Translation: X:66.76, Y:-100.51, Z:2.00 [[-7.22813038e-01 -6.91036822e-01 3.06974807e-03 6.67564369e+01] [ 6.91029289e-01 -7.22819524e-01 -3.23386480e-03 -1.00511097e+02] [ 4.45359349e-03 -2.16193809e-04 9.99990059e-01 1.99843645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.20762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.73, Y:-100.50, Z:2.00 [[-7.17618548e-01 -6.96432133e-01 2.42981774e-03 6.67305082e+01] [ 6.96427449e-01 -7.17622647e-01 -2.55818056e-03 -1.00497847e+02] [ 3.52529138e-03 -1.43606052e-04 9.99993776e-01 2.00042514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.71, Y:-100.48, Z:2.00 [[-7.15189286e-01 -6.98927660e-01 2.10014677e-03 6.67096205e+01] [ 6.98924176e-01 -7.15192361e-01 -2.20979361e-03 -1.00480016e+02] [ 3.04649480e-03 -1.12577364e-04 9.99995353e-01 2.00027307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.26762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.69, Y:-100.46, Z:2.00 [[-7.12717160e-01 -7.01447487e-01 2.38202038e-03 6.66888809e+01] [ 7.01443023e-01 -7.12721131e-01 -2.50486624e-03 -1.00462930e+02] [ 3.45474839e-03 -1.14409571e-04 9.99994026e-01 2.00033378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.67, Y:-100.45, Z:2.00 [[-7.10486644e-01 -7.03707000e-01 2.27739244e-03 6.66668651e+01] [ 7.03702936e-01 -7.10490288e-01 -2.39348118e-03 -1.00445122e+02] [ 3.30237467e-03 -9.79286710e-05 9.99994542e-01 2.00041851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.327628 meters Centerline goodness [0,1] 0.9998317984945966 Centerline is valid? [True, True] Translation: X:66.64, Y:-100.43, Z:2.00 [[-7.06654729e-01 -7.07550676e-01 3.33704787e-03 6.66425382e+01] [ 7.07542003e-01 -7.06662599e-01 -3.50521452e-03 -1.00429464e+02] [ 4.83828382e-03 -1.15874884e-04 9.99988289e-01 1.99741020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.62, Y:-100.41, Z:2.00 [[-7.04970594e-01 -7.09233812e-01 1.96508016e-03 6.66210265e+01] [ 7.09230814e-01 -7.04973330e-01 -2.06297648e-03 -1.00411078e+02] [ 2.84846178e-03 -6.06423537e-05 9.99995941e-01 2.00055849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.60, Y:-100.39, Z:2.00 [[-7.03841435e-01 -7.10355426e-01 1.55018644e-03 6.66022477e+01] [ 7.10353564e-01 -7.03843141e-01 -1.62673152e-03 -1.00392191e+02] [ 2.24664565e-03 -4.37805884e-05 9.99997475e-01 2.00065139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.58, Y:-100.37, Z:2.00 [[-7.03073085e-01 -7.11116607e-01 1.18695528e-03 6.65826650e+01] [ 7.11115518e-01 -7.03074086e-01 -1.24478842e-03 -1.00373519e+02] [ 1.71970722e-03 -3.11149156e-05 9.99998521e-01 2.00073801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.56, Y:-100.36, Z:2.00 [[-7.02734637e-01 -7.11451665e-01 7.46786463e-04 6.65612063e+01] [ 7.11451235e-01 -7.02735034e-01 -7.82717801e-04 -1.00355390e+02] [ 1.08165889e-03 -1.87407590e-05 9.99999415e-01 2.00037562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.54, Y:-100.33, Z:2.00 [[-7.03093979e-01 -7.11096289e-01 9.60920943e-04 6.65416529e+01] [ 7.11095577e-01 -7.03094636e-01 -1.00657270e-03 -1.00334904e+02] [ 1.39138848e-03 -2.44085756e-05 9.99999032e-01 1.99967787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.52, Y:-100.31, Z:2.00 [[-7.03820885e-01 -7.10376522e-01 1.16568896e-03 6.65238500e+01] [ 7.10375474e-01 -7.03821850e-01 -1.22032469e-03 -1.00314848e+02] [ 1.68732737e-03 -3.08131553e-05 9.99998576e-01 1.99913823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.51, Y:-100.29, Z:2.00 [[-7.06103982e-01 -7.08104768e-01 2.19198382e-03 6.65080529e+01] [ 7.08101057e-01 -7.06107381e-01 -2.29333799e-03 -1.00292380e+02] [ 3.17169952e-03 -6.71890215e-05 9.99994968e-01 1.99794118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.49, Y:-100.27, Z:2.00 [[-7.07922587e-01 -7.06286448e-01 2.25035873e-03 6.64888960e+01] [ 7.06282532e-01 -7.07926160e-01 -2.35314796e-03 -1.00271315e+02] [ 3.25508433e-03 -7.64575353e-05 9.99994699e-01 1.99769186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.47, Y:-100.25, Z:2.00 [[-7.09958567e-01 -7.04240112e-01 2.16743830e-03 6.64719314e+01] [ 7.04236471e-01 -7.09961871e-01 -2.26588357e-03 -1.00250098e+02] [ 3.13452465e-03 -8.22943528e-05 9.99995084e-01 1.99745030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.45, Y:-100.23, Z:2.00 [[-7.12312512e-01 -7.01859482e-01 2.03784578e-03 6.64539482e+01] [ 7.01856258e-01 -7.12315422e-01 -2.12920724e-03 -1.00228018e+02] [ 2.94599327e-03 -8.63861495e-05 9.99995657e-01 1.99699574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.44, Y:-100.21, Z:2.00 [[-7.14629773e-01 -6.99499530e-01 2.16662940e-03 6.64362102e+01] [ 6.99495879e-01 -7.14633050e-01 -2.26248846e-03 -1.00205986e+02] [ 3.13095459e-03 -1.01293277e-04 9.99995093e-01 1.99697605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.42, Y:-100.19, Z:2.00 [[-7.14826780e-01 -6.99298203e-01 2.16726661e-03 6.64170759e+01] [ 6.99294553e-01 -7.14830059e-01 -2.26187807e-03 -1.00186101e+02] [ 3.13095459e-03 -1.01293277e-04 9.99995093e-01 1.99697595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.40, Y:-100.16, Z:2.00 [[-7.19598909e-01 -6.94385582e-01 2.46443236e-03 6.64038011e+01] [ 6.94380839e-01 -7.19603115e-01 -2.57042033e-03 -1.00161663e+02] [ 3.55827602e-03 -1.38417055e-04 9.99993660e-01 1.99646030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.74762800000002 meters Centerline goodness [0,1] 0.9998955308079648 Centerline is valid? [True, True] Translation: X:66.39, Y:-100.14, Z:1.99 [[-7.22200517e-01 -6.91672758e-01 3.89994240e-03 6.63884763e+01] [ 6.91660848e-01 -7.22211007e-01 -4.06597471e-03 -1.00138911e+02] [ 5.62890527e-03 -2.39011571e-04 9.99984129e-01 1.99390779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.37, Y:-100.12, Z:2.00 [[-7.23687979e-01 -6.90119032e-01 3.38095109e-03 6.63705117e+01] [ 6.90110074e-01 -7.23695845e-01 -3.52280519e-03 -1.00117826e+02] [ 4.87793516e-03 -2.16183359e-04 9.99988079e-01 1.99595477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.35, Y:-100.10, Z:2.00 [[-7.24854025e-01 -6.88890317e-01 4.09552487e-03 6.63532463e+01] [ 6.88877168e-01 -7.24865545e-01 -4.26485871e-03 -1.00096488e+02] [ 5.90672474e-03 -2.70086427e-04 9.99982519e-01 1.99532241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.33, Y:-100.08, Z:1.99 [[-7.25349113e-01 -6.88366787e-01 4.45321485e-03 6.63338057e+01] [ 6.88351248e-01 -7.25362722e-01 -4.63476623e-03 -1.00076663e+02] [ 6.42061519e-03 -2.96447573e-04 9.99979344e-01 1.99442670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.32, Y:-100.06, Z:1.99 [[-7.24480837e-01 -6.89277593e-01 4.89043167e-03 6.63166444e+01] [ 6.89258892e-01 -7.24497275e-01 -5.08712493e-03 -1.00055140e+02] [ 7.04954565e-03 -3.14751013e-04 9.99975102e-01 1.99382712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.29, Y:-100.04, Z:1.99 [[-7.23858727e-01 -6.89934118e-01 4.41088568e-03 6.62942891e+01] [ 6.89918933e-01 -7.23872113e-01 -4.58580164e-03 -1.00037535e+02] [ 6.35681815e-03 -2.76318995e-04 9.99979757e-01 1.99469612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.92762800000003 meters Centerline goodness [0,1] 0.9998728166864508 Centerline is valid? [True, True] Translation: X:66.28, Y:-100.02, Z:1.99 [[-7.22575667e-01 -6.91270981e-01 5.36998987e-03 6.62765048e+01] [ 6.91248535e-01 -7.22595550e-01 -5.57976818e-03 -1.00016554e+02] [ 7.73746261e-03 -3.19807082e-04 9.99970014e-01 1.99290002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.95762800000003 meters Centerline goodness [0,1] 0.9998515407944688 Centerline is valid? [True, True] Translation: X:66.26, Y:-100.00, Z:1.99 [[-7.21820358e-01 -6.92061666e-01 5.10111213e-03 6.62588550e+01] [ 6.92041452e-01 -7.21838323e-01 -5.29752778e-03 -9.99958478e+01] [ 7.34839412e-03 -2.93682351e-04 9.99972957e-01 1.99361453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.24, Y:-99.98, Z:2.00 [[-7.20271109e-01 -6.93684847e-01 3.29600361e-03 6.62386734e+01] [ 6.93676430e-01 -7.20278628e-01 -3.42166865e-03 -9.99759795e+01] [ 4.74760065e-03 -1.78169057e-04 9.99988714e-01 1.99759975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.01762800000003 meters Centerline goodness [0,1] 0.9998513863530211 Centerline is valid? [True, True] Translation: X:66.22, Y:-99.96, Z:2.00 [[-7.19603355e-01 -6.94374843e-01 3.81966755e-03 6.62201921e+01] [ 6.94363562e-01 -7.19613464e-01 -3.96310103e-03 -9.99560999e+01] [ 5.50056185e-03 -1.99622832e-04 9.99984852e-01 1.99550118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.20, Y:-99.94, Z:2.00 [[-7.16220457e-01 -6.97870737e-01 2.16594875e-03 6.61995092e+01] [ 6.97867130e-01 -7.16223725e-01 -2.24597107e-03 -9.99371985e+01] [ 3.11870137e-03 -9.70659889e-05 9.99995132e-01 1.99852074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.18, Y:-99.92, Z:2.00 [[-7.14743278e-01 -6.99384488e-01 1.83984803e-03 6.61784423e+01] [ 6.99381892e-01 -7.14745642e-01 -1.90674410e-03 -9.99182010e+01] [ 2.64857060e-03 -7.60761340e-05 9.99996490e-01 1.99923362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.107628 meters Centerline goodness [0,1] 0.9999151229656036 Centerline is valid? [True, True] Translation: X:66.16, Y:-99.90, Z:2.00 [[-7.13770385e-01 -7.00376123e-01 2.26372906e-03 6.61588291e+01] [ 7.00372204e-01 -7.13773969e-01 -2.34471242e-03 -9.98983758e+01] [ 3.25797147e-03 -8.81333774e-05 9.99994689e-01 1.99798575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.14, Y:-99.88, Z:2.00 [[-7.12310807e-01 -7.01863743e-01 7.75242055e-04 6.61413017e+01] [ 7.01863285e-01 -7.12311228e-01 -8.02542247e-04 -9.98777225e+01] [ 1.11548893e-03 -2.75455798e-05 9.99999377e-01 2.00038418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.12, Y:-99.86, Z:2.00 [[-7.10942469e-01 -7.03250068e-01 3.83614168e-04 6.61218981e+01] [ 7.03249956e-01 -7.10942573e-01 -3.96906910e-04 -9.98578147e+01] [ 5.51852455e-04 -1.24013321e-05 9.99999848e-01 2.00109555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.10, Y:-99.84, Z:2.00 [[-7.09457694e-01 -7.04747884e-01 4.48213926e-04 6.61022565e+01] [ 7.04747732e-01 -7.09457835e-01 -4.63495578e-04 -9.98372926e+01] [ 6.44636409e-04 -1.29527564e-05 9.99999792e-01 2.00154042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.08, Y:-99.82, Z:2.00 [[-7.06013308e-01 -7.08198304e-01 6.09315948e-04 6.60810273e+01] [ 7.08198024e-01 -7.06013571e-01 -6.29728809e-04 -9.98193697e+01] [ 8.76158202e-04 -1.30805687e-05 9.99999616e-01 2.00106066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.06, Y:-99.80, Z:2.00 [[-7.04506832e-01 -7.09696312e-01 1.12658609e-03 6.60607753e+01] [ 7.09695358e-01 -7.04507732e-01 -1.16371038e-03 -9.97991918e+01] [ 1.61956958e-03 -2.03089905e-05 9.99998688e-01 2.00011702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.04, Y:-99.78, Z:2.00 [[-7.02917933e-01 -7.11268716e-01 1.78728105e-03 6.60407127e+01] [ 7.11266323e-01 -7.02920204e-01 -1.84513147e-03 -9.97789625e+01] [ 2.56870025e-03 -2.57431775e-05 9.99996701e-01 1.99947738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.02, Y:-99.76, Z:2.00 [[-7.01369168e-01 -7.12794486e-01 2.30443330e-03 6.60218258e+01] [ 7.12790521e-01 -7.01372954e-01 -2.37768716e-03 -9.97588349e+01] [ 3.31106949e-03 -2.50582515e-05 9.99994518e-01 1.99838734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.34762800000001 meters Centerline goodness [0,1] 0.999850663480821 Centerline is valid? [True, True] Translation: X:66.00, Y:-99.74, Z:2.00 [[-6.99273330e-01 -7.14840899e-01 4.39300787e-03 6.60031256e+01] [ 7.14826546e-01 -6.99287128e-01 -4.53001729e-03 -9.97383089e+01] [ 6.31021549e-03 -2.74816282e-05 9.99980090e-01 1.99522790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.98, Y:-99.72, Z:2.00 [[-6.98164529e-01 -7.15928663e-01 3.52699521e-03 6.59845318e+01] [ 7.15919436e-01 -6.98173438e-01 -3.63485606e-03 -9.97172497e+01] [ 5.06475201e-03 -1.26831420e-05 9.99987174e-01 1.99780932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.97, Y:-99.70, Z:2.00 [[-6.97653094e-01 -7.16426557e-01 3.62617791e-03 6.59674341e+01] [ 7.16416822e-01 -6.97662518e-01 -3.73475557e-03 -9.96963587e+01] [ 5.20552648e-03 -7.70892042e-06 9.99986451e-01 1.99742967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.95, Y:-99.67, Z:2.00 [[-6.97447991e-01 -7.16626672e-01 3.53725986e-03 6.59520525e+01] [ 7.16617423e-01 -6.97456961e-01 -3.64098820e-03 -9.96730216e+01] [ 5.07631577e-03 -4.53785752e-06 9.99987115e-01 1.99808593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.93, Y:-99.65, Z:2.00 [[-6.97762764e-01 -7.16320329e-01 3.50891576e-03 6.59346830e+01] [ 7.16311233e-01 -6.97771586e-01 -3.60977697e-03 -9.96509469e+01] [ 5.03417834e-03 -5.29218329e-06 9.99987328e-01 1.99794309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.92, Y:-99.63, Z:2.00 [[-6.98255846e-01 -7.15839964e-01 3.45248391e-03 6.59173179e+01] [ 7.15831163e-01 -6.98264381e-01 -3.54971104e-03 -9.96285558e+01] [ 4.95177156e-03 -7.21091494e-06 9.99987740e-01 1.99787579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.90, Y:-99.61, Z:2.00 [[-6.98847472e-01 -7.15262138e-01 3.50514349e-03 6.59014808e+01] [ 7.15253071e-01 -6.98856262e-01 -3.60144863e-03 -9.96070484e+01] [ 5.02557132e-03 -9.79862296e-06 9.99987372e-01 1.99735613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.89, Y:-99.58, Z:2.00 [[-6.99740084e-01 -7.14389057e-01 3.47711473e-03 6.58876410e+01] [ 7.14380134e-01 -6.99748723e-01 -3.57063446e-03 -9.95810121e+01] [ 4.98392878e-03 -1.45343742e-05 9.99987580e-01 1.99761212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.87, Y:-99.56, Z:2.00 [[-7.00322871e-01 -7.13816217e-01 3.77952769e-03 6.58717430e+01] [ 7.13805679e-01 -7.00333069e-01 -3.87872502e-03 -9.95589268e+01] [ 5.41562505e-03 -1.85115100e-05 9.99985335e-01 1.99751951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.86, Y:-99.54, Z:2.00 [[-7.00744875e-01 -7.13400326e-01 4.07365092e-03 6.58558008e+01] [ 7.13388093e-01 -7.00756716e-01 -4.17779703e-03 -9.95371823e+01] [ 5.83508000e-03 -2.14757963e-05 9.99982976e-01 1.99762711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.84, Y:-99.52, Z:2.00 [[-7.00944987e-01 -7.13201154e-01 4.49879661e-03 6.58390003e+01] [ 7.13186249e-01 -7.00959423e-01 -4.61092297e-03 -9.95150901e+01] [ 6.44198946e-03 -2.35234588e-05 9.99979250e-01 1.99768574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.82, Y:-99.49, Z:2.00 [[-7.01056379e-01 -7.13089742e-01 4.79305500e-03 6.58246083e+01] [ 7.13072842e-01 -7.01072764e-01 -4.90940780e-03 -9.94905111e+01] [ 6.86112865e-03 -2.39743122e-05 9.99976462e-01 1.99851174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.70762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.81, Y:-99.47, Z:2.00 [[-7.01355983e-01 -7.12795116e-01 4.78623923e-03 6.58088740e+01] [ 7.12778280e-01 -7.01372313e-01 -4.89918172e-03 -9.94693253e+01] [ 6.84904849e-03 -2.45430427e-05 9.99976545e-01 1.99883789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.79, Y:-99.45, Z:2.00 [[-7.01835825e-01 -7.12321709e-01 4.92522163e-03 6.57930500e+01] [ 7.12303892e-01 -7.01853106e-01 -5.03815432e-03 -9.94480031e+01] [ 7.04556880e-03 -2.77026548e-05 9.99975179e-01 1.99820620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.76762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.78, Y:-99.42, Z:2.00 [[-7.03583272e-01 -7.10589795e-01 5.72045175e-03 6.57802239e+01] [ 7.10565730e-01 -7.03606524e-01 -5.84827245e-03 -9.94228746e+01] [ 8.18066989e-03 -4.99896942e-05 9.99966537e-01 1.99691202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.76, Y:-99.40, Z:2.00 [[-7.05206461e-01 -7.08974631e-01 6.23058627e-03 6.57632840e+01] [ 7.08946051e-01 -7.05233981e-01 -6.36619985e-03 -9.93999464e+01] [ 8.90749535e-03 -7.23357342e-05 9.99960325e-01 1.99734641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.75, Y:-99.38, Z:2.00 [[-7.07149979e-01 -7.07032684e-01 6.60988180e-03 6.57483179e+01] [ 7.07000461e-01 -7.07180863e-01 -6.75096648e-03 -9.93769236e+01] [ 9.44753587e-03 -1.00756326e-04 9.99955366e-01 1.99652270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.73, Y:-99.35, Z:2.00 [[-7.09559876e-01 -7.04612569e-01 6.77562731e-03 6.57326703e+01] [ 7.04578636e-01 -7.09592213e-01 -6.91638830e-03 -9.93531194e+01] [ 9.68130651e-03 -1.33629376e-04 9.99953126e-01 1.99645766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.72, Y:-99.32, Z:2.00 [[-7.14296469e-01 -6.99812783e-01 6.52860558e-03 6.57225680e+01] [ 6.99781114e-01 -7.14326279e-01 -6.66029661e-03 -9.93247150e+01] [ 9.32451524e-03 -1.88831471e-04 9.99956508e-01 1.99756547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.71, Y:-99.30, Z:2.00 [[-7.16601433e-01 -6.97456890e-01 6.02275486e-03 6.57071179e+01] [ 6.97429884e-01 -7.16626714e-01 -6.14088487e-03 -9.93005508e+01] [ 8.59906949e-03 -2.00117673e-04 9.99963007e-01 1.99849684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.947628 meters Centerline goodness [0,1] 0.9998862938621427 Centerline is valid? [True, True] Translation: X:65.69, Y:-99.28, Z:2.00 [[-7.18468376e-01 -6.95532638e-01 6.12724272e-03 6.56900985e+01] [ 6.95504646e-01 -7.18494467e-01 -6.24402344e-03 -9.92773787e+01] [ 8.74531209e-03 -2.24607603e-04 9.99961734e-01 1.99748624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.67, Y:-99.26, Z:2.00 [[-7.16607447e-01 -6.97468692e-01 3.34519218e-03 6.56702877e+01] [ 6.97460378e-01 -7.16615246e-01 -3.40729858e-03 -9.92590563e+01] [ 4.77369980e-03 -1.08556532e-04 9.99988600e-01 2.00221001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.65, Y:-99.24, Z:2.00 [[-7.15729363e-01 -6.98371762e-01 2.89154537e-03 6.56494386e+01] [ 6.98365563e-01 -7.15735199e-01 -2.94363364e-03 -9.92402240e+01] [ 4.12533141e-03 -8.74893189e-05 9.99991487e-01 2.00309701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.037628 meters Centerline goodness [0,1] 0.9998638127879792 Centerline is valid? [True, True] Translation: X:65.63, Y:-99.22, Z:2.00 [[-7.15409965e-01 -6.98696264e-01 3.48030873e-03 6.56304797e+01] [ 6.98687300e-01 -7.15418423e-01 -3.54073959e-03 -9.92213393e+01] [ 4.96377851e-03 -1.01432878e-04 9.99987675e-01 2.00041927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.61, Y:-99.20, Z:2.00 [[-7.14188590e-01 -6.99944129e-01 3.58803424e-03 6.56086371e+01] [ 6.99934627e-01 -7.14197597e-01 -3.64828871e-03 -9.92032633e+01] [ 5.11616370e-03 -9.41767654e-05 9.99986908e-01 2.00313124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.09762800000001 meters Centerline goodness [0,1] 0.9998640134173428 Centerline is valid? [True, True] Translation: X:65.59, Y:-99.18, Z:2.00 [[-7.13511886e-01 -7.00624015e-01 5.17486181e-03 6.55911937e+01] [ 7.00604294e-01 -7.13530640e-01 -5.25828707e-03 -9.91839780e+01] [ 7.37650465e-03 -1.26319922e-04 9.99972785e-01 1.99748133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.57, Y:-99.17, Z:2.00 [[-7.12979912e-01 -7.01165900e-01 5.10154044e-03 6.55710190e+01] [ 7.01146770e-01 -7.12998154e-01 -5.18073054e-03 -9.91661260e+01] [ 7.26994051e-03 -1.16828210e-04 9.99973567e-01 1.99973305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.15762800000002 meters Centerline goodness [0,1] 0.9999098835244553 Centerline is valid? [True, True] Translation: X:65.55, Y:-99.15, Z:2.00 [[-7.13817518e-01 -7.00308818e-01 5.66662605e-03 6.55525762e+01] [ 7.00285217e-01 -7.13839996e-01 -5.75103592e-03 -9.91471830e+01] [ 8.07256549e-03 -1.36935728e-04 9.99967407e-01 1.99639070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.18762800000002 meters Centerline goodness [0,1] 0.9998642871683517 Centerline is valid? [True, True] Translation: X:65.53, Y:-99.13, Z:2.00 [[-7.15245368e-01 -6.98847413e-01 6.02968524e-03 6.55296991e+01] [ 6.98820669e-01 -7.15270765e-01 -6.11598383e-03 -9.91300192e+01] [ 8.58699705e-03 -1.60760425e-04 9.99963118e-01 1.99712759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.21762800000002 meters Centerline goodness [0,1] 0.999932157394844 Centerline is valid? [True, True] Translation: X:65.51, Y:-99.11, Z:2.00 [[-7.17211676e-01 -6.96828773e-01 6.08879995e-03 6.55120861e+01] [ 6.96801461e-01 -7.17237497e-01 -6.17220637e-03 -9.91094553e+01] [ 8.66808663e-03 -1.84093771e-04 9.99962414e-01 1.99732976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.49, Y:-99.09, Z:2.00 [[-7.19446603e-01 -6.94522814e-01 5.88600465e-03 6.54925911e+01] [ 6.94497243e-01 -7.19470652e-01 -5.96327327e-03 -9.90892056e+01] [ 8.37643694e-03 -2.02442693e-04 9.99964897e-01 1.99936651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.48, Y:-99.07, Z:2.00 [[-7.24502871e-01 -6.89248121e-01 5.71123076e-03 6.54767847e+01] [ 6.89223903e-01 -7.24525337e-01 -5.78349346e-03 -9.90680007e+01] [ 8.12419339e-03 -2.53840858e-04 9.99966966e-01 2.00010050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.46, Y:-99.05, Z:2.00 [[-7.26870589e-01 -6.86752069e-01 5.54454526e-03 6.54597760e+01] [ 6.86729197e-01 -7.26891685e-01 -5.61138823e-03 -9.90470676e+01] [ 7.88391633e-03 -2.71151957e-04 9.99968885e-01 1.99975059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.44, Y:-99.03, Z:2.00 [[-7.30120489e-01 -6.83293512e-01 5.83505331e-03 6.54385085e+01] [ 6.83268100e-01 -7.30143734e-01 -5.90176393e-03 -9.90290535e+01] [ 8.29306462e-03 -3.22092977e-04 9.99965560e-01 2.00067406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.43, Y:-99.00, Z:2.00 [[-7.31417056e-01 -6.81905801e-01 5.79375422e-03 6.54283454e+01] [ 6.81880733e-01 -7.31439927e-01 -5.85648969e-03 -9.90006890e+01] [ 8.23135746e-03 -3.32887079e-04 9.99966066e-01 1.99805397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.39762800000003 meters Centerline goodness [0,1] 0.999864376130199 Centerline is valid? [True, True] Translation: X:65.40, Y:-98.99, Z:2.00 [[-7.32414080e-01 -6.80829045e-01 6.43635036e-03 6.53978498e+01] [ 6.80798099e-01 -7.32442261e-01 -6.50253773e-03 -9.89911450e+01] [ 9.14137157e-03 -3.80695107e-04 9.99958144e-01 1.99817019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.42762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.38, Y:-98.97, Z:2.00 [[-7.32077597e-01 -6.81196249e-01 5.83626394e-03 6.53791070e+01] [ 6.81170843e-01 -7.32100783e-01 -5.89291443e-03 -9.89711784e+01] [ 8.28696460e-03 -3.38577809e-04 9.99965605e-01 1.99985219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.45762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.36, Y:-98.95, Z:2.00 [[-7.31818454e-01 -6.81473062e-01 6.01796541e-03 6.53601371e+01] [ 6.81446093e-01 -7.31843117e-01 -6.07238516e-03 -9.89531466e+01] [ 8.54237347e-03 -3.42964501e-04 9.99963454e-01 1.99935851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.34, Y:-98.94, Z:2.00 [[-7.29693101e-01 -6.83748732e-01 5.97072668e-03 6.53363758e+01] [ 6.83722289e-01 -7.29717462e-01 -6.02140204e-03 -9.89371077e+01] [ 8.47406953e-03 -3.11456620e-04 9.99964046e-01 2.00037021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.51762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.32, Y:-98.92, Z:2.00 [[-7.28555127e-01 -6.84967568e-01 5.18248383e-03 6.53159066e+01] [ 6.84947697e-01 -7.28573514e-01 -5.22366641e-03 -9.89191616e+01] [ 7.35386253e-03 -2.55998581e-04 9.99972927e-01 2.00074898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.30, Y:-98.90, Z:2.00 [[-7.28747776e-01 -6.84762590e-01 5.18395309e-03 6.52964018e+01] [ 6.84742725e-01 -7.28766169e-01 -5.22220831e-03 -9.88995958e+01] [ 7.35386253e-03 -2.55998531e-04 9.99972927e-01 2.00074887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.28, Y:-98.88, Z:2.00 [[-7.27282080e-01 -6.86323145e-01 4.61702897e-03 6.52776724e+01] [ 6.86307436e-01 -7.27296704e-01 -4.64846498e-03 -9.88794002e+01] [ 6.54829905e-03 -2.12043967e-04 9.99978537e-01 2.00060163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.25, Y:-98.86, Z:2.00 [[-7.26061242e-01 -6.87617801e-01 4.10274867e-03 6.52539106e+01] [ 6.87605430e-01 -7.26072813e-01 -4.12836255e-03 -9.88629907e+01] [ 5.81762984e-03 -1.76371776e-04 9.99983062e-01 2.00201186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.23, Y:-98.85, Z:2.00 [[-7.23468982e-01 -6.90351050e-01 2.83905300e-03 6.52336687e+01] [ 6.90345153e-01 -7.23474545e-01 -2.85529569e-03 -9.88454675e+01] [ 4.02513896e-03 -1.05791390e-04 9.99991894e-01 2.00346908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.21, Y:-98.83, Z:2.00 [[-7.22487764e-01 -6.91379491e-01 2.41466569e-03 6.52111308e+01] [ 6.91375235e-01 -7.22491794e-01 -2.42719244e-03 -9.88276806e+01] [ 3.42268722e-03 -8.41767772e-05 9.99994139e-01 2.00438488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.697628 meters Centerline goodness [0,1] 0.9998434809829394 Centerline is valid? [True, True] Translation: X:65.19, Y:-98.81, Z:2.00 [[-7.22052306e-01 -6.91832497e-01 2.87445948e-03 6.51902031e+01] [ 6.91826477e-01 -7.22058022e-01 -2.88769581e-03 -9.88093063e+01] [ 4.07332833e-03 -9.64402401e-05 9.99991699e-01 2.00101676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.17, Y:-98.79, Z:2.00 [[-7.20369351e-01 -6.93584939e-01 2.81605599e-03 6.51713082e+01] [ 6.93579178e-01 -7.20374851e-01 -2.82800866e-03 -9.87899624e+01] [ 3.99008013e-03 -8.40529616e-05 9.99992036e-01 2.00396407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.15, Y:-98.77, Z:2.00 [[-7.19556725e-01 -6.94425967e-01 3.27053461e-03 6.51498852e+01] [ 6.94418215e-01 -7.19564151e-01 -3.28253784e-03 -9.87712222e+01] [ 4.63283898e-03 -9.08533772e-05 9.99989264e-01 2.00359924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.787628 meters Centerline goodness [0,1] 0.9998884252337491 Centerline is valid? [True, True] Translation: X:65.13, Y:-98.75, Z:2.00 [[-7.18089882e-01 -6.95941973e-01 3.41930464e-03 6.51298249e+01] [ 6.95933526e-01 -7.18098018e-01 -3.42991599e-03 -9.87530768e+01] [ 4.84241838e-03 -8.33792326e-05 9.99988272e-01 1.99920407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.11, Y:-98.73, Z:2.00 [[-7.16708639e-01 -6.97366647e-01 2.91313918e-03 6.51090730e+01] [ 6.97360534e-01 -7.16714557e-01 -2.92054213e-03 -9.87343328e+01] [ 4.12457793e-03 -6.16694837e-05 9.99991492e-01 2.00203110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.09, Y:-98.72, Z:2.00 [[-7.16011579e-01 -6.98082517e-01 2.86673509e-03 6.50896607e+01] [ 6.98076610e-01 -7.16017316e-01 -2.87220382e-03 -9.87157543e+01] [ 4.05766724e-03 -5.53304778e-05 9.99991766e-01 2.00230943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.07, Y:-98.70, Z:2.00 [[-7.14623393e-01 -6.99505538e-01 2.32562844e-03 6.50710541e+01] [ 6.99501663e-01 -7.14627177e-01 -2.32852317e-03 -9.86969611e+01] [ 3.29077214e-03 -3.72361643e-05 9.99994585e-01 2.00318895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.05, Y:-98.68, Z:2.00 [[-7.14151717e-01 -6.99987122e-01 2.31397306e-03 6.50518853e+01] [ 6.99983293e-01 -7.14155465e-01 -2.31539831e-03 -9.86776560e+01] [ 3.27328551e-03 -3.38031952e-05 9.99994642e-01 2.00340241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.03, Y:-98.66, Z:2.00 [[-7.13956539e-01 -7.00185631e-01 2.47853963e-03 6.50327742e+01] [ 7.00181245e-01 -7.13960840e-01 -2.47851668e-03 -9.86577044e+01] [ 3.50500200e-03 -3.41262208e-05 9.99993857e-01 2.00303189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.45, Y:-99.26, Z:2.85 [[-7.49299871e-01 6.62226030e-01 2.52757274e-03 6.44466305e+01] [ 6.62222400e-01 7.49304133e-01 -2.19289968e-03 -9.92605366e+01] [-3.34611595e-03 3.06758416e-05 -9.99994401e-01 2.85278801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.46, Y:-99.24, Z:2.85 [[-7.94778184e-01 6.06890846e-01 3.33757226e-03 6.44648841e+01] [ 6.06885677e-01 7.94785191e-01 -2.50496404e-03 -9.92427810e+01] [-4.17289275e-03 3.46340260e-05 -9.99991293e-01 2.85337068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.49, Y:-99.23, Z:2.85 [[-8.35948382e-01 5.48793702e-01 3.97195399e-03 6.44893286e+01] [ 5.48787718e-01 8.35957817e-01 -2.56290685e-03 -9.92276933e+01] [-4.72689312e-03 3.73017343e-05 -9.99988827e-01 2.85325169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.50, Y:-99.21, Z:2.85 [[-8.72897054e-01 4.87884540e-01 4.40562080e-03 6.45030779e+01] [ 4.87878544e-01 8.72908171e-01 -2.41922604e-03 -9.92052940e+01] [-5.02600538e-03 3.76725779e-05 -9.99987369e-01 2.85338424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.93, Y:-98.47, Z:2.00 [[-8.45950808e-01 -5.33245372e-01 4.07488235e-03 6.49252727e+01] [ 5.33238916e-01 -8.45960620e-01 -2.62432399e-03 -9.84660347e+01] [ 4.84659862e-03 -4.71631494e-05 9.99988254e-01 2.00141696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.47, Y:-99.19, Z:2.85 [[-8.75363174e-01 4.83447821e-01 4.18533298e-03 6.44677539e+01] [ 4.83442453e-01 8.75373179e-01 -2.27849116e-03 -9.91913538e+01] [-4.76525983e-03 2.88603868e-05 -9.99988646e-01 2.85448840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.14762800000003 meters Centerline goodness [0,1] 0.9999097309983752 Centerline is valid? [True, True] Translation: X:64.49, Y:-99.17, Z:2.86 [[-9.07121349e-01 4.20844907e-01 4.51898113e-03 6.44857637e+01] [ 4.20839868e-01 9.07132605e-01 -2.05988354e-03 -9.91718208e+01] [-4.96620663e-03 3.32030835e-05 -9.99987668e-01 2.85732395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.17762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.85, Y:-98.39, Z:2.00 [[-8.82808904e-01 -4.69720087e-01 3.38818770e-03 6.48497975e+01] [ 4.69716226e-01 -8.82815401e-01 -1.90682610e-03 -9.83883799e+01] [ 3.88681880e-03 -9.18763158e-05 9.99992442e-01 2.00083052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.20762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.44, Y:-99.16, Z:2.85 [[-9.08446537e-01 4.17993349e-01 2.53972645e-03 6.44417503e+01] [ 4.17991778e-01 9.08450087e-01 -1.14601489e-03 -9.91599652e+01] [-2.78624132e-03 2.04915181e-05 -9.99996118e-01 2.85351747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.47, Y:-99.14, Z:2.85 [[-9.35698704e-01 3.52796845e-01 1.52369095e-03 6.44660011e+01] [ 3.52796398e-01 9.35699944e-01 -5.62000368e-04 -9.91408676e+01] [-1.62398949e-03 1.16896628e-05 -9.99998681e-01 2.85277873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.26762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.48, Y:-99.12, Z:2.85 [[-9.58445845e-01 2.85274514e-01 1.13658144e-04 6.44821547e+01] [ 2.85274512e-01 9.58445852e-01 -3.28654466e-05 -9.91156140e+01] [-1.18310851e-04 9.24020882e-07 -9.99999993e-01 2.85215816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.49, Y:-99.09, Z:2.85 [[-9.76211955e-01 2.16817836e-01 -4.95619878e-04 6.44910212e+01] [ 2.16817810e-01 9.76212080e-01 1.06560760e-04 -9.90889374e+01] [ 5.06934385e-04 -3.43332883e-06 -9.99999872e-01 2.85205812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.69, Y:-98.24, Z:2.00 [[-9.63450069e-01 -2.67886151e-01 -9.87597667e-04 6.46862147e+01] [ 2.67886037e-01 -9.63450575e-01 2.48813180e-04 -9.82377919e+01] [-1.01815514e-03 -2.48445496e-05 9.99999481e-01 2.00310994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.44, Y:-99.08, Z:2.85 [[-9.76567995e-01 2.15205633e-01 -1.21924735e-03 6.44403221e+01] [ 2.15205480e-01 9.76568756e-01 2.56961300e-04 -9.90783419e+01] [ 1.24597839e-03 -1.14485300e-05 -9.99999224e-01 2.85256238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.387628 meters Centerline goodness [0,1] 0.9998189594695512 Centerline is valid? [True, True] Translation: X:64.64, Y:-98.23, Z:2.00 [[-9.65553892e-01 -2.60203096e-01 -1.75147706e-04 6.46354310e+01] [ 2.60203079e-01 -9.65553905e-01 1.15052102e-04 -9.82260305e+01] [-1.99051465e-04 6.55150327e-05 9.99999978e-01 1.99928084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.39, Y:-99.07, Z:2.85 [[-9.76945496e-01 2.13485796e-01 -1.14539968e-03 6.43943495e+01] [ 2.13485666e-01 9.76946168e-01 2.36216223e-04 -9.90703262e+01] [ 1.16942264e-03 -1.37560385e-05 -9.99999316e-01 2.85253320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.41, Y:-99.05, Z:2.85 [[-9.89278017e-01 1.46042616e-01 -7.48504291e-04 6.44134597e+01] [ 1.46042582e-01 9.89278300e-01 1.00429245e-04 -9.90450361e+01] [ 7.55146002e-04 -9.96105466e-06 -9.99999715e-01 2.85321833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.42, Y:-99.02, Z:2.86 [[-9.96743104e-01 8.06416036e-02 -3.40745183e-04 6.44235277e+01] [ 8.06416011e-02 9.96743162e-01 2.12235166e-05 -9.90189944e+01] [ 3.41346929e-04 -6.32384325e-06 -9.99999942e-01 2.85537689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.43, Y:-98.99, Z:2.86 [[-9.99916958e-01 1.28870885e-02 -1.77394515e-05 6.44319360e+01] [ 1.28870885e-02 9.99916958e-01 -1.81524976e-07 -9.89923407e+01] [ 1.77356392e-05 -4.10119785e-07 -1.00000000e+00 2.85600425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.43, Y:-98.97, Z:2.86 [[-9.98483642e-01 -5.50491939e-02 -5.68181034e-05 6.44304713e+01] [-5.50491937e-02 9.98483643e-01 -4.58361035e-06 -9.89657364e+01] [ 5.69842711e-05 -1.44886918e-06 -9.99999998e-01 2.85655194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.42, Y:-98.94, Z:2.86 [[-9.92370904e-01 -1.23287925e-01 -2.77145360e-04 6.44231219e+01] [-1.23287918e-01 9.92370943e-01 -4.24248843e-05 -9.89395762e+01] [ 2.80261478e-04 -7.93254634e-06 -9.99999961e-01 2.85671860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.39, Y:-98.92, Z:2.86 [[-9.81983432e-01 -1.88966573e-01 -4.17462848e-04 6.43928675e+01] [-1.88966549e-01 9.81983520e-01 -9.53520853e-05 -9.89167359e+01] [ 4.27959994e-04 -1.47476542e-05 -9.99999908e-01 2.85659527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.34, Y:-98.91, Z:2.86 [[-9.66025514e-01 -2.58445776e-01 -6.97723288e-04 6.43398984e+01] [-2.58445689e-01 9.66025766e-01 -2.14473070e-04 -9.89062062e+01] [ 7.29448333e-04 -2.68628815e-05 -9.99999734e-01 2.85681508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.27, Y:-98.89, Z:2.86 [[-9.44697803e-01 -3.27941457e-01 -6.79580561e-04 6.42705195e+01] [-3.27941350e-01 9.44698047e-01 -2.65417950e-04 -9.88946624e+01] [ 7.29039978e-04 -2.78771874e-05 -9.99999734e-01 2.85732125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.20, Y:-98.89, Z:2.86 [[-9.17773592e-01 -3.97104026e-01 -1.59643216e-04 6.41977759e+01] [-3.97104019e-01 9.17773606e-01 -7.65810675e-05 -9.88946638e+01] [ 1.76926980e-04 -6.88911885e-06 -9.99999984e-01 2.85823423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.11, Y:-98.91, Z:2.86 [[-8.84904059e-01 -4.65773108e-01 -4.67697228e-04 6.41130098e+01] [-4.65773030e-01 8.84904182e-01 -2.69283418e-04 -9.89066326e+01] [ 5.39292208e-04 -2.04492343e-05 -9.99999854e-01 2.85848298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.02, Y:-98.93, Z:2.86 [[-8.46200591e-01 -5.32863433e-01 -1.05933396e-03 6.40244405e+01] [-5.32862946e-01 8.46201252e-01 -7.21658855e-04 -9.89282874e+01] [ 1.28095534e-03 -4.61883346e-05 -9.99999179e-01 2.85876530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.93, Y:-98.96, Z:2.86 [[-8.01626648e-01 -5.97822958e-01 -1.55811127e-03 6.39311544e+01] [-5.97821667e-01 8.01628160e-01 -1.24436866e-03 -9.89599722e+01] [ 1.99293803e-03 -6.60463982e-05 -9.99998012e-01 2.85903644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.83, Y:-99.00, Z:2.86 [[-7.48302667e-01 -6.63356718e-01 -9.91519991e-04 6.38283643e+01] [-6.63356076e-01 7.48303323e-01 -9.23758507e-04 -9.89975824e+01] [ 1.35473912e-03 -3.35201442e-05 -9.99999082e-01 2.86054657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.73, Y:-99.05, Z:2.86 [[-6.92236649e-01 -7.21670346e-01 -5.77842522e-04 6.37324776e+01] [-7.21670074e-01 6.92236890e-01 -6.27375692e-04 -9.90501281e+01] [ 8.52762343e-04 -1.72807910e-05 -9.99999636e-01 2.86172753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.86762800000002 meters Centerline goodness [0,1] 0.9998205996456843 Centerline is valid? [True, True] Translation: X:63.64, Y:-99.11, Z:2.87 [[-6.32291881e-01 -7.74729885e-01 7.62925058e-04 6.36403659e+01] [-7.74729281e-01 6.32292341e-01 9.67542966e-04 -9.91105467e+01] [-1.23197612e-03 2.07091805e-05 -9.99999241e-01 2.86590394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.55, Y:-99.18, Z:2.86 [[-5.67325129e-01 -8.23493888e-01 1.24409626e-04 6.35508526e+01] [-8.23493867e-01 5.67325142e-01 1.85388220e-04 -9.91846014e+01] [-2.23246775e-04 2.72483179e-06 -9.99999975e-01 2.86275201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.47, Y:-99.26, Z:2.86 [[-4.97312138e-01 -8.67571676e-01 1.54625973e-04 6.34667504e+01] [-8.67571633e-01 4.97312162e-01 2.73833236e-04 -9.92647298e+01] [-3.14467337e-04 2.03148409e-06 -9.99999951e-01 2.86240027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.95762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.39, Y:-99.35, Z:2.86 [[-4.27330743e-01 -9.04095365e-01 8.06543520e-05 6.33905289e+01] [-9.04095349e-01 4.27330751e-01 1.72694913e-04 -9.93504262e+01] [-1.90598755e-04 8.78620885e-07 -9.99999982e-01 2.86229645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.32, Y:-99.45, Z:2.86 [[-3.55173757e-01 -9.34800293e-01 -1.24264808e-04 6.33188485e+01] [-9.34800234e-01 3.55173779e-01 -3.30623593e-04 -9.94487343e+01] [ 3.53202633e-04 -1.26605192e-06 -9.99999938e-01 2.86199950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.01762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.26, Y:-99.55, Z:2.86 [[-2.81169789e-01 -9.59658007e-01 -2.44803116e-04 6.32567510e+01] [-9.59657635e-01 2.81169895e-01 -8.44444587e-04 -9.95476132e+01] [ 8.79209276e-04 -2.50512651e-06 -9.99999614e-01 2.86215801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.20, Y:-99.66, Z:2.86 [[-2.05759721e-01 -9.78602506e-01 -2.67872931e-04 6.32033145e+01] [-9.78601656e-01 2.05759896e-01 -1.28990712e-03 -9.96561961e+01] [ 1.31742385e-03 -3.27003509e-06 -9.99999132e-01 2.86221626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.16, Y:-99.77, Z:2.86 [[-1.29905221e-01 -9.91526394e-01 -2.07740793e-04 6.31579402e+01] [-9.91525065e-01 1.29905387e-01 -1.62361699e-03 -9.97707095e+01] [ 1.63684575e-03 -4.93612065e-06 -9.99998660e-01 2.86234381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.12, Y:-99.88, Z:2.86 [[-5.33230593e-02 -9.98577312e-01 -5.91023186e-05 6.31220882e+01] [-9.98576604e-01 5.33230918e-02 -1.18892003e-03 -9.98826533e+01] [ 1.19038009e-03 -4.37866060e-06 -9.99999291e-01 2.86255360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.10, Y:-100.00, Z:2.86 [[ 2.13713241e-02 -9.99771607e-01 1.55658610e-05 6.30980642e+01] [-9.99771450e-01 -2.13713295e-02 -5.61281122e-04 -9.99973964e+01] [ 5.61485592e-04 -3.56698268e-06 -9.99999842e-01 2.86353239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.08, Y:-100.12, Z:2.86 [[ 9.79185946e-02 -9.95194426e-01 5.04642081e-05 6.30803394e+01] [-9.95194312e-01 -9.79186075e-02 -4.77206515e-04 -1.00119701e+02] [ 4.79854649e-04 -3.49430160e-06 -9.99999885e-01 2.86339380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.07, Y:-100.24, Z:2.86 [[ 1.74978218e-01 -9.84572291e-01 1.66606009e-04 6.30696177e+01] [-9.84571879e-01 -1.74978297e-01 -9.00703015e-04 -1.00241979e+02] [ 9.15959666e-04 -6.43218333e-06 -9.99999580e-01 2.86329721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.07, Y:-100.37, Z:2.86 [[ 2.50904884e-01 -9.68011719e-01 2.26923951e-04 6.30682509e+01] [-9.68011344e-01 -2.50904987e-01 -8.51380452e-04 -1.00365099e+02] [ 8.81082606e-04 -6.04944535e-06 -9.99999612e-01 2.86366417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.08, Y:-100.49, Z:2.87 [[ 3.24001111e-01 -9.46056688e-01 -1.52210339e-04 6.30761969e+01] [-9.46056589e-01 -3.24001147e-01 4.33021198e-04 -1.00486646e+02] [-4.58978925e-04 3.70024479e-06 -9.99999895e-01 2.86510047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.09, Y:-100.61, Z:2.87 [[ 3.95041149e-01 -9.18663277e-01 -5.24513225e-04 6.30941140e+01] [-9.18662508e-01 -3.95041497e-01 1.18869449e-03 -1.00605431e+02] [-1.29921446e-03 1.22673975e-05 -9.99999156e-01 2.86541858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.12, Y:-100.72, Z:2.87 [[ 4.63630344e-01 -8.86028235e-01 -9.33088531e-04 6.31218702e+01] [-8.86026533e-01 -4.63631283e-01 1.73669488e-03 -1.00724942e+02] [-1.97136973e-03 2.15567508e-05 -9.99998057e-01 2.86592880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.16, Y:-100.83, Z:2.87 [[ 5.25679323e-01 -8.50681647e-01 -1.40892804e-03 6.31564711e+01] [-8.50678814e-01 -5.25681209e-01 2.19603532e-03 -1.00834820e+02] [-2.60877394e-03 4.41348706e-05 -9.99996596e-01 2.86589140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.37762800000002 meters Centerline goodness [0,1] 0.9999322799097066 Centerline is valid? [True, True] Translation: X:63.20, Y:-100.93, Z:2.87 [[ 5.82294018e-01 -8.12974659e-01 -2.42492632e-03 6.31958774e+01] [-8.12968347e-01 -5.82299058e-01 3.20532336e-03 -1.00933388e+02] [-4.01787897e-03 1.04947721e-04 -9.99991923e-01 2.86846388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.25, Y:-101.04, Z:2.87 [[ 6.39551683e-01 -7.68744287e-01 -2.42224244e-03 6.32450679e+01] [-7.68739426e-01 -6.39556260e-01 2.73597149e-03 -1.01036579e+02] [-3.65242277e-03 1.12278094e-04 -9.99993324e-01 2.86778285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.30, Y:-101.13, Z:2.87 [[ 6.96662012e-01 -7.17394696e-01 -2.62506884e-03 6.32993679e+01] [-7.17390201e-01 -6.96666949e-01 2.54200809e-03 -1.01134012e+02] [-3.65242181e-03 1.12278192e-04 -9.99993324e-01 2.86778281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.29, Y:-101.14, Z:2.87 [[ 7.47033082e-01 -6.64779928e-01 -3.03663890e-03 6.32942716e+01] [-6.64775196e-01 -7.47039241e-01 2.51224164e-03 -1.01141262e+02] [-3.93857624e-03 1.41954604e-04 -9.99992234e-01 2.86849000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.29, Y:-101.15, Z:2.87 [[ 7.96673880e-01 -6.04400809e-01 -3.22358256e-03 6.32869885e+01] [-6.04396573e-01 -7.96680389e-01 2.26738652e-03 -1.01147729e+02] [-3.93857526e-03 1.41954634e-04 -9.99992234e-01 2.86848999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.28, Y:-101.15, Z:2.87 [[ 8.38685983e-01 -5.44603438e-01 -3.59391090e-03 6.32792491e+01] [-5.44599306e-01 -8.38693666e-01 2.12859565e-03 -1.01152701e+02] [-4.17343082e-03 1.72018049e-04 -9.99991276e-01 2.86886361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.27, Y:-101.16, Z:2.87 [[ 8.74969070e-01 -4.84164579e-01 -3.71305731e-03 6.32724491e+01] [-4.84161189e-01 -8.74976925e-01 1.82317252e-03 -1.01155248e+02] [-4.13155502e-03 2.02498681e-04 -9.99991445e-01 2.86808248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.26, Y:-101.16, Z:2.87 [[ 9.09156160e-01 -4.16438692e-01 -3.72729042e-03 6.32637760e+01] [-4.16436110e-01 -9.09163777e-01 1.48089519e-03 -1.01164585e+02] [-4.00541949e-03 2.05813341e-04 -9.99991957e-01 2.86741380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.61762800000002 meters Centerline goodness [0,1] 0.9999774561522161 Centerline is valid? [True, True] Translation: X:63.26, Y:-101.17, Z:2.87 [[ 9.38416058e-01 -3.45489301e-01 -3.52776357e-03 6.32563965e+01] [-3.45487634e-01 -9.38422668e-01 1.09087283e-03 -1.01172846e+02] [-3.68741819e-03 1.95106110e-04 -9.99993182e-01 2.86809094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.64762800000003 meters Centerline goodness [0,1] 0.9999550763701707 Centerline is valid? [True, True] Translation: X:63.24, Y:-101.18, Z:2.87 [[ 9.62888051e-01 -2.69885889e-01 -2.86484713e-03 6.32449392e+01] [-2.69885160e-01 -9.62892301e-01 6.45318989e-04 -1.01182419e+02] [-2.93270173e-03 1.51809782e-04 -9.99995688e-01 2.86819573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.24, Y:-101.19, Z:2.87 [[ 9.81624233e-01 -1.90814051e-01 -1.96552193e-03 6.32359605e+01] [-1.90813865e-01 -9.81626196e-01 2.83450749e-04 -1.01192546e+02] [-1.98349420e-03 9.68067122e-05 -9.99998028e-01 2.86661945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.70762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.23, Y:-101.21, Z:2.87 [[ 9.93940828e-01 -1.09904461e-01 -1.62480940e-03 6.32275513e+01] [-1.09904435e-01 -9.93942153e-01 1.05582582e-04 -1.01206888e+02] [-1.62657055e-03 7.36309196e-05 -9.99998674e-01 2.86635193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.22, Y:-101.22, Z:2.87 [[ 9.99628767e-01 -2.72247302e-02 -1.06834451e-03 6.32202322e+01] [-2.72247611e-02 -9.99629337e-01 -1.43828400e-05 -1.01219746e+02] [-1.06755695e-03 4.34629247e-05 -9.99999429e-01 2.86589738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.76762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.21, Y:-101.24, Z:2.87 [[ 9.98101550e-01 6.15848428e-02 -7.76960117e-04 6.32147989e+01] [ 6.15848058e-02 -9.98101852e-01 -7.15547698e-05 -1.01240160e+02] [-7.79892021e-04 2.35699887e-05 -9.99999696e-01 2.86578618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.797628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.21, Y:-101.26, Z:2.87 [[ 9.88590650e-01 1.50626813e-01 -2.99577682e-04 6.32104482e+01] [ 1.50626804e-01 -9.88590696e-01 -5.14846406e-05 -1.01257257e+02] [-3.03914677e-04 5.77280549e-06 -9.99999954e-01 2.86618182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.21, Y:-101.27, Z:2.87 [[ 9.72532424e-01 2.32767345e-01 -2.17146306e-04 6.32084145e+01] [ 2.32767339e-01 -9.72532448e-01 -5.51114885e-05 -1.01270924e+02] [-2.24009984e-04 3.05314168e-06 -9.99999975e-01 2.86600326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.21, Y:-101.28, Z:2.87 [[ 9.51328477e-01 3.08178656e-01 -2.12165242e-04 6.32055129e+01] [ 3.08178648e-01 -9.51328500e-01 -7.19394102e-05 -1.01279559e+02] [-2.24009032e-04 3.05321220e-06 -9.99999975e-01 2.86600325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.21, Y:-101.30, Z:2.87 [[ 9.20397044e-01 3.90984935e-01 2.48910451e-04 6.32060512e+01] [ 3.90984921e-01 -9.20397078e-01 1.06835254e-04 -1.01295050e+02] [ 2.70867426e-04 -1.01061958e-06 -9.99999963e-01 2.86643668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.21, Y:-101.31, Z:2.87 [[ 8.85029393e-01 4.65535098e-01 2.15284217e-04 6.32087270e+01] [ 4.65535085e-01 -8.85029419e-01 1.13133952e-04 -1.01308823e+02] [ 2.43200691e-04 9.54829365e-08 -9.99999970e-01 2.86679301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.21, Y:-101.32, Z:2.87 [[ 8.42929587e-01 5.38023877e-01 1.40009666e-04 6.32109847e+01] [ 5.38023870e-01 -8.42929598e-01 8.82191343e-05 -1.01322054e+02] [ 1.65482292e-04 9.66023813e-07 -9.99999986e-01 2.86721371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.21, Y:-101.33, Z:2.87 [[ 7.97518882e-01 6.03293983e-01 6.23786908e-05 6.32119950e+01] [ 6.03293981e-01 -7.97518884e-01 4.65150516e-05 -1.01330400e+02] [ 7.78104348e-05 5.36056750e-07 -9.99999997e-01 2.86763768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.21, Y:-101.34, Z:2.87 [[ 7.47747722e-01 6.63982804e-01 -4.24144490e-04 6.32138975e+01] [ 6.63982700e-01 -7.47747843e-01 -3.71098159e-04 -1.01339026e+02] [-5.63555923e-04 -4.13680020e-06 -9.99999841e-01 2.86752282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.22, Y:-101.35, Z:2.87 [[ 6.93942077e-01 7.20030814e-01 -1.44824604e-04 6.32154256e+01] [ 7.20030798e-01 -6.93942092e-01 -1.48249220e-04 -1.01348520e+02] [-2.07243895e-04 -1.40180335e-06 -9.99999979e-01 2.86744304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.21, Y:-101.35, Z:2.87 [[ 6.37646904e-01 7.70328741e-01 -2.36402564e-04 6.32141823e+01] [ 7.70328689e-01 -6.37646948e-01 -2.83364873e-04 -1.01354020e+02] [-3.69025479e-04 -1.42094298e-06 -9.99999932e-01 2.86691265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.22, Y:-101.36, Z:2.87 [[ 5.76941859e-01 8.16785009e-01 -5.83630860e-04 6.32153717e+01] [ 8.16784594e-01 -5.76942154e-01 -8.22945538e-04 -1.01361881e+02] [-1.00889082e-03 -1.90896660e-06 -9.99999491e-01 2.86774407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.22, Y:-101.37, Z:2.87 [[ 5.13023982e-01 8.58373418e-01 -1.21193737e-03 6.32169000e+01] [ 8.58371020e-01 -5.13025414e-01 -2.02888575e-03 -1.01369307e+02] [-2.36329627e-03 5.75130449e-07 -9.99997207e-01 2.86853206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.22, Y:-101.38, Z:2.87 [[ 4.46239513e-01 8.94912583e-01 -1.32913903e-03 6.32182005e+01] [ 8.94908563e-01 -4.46241492e-01 -2.68237004e-03 -1.01376794e+02] [-2.99360368e-03 7.52159774e-06 -9.99995519e-01 2.86882028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.22, Y:-101.38, Z:2.87 [[ 3.79097595e-01 9.25356318e-01 -8.35164259e-04 6.32174246e+01] [ 9.25353979e-01 -3.79098515e-01 -2.08094296e-03 -1.01383654e+02] [-2.24222324e-03 1.60579016e-05 -9.99997486e-01 2.86912153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.22, Y:-101.39, Z:2.87 [[ 3.07896538e-01 9.51419696e-01 -5.32939238e-04 6.32200463e+01] [ 9.51418172e-01 -3.07896999e-01 -1.70312943e-03 -1.01391797e+02] [-1.78448128e-03 1.73395796e-05 -9.99998408e-01 2.86856994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.24762800000002 meters Centerline goodness [0,1] 0.9998202247191011 Centerline is valid? [True, True] Translation: X:63.22, Y:-101.40, Z:2.87 [[ 2.35670423e-01 9.71832917e-01 -4.83997017e-04 6.32215981e+01] [ 9.71830613e-01 -2.35670918e-01 -2.11596218e-03 -1.01400697e+02] [-2.17042572e-03 2.83065834e-05 -9.99997644e-01 2.87177855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.22, Y:-101.41, Z:2.87 [[ 1.61654419e-01 9.86847405e-01 -2.20797596e-04 6.32238259e+01] [ 9.86846270e-01 -1.61654568e-01 -1.49661933e-03 -1.01408571e+02] [-1.51262784e-03 2.40418441e-05 -9.99998856e-01 2.86828950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.30762800000002 meters Centerline goodness [0,1] 0.999818922589407 Centerline is valid? [True, True] Translation: X:63.22, Y:-101.42, Z:2.87 [[ 9.15617293e-02 9.95799374e-01 -2.39291147e-04 6.32238059e+01] [ 9.95793185e-01 -9.15620041e-02 -3.51157959e-03 -1.01417279e+02] [-3.51873873e-03 8.32418057e-05 -9.99993806e-01 2.87311870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.24, Y:-101.43, Z:2.87 [[ 1.34499783e-02 9.99909545e-01 2.93379111e-05 6.32357535e+01] [ 9.99905554e-01 -1.34498417e-02 -2.82561126e-03 -1.01426194e+02] [-2.82496108e-03 6.73395503e-05 -9.99996008e-01 2.86849587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.36762800000002 meters Centerline goodness [0,1] 0.9999095145455368 Centerline is valid? [True, True] Translation: X:63.25, Y:-101.43, Z:2.87 [[-6.42692337e-02 9.97932556e-01 2.80402621e-04 6.32452265e+01] [ 9.97927595e-01 6.42697986e-02 -3.14762085e-03 -1.01434956e+02] [-3.15913474e-03 7.75263337e-05 -9.99995007e-01 2.87161555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.26, Y:-101.44, Z:2.87 [[-1.41751793e-01 9.89902082e-01 5.44271338e-04 6.32576970e+01] [ 9.89896838e-01 1.41752815e-01 -3.22345439e-03 -1.01442505e+02] [-3.26805621e-03 8.18420349e-05 -9.99994657e-01 2.86935313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.42762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.27, Y:-101.45, Z:2.87 [[-2.16120732e-01 9.76365877e-01 1.22597326e-03 6.32658673e+01] [ 9.76353643e-01 2.16124164e-01 -4.88982786e-03 -1.01450899e+02] [-5.03922352e-03 1.40190284e-04 -9.99987293e-01 2.87005135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.45762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.28, Y:-101.46, Z:2.87 [[-2.89469020e-01 9.57185731e-01 1.77852558e-03 6.32769319e+01] [ 9.57171104e-01 2.89474434e-01 -5.29425022e-03 -1.01457580e+02] [-5.58241845e-03 1.69831871e-04 -9.99984404e-01 2.87055025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.29, Y:-101.46, Z:2.87 [[-3.60880882e-01 9.32608289e-01 2.60165680e-03 6.32912848e+01] [ 9.32588295e-01 3.60890192e-01 -6.11071683e-03 -1.01461579e+02] [-6.63781759e-03 2.21033801e-04 -9.99977945e-01 2.87063542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.51762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.30, Y:-101.47, Z:2.87 [[-4.29990204e-01 9.02827914e-01 3.19100197e-03 6.33034330e+01] [ 9.02807234e-01 4.30001971e-01 -6.11586112e-03 -1.01466973e+02] [-6.89370727e-03 2.51099287e-04 -9.99976207e-01 2.87174447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.31, Y:-101.47, Z:2.87 [[-4.93306758e-01 8.69847986e-01 3.59493653e-03 6.33143449e+01] [ 8.69829077e-01 4.93319769e-01 -5.74305304e-03 -1.01472093e+02] [-6.76903638e-03 2.93893453e-04 -9.99977047e-01 2.87238190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.33, Y:-101.47, Z:2.87 [[-5.57319452e-01 8.30289855e-01 3.71288315e-03 6.33300981e+01] [ 8.30274785e-01 5.57331744e-01 -5.01082607e-03 -1.01471472e+02] [-6.22974569e-03 2.90082417e-04 -9.99980553e-01 2.87186251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.34, Y:-101.47, Z:2.87 [[-6.18233405e-01 7.85986591e-01 3.54069983e-03 6.33444489e+01] [ 7.85976104e-01 6.18243486e-01 -4.06884704e-03 -1.01470544e+02] [-5.38707382e-03 2.67408305e-04 -9.99985454e-01 2.87146064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.36, Y:-101.47, Z:2.87 [[-6.75936326e-01 7.36951894e-01 3.46254543e-03 6.33591954e+01] [ 7.36944094e-01 6.75945147e-01 -3.40019105e-03 -1.01467376e+02] [-4.84626801e-03 2.53389756e-04 -9.99988225e-01 2.87038530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.38, Y:-101.45, Z:2.87 [[-7.25258185e-01 6.88469257e-01 3.26293027e-03 6.33833091e+01] [ 6.88463686e-01 7.25265488e-01 -2.77925728e-03 -1.01453966e+02] [-4.27992391e-03 2.30729915e-04 -9.99990814e-01 2.87002524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.41, Y:-101.43, Z:2.87 [[-7.71376286e-01 6.36372855e-01 2.86625953e-03 6.34099856e+01] [ 6.36369384e-01 7.71381586e-01 -2.11079266e-03 -1.01432741e+02] [-3.55423098e-03 1.95784411e-04 -9.99993665e-01 2.86934485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.43, Y:-101.41, Z:2.87 [[-8.15207555e-01 5.79163273e-01 2.55849921e-03 6.34335191e+01] [ 5.79161035e-01 8.15211553e-01 -1.61816127e-03 -1.01411416e+02] [-3.02289769e-03 1.62645756e-04 -9.99995418e-01 2.86893977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.45, Y:-101.38, Z:2.87 [[-8.55445906e-01 5.17889747e-01 1.58509510e-03 6.34524680e+01] [ 5.17889054e-01 8.55447369e-01 -8.51923746e-04 -1.01384923e+02] [-1.79716800e-03 9.21287194e-05 -9.99998381e-01 2.86833246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.47, Y:-101.35, Z:2.87 [[-8.93417384e-01 4.49227425e-01 -3.12874643e-04 6.34684473e+01] [ 4.49227404e-01 8.93417439e-01 1.40563993e-04 -1.01350946e+02] [ 3.42672863e-04 -1.49695485e-05 -9.99999941e-01 2.86735918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.49, Y:-101.32, Z:2.87 [[-9.24734438e-01 3.80612474e-01 -6.03120572e-04 6.34865055e+01] [ 3.80612410e-01 9.24734634e-01 2.21096441e-04 -1.01321441e+02] [ 6.41878545e-04 -2.50996818e-05 -9.99999794e-01 2.86742099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.77, Y:-100.56, Z:1.99 [[-9.27110630e-01 -3.74787050e-01 -7.39174010e-04 6.37672723e+01] [ 3.74786913e-01 -9.27110925e-01 3.21104628e-04 -1.00558759e+02] [-8.05642156e-04 2.06667680e-05 9.99999675e-01 1.98725047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.44, Y:-101.30, Z:2.87 [[-9.29366370e-01 3.69158628e-01 -2.38633010e-04 6.34404334e+01] [ 3.69158618e-01 9.29366401e-01 8.64704856e-05 -1.01295612e+02] [ 2.53698828e-04 -7.73067093e-06 -9.99999968e-01 2.86889283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.45, Y:-101.26, Z:2.87 [[-9.55315074e-01 2.95589319e-01 -2.51911140e-04 6.34515211e+01] [ 2.95589310e-01 9.55315108e-01 7.15389656e-05 -1.01260738e+02] [ 2.61800672e-04 -6.11998798e-06 -9.99999966e-01 2.86951269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.46, Y:-101.23, Z:2.87 [[-9.74550024e-01 2.24169647e-01 -4.68874694e-04 6.34596802e+01] [ 2.24169625e-01 9.74550137e-01 9.78181438e-05 -1.01231224e+02] [ 4.78869756e-04 -9.77879012e-06 -9.99999885e-01 2.86959048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.62, Y:-100.47, Z:1.99 [[-9.67739598e-01 -2.51951884e-01 -5.64791491e-04 6.36229118e+01] [ 2.51951838e-01 -9.67739763e-01 1.52208669e-04 -1.00474259e+02] [-5.84920444e-04 4.99810183e-06 9.99999829e-01 1.98562461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.41, Y:-101.22, Z:2.87 [[-9.76132533e-01 2.17175333e-01 -3.91859567e-04 6.34093317e+01] [ 2.17175319e-01 9.76132611e-01 8.01283830e-05 -1.01217068e+02] [ 3.99908811e-04 -6.88630482e-06 -9.99999920e-01 2.87001328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.42, Y:-101.19, Z:2.87 [[-9.88846729e-01 1.48935576e-01 -5.83467422e-04 6.34156288e+01] [ 1.48935557e-01 9.88846901e-01 7.66648492e-05 -1.01189052e+02] [ 5.88378076e-04 -1.10892601e-05 -9.99999827e-01 2.87103933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.52, Y:-100.43, Z:1.98 [[-9.84465337e-01 -1.75578877e-01 -2.40714323e-04 6.35197439e+01] [ 1.75578865e-01 -9.84465366e-01 6.89783374e-05 -1.00429844e+02] [-2.49086053e-04 2.56424346e-05 9.99999969e-01 1.98337650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.35, Y:-101.19, Z:2.87 [[-9.88615201e-01 1.50464974e-01 5.25100467e-04 6.33525497e+01] [ 1.50464959e-01 9.88615341e-01 -6.65614518e-05 -1.01185050e+02] [-5.29137544e-04 1.32055574e-05 -9.99999860e-01 2.87251166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.36, Y:-101.16, Z:2.87 [[-9.96128494e-01 8.79091261e-02 9.22098809e-05 6.33595010e+01] [ 8.79091260e-02 9.96128499e-01 -5.11920066e-06 -1.01161301e+02] [-9.23029146e-05 3.00670840e-06 -9.99999996e-01 2.87207254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.36, Y:-101.14, Z:2.87 [[-9.99787399e-01 2.06189401e-02 1.29767107e-04 6.33622095e+01] [ 2.06189405e-02 9.99787407e-01 2.06682295e-06 -1.01141066e+02] [-1.29696903e-04 4.74204380e-06 -9.99999992e-01 2.87204513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.17762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.36, Y:-101.12, Z:2.87 [[-9.98866520e-01 -4.75990759e-02 -4.84051077e-05 6.33588351e+01] [-4.75990758e-02 9.98866522e-01 -4.30927154e-06 -1.01115226e+02] [ 4.85553591e-05 -2.00034867e-06 -9.99999999e-01 2.87191020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.20762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.35, Y:-101.09, Z:2.87 [[-9.93149671e-01 -1.16849113e-01 -1.29729893e-04 6.33455284e+01] [-1.16849111e-01 9.93149679e-01 -2.09169688e-05 -1.01085826e+02] [ 1.31285331e-04 -5.61485801e-06 -9.99999991e-01 2.87180148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.31, Y:-101.06, Z:2.87 [[-9.82591808e-01 -1.85776982e-01 -5.00882001e-04 6.33133975e+01] [-1.85776946e-01 9.82591936e-01 -1.18353415e-04 -1.01064077e+02] [ 5.14149955e-04 -2.32407679e-05 -9.99999868e-01 2.87109643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.26762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.25, Y:-101.05, Z:2.87 [[-9.66525717e-01 -2.56569275e-01 -4.94868688e-04 6.32542031e+01] [-2.56569229e-01 9.66525844e-01 -1.55945977e-04 -1.01051086e+02] [ 5.18314322e-04 -2.37577191e-05 -9.99999865e-01 2.87114150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.19, Y:-101.04, Z:2.87 [[-9.44814572e-01 -3.27605564e-01 -1.40566668e-04 6.31929321e+01] [-3.27605559e-01 9.44814582e-01 -5.61008909e-05 -1.01040968e+02] [ 1.51188402e-04 -6.95451735e-06 -9.99999989e-01 2.87120856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.12, Y:-101.04, Z:2.87 [[-9.17600069e-01 -3.97504846e-01 1.01701973e-04 6.31164597e+01] [-3.97504843e-01 9.17600075e-01 4.95525689e-05 -1.01044815e+02] [-1.13019124e-04 5.04241387e-06 -9.99999994e-01 2.87146860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.03, Y:-101.06, Z:2.87 [[-8.84814674e-01 -4.65942494e-01 7.64736209e-04 6.30327094e+01] [-4.65942281e-01 8.84815004e-01 4.46905109e-04 -1.01058061e+02] [-8.84882153e-04 3.91052651e-05 -9.99999608e-01 2.87188859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.94, Y:-101.08, Z:2.87 [[-8.47207368e-01 -5.31261841e-01 7.28902111e-04 6.29442244e+01] [-5.31261604e-01 8.47207681e-01 5.03233079e-04 -1.01080726e+02] [-8.84879999e-04 3.91050672e-05 -9.99999608e-01 2.87188850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.85, Y:-101.11, Z:2.87 [[-8.02714026e-01 -5.96361724e-01 1.69896034e-03 6.28475892e+01] [-5.96360149e-01 8.02715819e-01 1.37372651e-03 -1.01112261e+02] [-2.18302025e-03 8.95173015e-05 -9.99997613e-01 2.87318143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.75, Y:-101.15, Z:2.87 [[-7.53567849e-01 -6.57367336e-01 1.91880017e-03 6.27518472e+01] [-6.57364855e-01 7.53570285e-01 1.80889228e-03 -1.01151577e+02] [-2.63505749e-03 1.01771271e-04 -9.99996523e-01 2.87343797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.66, Y:-101.20, Z:2.87 [[-6.99347467e-01 -7.14778875e-01 2.06890313e-03 6.26565555e+01] [-7.14775272e-01 6.99350518e-01 2.27211346e-03 -1.01204895e+02] [-3.07094718e-03 1.10195990e-04 -9.99995279e-01 2.87388626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.57, Y:-101.26, Z:2.87 [[-6.38267844e-01 -7.69811547e-01 2.08382014e-03 6.25651453e+01] [-7.69806914e-01 6.38271237e-01 2.67266345e-03 -1.01264100e+02] [-3.38748964e-03 1.01735987e-04 -9.99994257e-01 2.87460868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.48, Y:-101.34, Z:2.87 [[-5.75282520e-01 -8.17951996e-01 2.13415450e-03 6.24761981e+01] [-8.17945675e-01 5.75286469e-01 3.21728108e-03 -1.01336707e+02] [-3.85933169e-03 1.05223127e-04 -9.99992547e-01 2.87490971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.39, Y:-101.42, Z:2.88 [[-5.08646037e-01 -8.60972938e-01 2.19275151e-03 6.23933993e+01] [-8.60963976e-01 5.08650751e-01 3.93001112e-03 -1.01415742e+02] [-4.49897792e-03 1.11104522e-04 -9.99989873e-01 2.87533777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.31, Y:-101.50, Z:2.88 [[-4.39310061e-01 -8.98332949e-01 2.14070046e-03 6.23149757e+01] [-8.98320964e-01 4.39315261e-01 4.64179071e-03 -1.01504812e+02] [-5.11031592e-03 1.16149257e-04 -9.99986936e-01 2.87583428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.24, Y:-101.60, Z:2.88 [[-3.65898957e-01 -9.30652903e-01 1.76861522e-03 6.22449845e+01] [-9.30640690e-01 3.65903218e-01 4.76873647e-03 -1.01598899e+02] [-5.08518044e-03 9.89304159e-05 -9.99987066e-01 2.87596335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.18, Y:-101.71, Z:2.88 [[-2.91667015e-01 -9.56518864e-01 1.41942605e-03 6.21802547e+01] [-9.56505954e-01 2.91670454e-01 4.97059721e-03 -1.01708767e+02] [-5.16847464e-03 9.20697800e-05 -9.99986639e-01 2.87586860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.13, Y:-101.81, Z:2.87 [[-2.15128622e-01 -9.76585131e-01 1.07639149e-03 6.21264336e+01] [-9.76570840e-01 2.15131298e-01 5.28378101e-03 -1.01812597e+02] [-5.39162746e-03 8.55199875e-05 -9.99985461e-01 2.87481347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.08, Y:-101.92, Z:2.87 [[-1.34050895e-01 -9.90974300e-01 5.43167951e-04 6.20786475e+01] [-9.90964675e-01 1.34051987e-01 4.36774625e-03 -1.01922922e+02] [-4.40113702e-03 4.72400404e-05 -9.99990314e-01 2.87372486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.04, Y:-102.04, Z:2.87 [[-5.41823202e-02 -9.98531043e-01 1.82552883e-04 6.20394522e+01] [-9.98523337e-01 5.41826193e-02 3.92281161e-03 -1.02039310e+02] [-3.92694036e-03 3.02637206e-05 -9.99992289e-01 2.87312715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.01, Y:-102.16, Z:2.87 [[ 2.60944853e-02 -9.99659474e-01 -1.20062289e-04 6.20097119e+01] [-9.99651876e-01 -2.60947551e-02 3.89742061e-03 -1.02160602e+02] [-3.89922643e-03 1.83193076e-05 -9.99992398e-01 2.87245264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.99, Y:-102.28, Z:2.87 [[ 1.06266231e-01 -9.94337644e-01 -3.72194180e-04 6.19891316e+01] [-9.94331721e-01 -1.06266883e-01 3.43191075e-03 -1.02283684e+02] [-3.45202996e-03 5.38825827e-06 -9.99994042e-01 2.87169525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.98, Y:-102.41, Z:2.87 [[ 1.87551386e-01 -9.82254694e-01 -4.40044374e-04 6.19786047e+01] [-9.82251888e-01 -1.87551902e-01 2.34787657e-03 -1.02406036e+02] [-2.38874395e-03 -8.11308861e-06 -9.99997147e-01 2.87101958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.98, Y:-102.53, Z:2.87 [[ 2.64278730e-01 -9.64446190e-01 -5.48186082e-04 6.19793142e+01] [-9.64444032e-01 -2.64279298e-01 2.03990515e-03 -1.02530372e+02] [-2.11225298e-03 -1.04087447e-05 -9.99997769e-01 2.87029092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.99, Y:-102.65, Z:2.87 [[ 3.39060358e-01 -9.40764421e-01 -6.14979201e-04 6.19882929e+01] [-9.40762812e-01 -3.39060915e-01 1.73982973e-03 -1.02648923e+02] [-1.84528532e-03 -1.13577268e-05 -9.99998297e-01 2.86992907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.01, Y:-102.77, Z:2.87 [[ 4.10818470e-01 -9.11716863e-01 -7.38618401e-04 6.20074450e+01] [-9.11715338e-01 -4.10819134e-01 1.66761354e-03 -1.02766459e+02] [-1.82382996e-03 -1.16767193e-05 -9.99998337e-01 2.86944818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.95762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.04, Y:-102.88, Z:2.87 [[ 4.79278269e-01 -8.77662673e-01 -7.57628675e-04 6.20361295e+01] [-8.77661546e-01 -4.79278868e-01 1.40642474e-03 -1.02878262e+02] [-1.59748191e-03 -9.12726068e-06 -9.99998724e-01 2.86943558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.07, Y:-102.99, Z:2.87 [[ 5.44391571e-01 -8.38830450e-01 -1.13730243e-03 6.20717532e+01] [-8.38828583e-01 -5.44392759e-01 1.76984909e-03 -1.02986587e+02] [-2.10374252e-03 -9.48913980e-06 -9.99997787e-01 2.86985654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.01762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.12, Y:-103.09, Z:2.87 [[ 6.05923741e-01 -7.95520773e-01 -1.76639938e-03 6.21168617e+01] [-7.95517353e-01 -6.05926315e-01 2.33280577e-03 -1.03092974e+02] [-2.92610331e-03 -8.30103889e-06 -9.99995719e-01 2.87035807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.17, Y:-103.19, Z:2.87 [[ 6.61605251e-01 -7.49845872e-01 -3.10793914e-03 6.21697011e+01] [-7.49837666e-01 -6.61612551e-01 3.50819582e-03 -1.03185812e+02] [-4.68685769e-03 9.40905530e-06 -9.99989017e-01 2.87100890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.23, Y:-103.28, Z:2.87 [[ 7.14910713e-01 -6.99203430e-01 -4.15160464e-03 6.22262278e+01] [-6.99191886e-01 -7.14922767e-01 4.01800513e-03 -1.03277326e+02] [-5.77747965e-03 3.02533671e-05 -9.99983310e-01 2.87180075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.22, Y:-103.28, Z:2.87 [[ 7.65334825e-01 -6.43609377e-01 -5.43839046e-03 6.22247130e+01] [-6.43593672e-01 -7.65354145e-01 4.49651296e-03 -1.03281668e+02] [-7.05629258e-03 5.87757307e-05 -9.99975102e-01 2.87222285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.22, Y:-103.28, Z:2.87 [[ 8.11234827e-01 -5.84686325e-01 -6.32120521e-03 6.22217736e+01] [-5.84669447e-01 -8.11259449e-01 4.44348913e-03 -1.03283680e+02] [-7.72618479e-03 9.11024240e-05 -9.99970148e-01 2.87301232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.22, Y:-103.28, Z:2.87 [[ 8.52638786e-01 -5.22450180e-01 -7.27392225e-03 6.22185143e+01] [-5.22432453e-01 -8.52669803e-01 4.30566904e-03 -1.03283307e+02] [-8.45175142e-03 1.28952625e-04 -9.99964275e-01 2.87391090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.197628 meters Centerline goodness [0,1] 0.9998425869706987 Centerline is valid? [True, True] Translation: X:62.22, Y:-103.28, Z:2.88 [[ 8.87518612e-01 -4.60688997e-01 -8.73852060e-03 6.22163165e+01] [-4.60669090e-01 -8.87561604e-01 4.28831528e-03 -1.03281601e+02] [-9.73155501e-03 2.19606705e-04 -9.99952623e-01 2.87539845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.21, Y:-103.29, Z:2.87 [[ 9.20852606e-01 -3.89849845e-01 -6.89759605e-03 6.22107267e+01] [-3.89840261e-01 -9.20878423e-01 2.73865801e-03 -1.03287864e+02] [-7.41951277e-03 1.67060281e-04 -9.99972461e-01 2.87188253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.21, Y:-103.29, Z:2.87 [[ 9.48124994e-01 -3.17825253e-01 -6.79000737e-03 6.22050677e+01] [-3.17818371e-01 -9.48149292e-01 2.09839833e-03 -1.03293921e+02] [-7.10486466e-03 1.68445177e-04 -9.99974746e-01 2.87149983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.20, Y:-103.30, Z:2.87 [[ 9.69921503e-01 -2.43330761e-01 -6.51299144e-03 6.21960774e+01] [-2.43326401e-01 -9.69943356e-01 1.46586769e-03 -1.03302694e+02] [-6.67392347e-03 1.63006175e-04 -9.99977716e-01 2.87048160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.19, Y:-103.31, Z:2.87 [[ 9.85907168e-01 -1.67174251e-01 -6.31074674e-03 6.21870015e+01] [-1.67171857e-01 -9.85927353e-01 9.08666028e-04 -1.03310115e+02] [-6.37384339e-03 1.59118900e-04 -9.99979674e-01 2.87020723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.18, Y:-103.32, Z:2.87 [[ 9.95800604e-01 -9.12619914e-02 -7.23922109e-03 6.21794951e+01] [-9.12609962e-02 -9.95826898e-01 4.68371666e-04 -1.03317962e+02] [-7.25175562e-03 1.94253741e-04 -9.99973687e-01 2.86995540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.17, Y:-103.32, Z:2.87 [[ 9.99871686e-01 -1.39954679e-02 -7.79350940e-03 6.21710604e+01] [-1.39967270e-02 -9.99902035e-01 -1.07025527e-04 -1.03324108e+02] [-7.79124804e-03 2.16095417e-04 -9.99969624e-01 2.87082503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.16, Y:-103.34, Z:2.87 [[ 9.97941285e-01 6.35652677e-02 -8.52338911e-03 6.21646371e+01] [ 6.35608610e-02 -9.97977654e-01 -7.87178275e-04 -1.03336140e+02] [-8.55618906e-03 2.43803749e-04 -9.99963365e-01 2.87101706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.43762800000002 meters Centerline goodness [0,1] 0.9998651685393258 Centerline is valid? [True, True] Translation: X:62.16, Y:-103.35, Z:2.88 [[ 9.90244681e-01 1.38960188e-01 -1.02731895e-02 6.21576657e+01] [ 1.38949314e-01 -9.90297916e-01 -1.76825087e-03 -1.03346134e+02] [-1.04192346e-02 3.23548396e-04 -9.99945666e-01 2.87693643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.15, Y:-103.36, Z:2.87 [[ 9.76485301e-01 2.15352712e-01 -9.98333525e-03 6.21535062e+01] [ 2.15338025e-01 -9.76536278e-01 -2.53624842e-03 -1.03360809e+02] [-1.02952770e-02 3.26817607e-04 -9.99946949e-01 2.87420508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.49762800000002 meters Centerline goodness [0,1] 0.9999326039583942 Centerline is valid? [True, True] Translation: X:62.15, Y:-103.37, Z:2.88 [[ 9.56953487e-01 2.90070983e-01 -9.94225590e-03 6.21484055e+01] [ 2.90051566e-01 -9.57005071e-01 -3.37387648e-03 -1.03370570e+02] [-1.04934530e-02 3.44875966e-04 -9.99944883e-01 2.87629067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.15, Y:-103.39, Z:2.87 [[ 9.31463730e-01 3.63708088e-01 -9.57844744e-03 6.21471754e+01] [ 3.63685005e-01 -9.31512913e-01 -4.11222364e-03 -1.03385251e+02] [-1.04180965e-02 3.46849456e-04 -9.99945670e-01 2.87356188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.14, Y:-103.40, Z:2.87 [[ 9.00279388e-01 4.35225118e-01 -8.72467468e-03 6.21445155e+01] [ 4.35201088e-01 -9.00321602e-01 -4.58539389e-03 -1.03397319e+02] [-9.85069168e-03 3.31147688e-04 -9.99951426e-01 2.87268460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.14, Y:-103.41, Z:2.87 [[ 8.63150089e-01 5.04884971e-01 -7.94297593e-03 6.21446216e+01] [ 5.04860258e-01 -8.63186579e-01 -5.00494798e-03 -1.03411081e+02] [-9.38319323e-03 3.09928419e-04 -9.99955929e-01 2.87161660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.14, Y:-103.42, Z:2.87 [[ 8.20355396e-01 5.71801925e-01 -7.71902152e-03 6.21432180e+01] [ 5.71773048e-01 -8.20391653e-01 -5.75480936e-03 -1.03423171e+02] [-9.62323189e-03 3.07460444e-04 -9.99953648e-01 2.87169989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.14, Y:-103.44, Z:2.87 [[ 7.71022790e-01 6.36766176e-01 -7.25909916e-03 6.21447667e+01] [ 6.36734528e-01 -7.71056911e-01 -6.35459945e-03 -1.03436552e+02] [-9.64357257e-03 2.77421922e-04 -9.99953461e-01 2.87305057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.15, Y:-103.45, Z:2.87 [[ 7.17560367e-01 6.96463043e-01 -6.80809773e-03 6.21486761e+01] [ 6.96428170e-01 -7.17592615e-01 -6.97449251e-03 -1.03450705e+02] [-9.74291693e-03 2.63268361e-04 -9.99952502e-01 2.87371212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.70762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.15, Y:-103.46, Z:2.87 [[ 6.59679116e-01 7.51520212e-01 -6.39023107e-03 6.21523053e+01] [ 7.51481159e-01 -6.59710017e-01 -7.66562317e-03 -1.03462650e+02] [-9.97657019e-03 2.54713266e-04 -9.99950200e-01 2.87457102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.16, Y:-103.47, Z:2.88 [[ 5.97175623e-01 8.02090132e-01 -5.71803899e-03 6.21555033e+01] [ 8.02049581e-01 -5.97202952e-01 -8.06867103e-03 -1.03474613e+02] [-9.88663118e-03 2.32262868e-04 -9.99951099e-01 2.87659685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.76762800000003 meters Centerline goodness [0,1] 0.9999107302267453 Centerline is valid? [True, True] Translation: X:62.16, Y:-103.49, Z:2.88 [[ 5.32306149e-01 8.46535706e-01 -5.24053124e-03 6.21611870e+01] [ 8.46490209e-01 -5.32331892e-01 -8.77967653e-03 -1.03485804e+02] [-1.02220116e-02 2.37417414e-04 -9.99947726e-01 2.87844426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.797628 meters Centerline goodness [0,1] 0.9999331118592674 Centerline is valid? [True, True] Translation: X:62.16, Y:-103.50, Z:2.88 [[ 4.63716775e-01 8.85972140e-01 -4.48540992e-03 6.21637066e+01] [ 8.85925853e-01 -4.63738412e-01 -9.05910963e-03 -1.03496309e+02] [-1.01061756e-02 2.27120497e-04 -9.99948906e-01 2.87824445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.17, Y:-103.51, Z:2.88 [[ 3.91503548e-01 9.20169373e-01 -3.64647656e-03 6.21694618e+01] [ 9.20124462e-01 -3.91520475e-01 -9.09348639e-03 -1.03507113e+02] [-9.79521791e-03 2.04919896e-04 -9.99952005e-01 2.87556922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.18, Y:-103.52, Z:2.88 [[ 3.16436238e-01 9.48609595e-01 -2.81853054e-03 6.21750773e+01] [ 9.48566746e-01 -3.16448739e-01 -9.01801172e-03 -1.03516298e+02] [-9.44649288e-03 1.80061363e-04 -9.99955365e-01 2.87522963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.18, Y:-103.53, Z:2.87 [[ 2.35980407e-01 9.71755965e-01 -1.89515554e-03 6.21837997e+01] [ 9.71720541e-01 -2.35987988e-01 -8.29816686e-03 -1.03526474e+02] [-8.51102709e-03 1.16643229e-04 -9.99963774e-01 2.87498306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.917628 meters Centerline goodness [0,1] 0.9998662595011479 Centerline is valid? [True, True] Translation: X:62.19, Y:-103.54, Z:2.88 [[ 1.56597498e-01 9.87661695e-01 -1.26486550e-03 6.21906212e+01] [ 9.87624308e-01 -1.56602577e-01 -8.59417121e-03 -1.03535827e+02] [-8.68621490e-03 9.66137941e-05 -9.99962269e-01 2.87844281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.20, Y:-103.54, Z:2.88 [[ 7.56215583e-02 9.97136448e-01 -5.33712314e-04 6.22009405e+01] [ 9.97105411e-01 -7.56234156e-02 -7.86750234e-03 -1.03543744e+02] [-7.88533448e-03 6.27853502e-05 -9.99968908e-01 2.87551542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.21, Y:-103.55, Z:2.88 [[-7.87103599e-03 9.99969019e-01 8.47228641e-05 6.22114298e+01] [ 9.99937664e-01 7.87146011e-03 -7.91887402e-03 -1.03551901e+02] [-7.91929558e-03 2.23878404e-05 -9.99968642e-01 2.87753773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.22, Y:-103.56, Z:2.88 [[-8.83570541e-02 9.96088574e-01 7.64541034e-04 6.22195984e+01] [ 9.96051820e-01 8.83603616e-02 -8.55679098e-03 -1.03557991e+02] [-8.59087684e-03 5.46964459e-06 -9.99963098e-01 2.87808645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.23, Y:-103.56, Z:2.88 [[-1.67992750e-01 9.85787124e-01 1.47728077e-03 6.22292013e+01] [ 9.85748443e-01 1.67999245e-01 -8.73268617e-03 -1.03563219e+02] [-8.85675164e-03 -1.08007490e-05 -9.99960778e-01 2.87847730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.24, Y:-103.57, Z:2.88 [[-2.47013426e-01 9.69009519e-01 2.21788727e-03 6.22370716e+01] [ 9.68969270e-01 2.47023381e-01 -8.83198065e-03 -1.03568459e+02] [-9.10614333e-03 -3.25531923e-05 -9.99958538e-01 2.87847024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.25, Y:-103.57, Z:2.88 [[-3.22583632e-01 9.46536216e-01 2.99875082e-03 6.22452114e+01] [ 9.46494211e-01 3.22597568e-01 -8.91721767e-03 -1.03573057e+02] [-9.40785919e-03 -3.82481775e-05 -9.99955744e-01 2.87809553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.25, Y:-103.58, Z:2.88 [[-3.96382747e-01 9.18078108e-01 3.64776971e-03 6.22545467e+01] [ 9.18038202e-01 3.96399529e-01 -8.56003603e-03 -1.03578804e+02] [-9.30475588e-03 -4.42586471e-05 -9.99956709e-01 2.87888732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.26, Y:-103.58, Z:2.88 [[-4.68744649e-01 8.83324298e-01 4.07912245e-03 6.22647657e+01] [ 8.83289761e-01 4.68762394e-01 -7.81131656e-03 -1.03581707e+02] [-8.81206492e-03 -5.84657436e-05 -9.99961171e-01 2.87804074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.18762800000002 meters Centerline goodness [0,1] 0.9998873645558785 Centerline is valid? [True, True] Translation: X:62.28, Y:-103.58, Z:2.88 [[-5.37527521e-01 8.43232174e-01 4.86460039e-03 6.22766607e+01] [ 8.43196421e-01 5.37549528e-01 -7.76531336e-03 -1.03582744e+02] [-9.16292571e-03 -7.22559984e-05 -9.99958017e-01 2.88036926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.29, Y:-103.58, Z:2.88 [[-6.04084075e-01 7.96899206e-01 5.83836530e-03 6.22884176e+01] [ 7.96860316e-01 6.04112278e-01 -7.87349570e-03 -1.03583551e+02] [-9.80141064e-03 -1.03891751e-04 -9.99951960e-01 2.87899090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.30, Y:-103.58, Z:2.88 [[-6.65016577e-01 7.46795347e-01 7.04710661e-03 6.22992588e+01] [ 7.46751510e-01 6.65053904e-01 -8.09235236e-03 -1.03584864e+02] [-1.07300369e-02 -1.19110964e-04 -9.99942424e-01 2.88011754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.31, Y:-103.58, Z:2.88 [[-7.21324756e-01 6.92547178e-01 8.30681866e-03 6.23099947e+01] [ 6.92499227e-01 7.21372574e-01 -8.15052870e-03 -1.03582938e+02] [-1.16369368e-02 -1.26712621e-04 -9.99932281e-01 2.88002045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.33, Y:-103.57, Z:2.88 [[-7.68492006e-01 6.39798010e-01 8.86242459e-03 6.23336809e+01] [ 6.39753561e-01 7.68543096e-01 -7.54266188e-03 -1.03567644e+02] [-1.16369353e-02 -1.26707673e-04 -9.99932281e-01 2.88002044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.36, Y:-103.55, Z:2.88 [[-8.11366994e-01 5.84464801e-01 9.19229698e-03 6.23638576e+01] [ 5.84425678e-01 8.11419055e-01 -6.76338673e-03 -1.03554940e+02] [-1.14117664e-02 -1.15374359e-04 -9.99934877e-01 2.88126295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.38, Y:-103.54, Z:2.88 [[-8.50051259e-01 5.26617293e-01 9.33185708e-03 6.23829144e+01] [ 5.26584286e-01 8.50102475e-01 -5.89680410e-03 -1.03536461e+02] [-1.10383938e-02 -9.85764591e-05 -9.99939070e-01 2.87953428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.40, Y:-103.52, Z:2.88 [[-8.84521015e-01 4.66417719e-01 8.77982858e-03 6.24046640e+01] [ 4.66393905e-01 8.84564586e-01 -4.71373274e-03 -1.03518403e+02] [-9.96489390e-03 -7.45371331e-05 -9.99950346e-01 2.87862840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.42762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.43, Y:-103.50, Z:2.88 [[-9.13644032e-01 4.06454754e-01 7.00830501e-03 6.24260361e+01] [ 4.06442575e-01 9.13670910e-01 -3.14659438e-03 -1.03500867e+02] [-7.68223266e-03 -2.63936448e-05 -9.99970491e-01 2.87709808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.45762800000003 meters Centerline goodness [0,1] 0.999820511094658 Centerline is valid? [True, True] Translation: X:62.44, Y:-103.48, Z:2.88 [[-9.39070291e-01 3.43652566e-01 7.06408941e-03 6.24397452e+01] [ 3.43642825e-01 9.39096861e-01 -2.58755935e-03 -1.03479368e+02] [-7.52308559e-03 -2.37647209e-06 -9.99971701e-01 2.87879230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.74, Y:-102.70, Z:1.98 [[-9.14365720e-01 -4.04846389e-01 5.89331236e-03 6.27376848e+01] [ 4.04837552e-01 -9.14384710e-01 -2.67554959e-03 -1.02700521e+02] [ 6.47194131e-03 -6.05966798e-05 9.99979055e-01 1.97993434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.51762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.40, Y:-103.47, Z:2.87 [[-9.38689689e-01 3.44713733e-01 5.84029262e-03 6.24004609e+01] [ 3.44707252e-01 9.38707857e-01 -2.11407680e-03 -1.03471728e+02] [-6.21107988e-03 2.87291278e-05 -9.99980711e-01 2.87416939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.547628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.42, Y:-103.45, Z:2.87 [[-9.60216189e-01 2.79215418e-01 4.86013485e-03 6.24165048e+01] [ 2.79212017e-01 9.60228488e-01 -1.37858118e-03 -1.03448863e+02] [-5.05176106e-03 3.32720909e-05 -9.99987239e-01 2.87332310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.66, Y:-102.64, Z:1.98 [[-9.44093658e-01 -3.29653212e-01 3.99055271e-03 6.26564377e+01] [ 3.29649922e-01 -9.44102089e-01 -1.47474155e-03 -1.02639783e+02] [ 4.25364244e-03 -7.68087594e-05 9.99990950e-01 1.98233816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.37, Y:-103.44, Z:2.87 [[-9.60226078e-01 2.79193302e-01 4.12049333e-03 6.23711092e+01] [ 2.79190932e-01 9.60234918e-01 -1.15133697e-03 -1.03436851e+02] [-4.27808714e-03 4.48605900e-05 -9.99990848e-01 2.87321753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.38, Y:-103.41, Z:2.87 [[-9.77351926e-01 2.11574455e-01 4.41162531e-03 6.23765816e+01] [ 2.11572543e-01 9.77361881e-01 -9.01180313e-04 -1.03410622e+02] [-4.50242115e-03 5.26084688e-05 -9.99989863e-01 2.87366506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.38, Y:-103.38, Z:2.87 [[-9.89719399e-01 1.42943028e-01 4.77509588e-03 6.23834819e+01] [ 1.42941668e-01 9.89730916e-01 -6.26696973e-04 -1.03384442e+02] [-4.81564198e-03 6.23060165e-05 -9.99988403e-01 2.87395072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.697628 meters Centerline goodness [0,1] 0.9998652533237513 Centerline is valid? [True, True] Translation: X:62.39, Y:-103.36, Z:2.88 [[-9.97236643e-01 7.41109817e-02 5.16138132e-03 6.23933101e+01] [ 7.41103843e-02 9.97249997e-01 -3.07164612e-04 -1.03357545e+02] [-5.16995177e-03 7.61961463e-05 -9.99986633e-01 2.87673756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.727628 meters Centerline goodness [0,1] 0.9998652079167883 Centerline is valid? [True, True] Translation: X:62.40, Y:-103.33, Z:2.88 [[-9.99975394e-01 5.20292890e-03 4.70545383e-03 6.24031263e+01] [ 5.20324695e-03 9.99986462e-01 5.53537224e-05 -1.03329633e+02] [-4.70510212e-03 7.98359987e-05 -9.99988928e-01 2.87705111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.757628 meters Centerline goodness [0,1] 0.9998650381267292 Centerline is valid? [True, True] Translation: X:62.40, Y:-103.30, Z:2.88 [[-9.97846339e-01 -6.54048515e-02 4.98895409e-03 6.24037280e+01] [-6.54035919e-02 9.97858806e-01 4.15377976e-04 -1.03301436e+02] [-5.00543951e-03 8.81878754e-05 -9.99987469e-01 2.87731722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.787628 meters Centerline goodness [0,1] 0.9998876227721215 Centerline is valid? [True, True] Translation: X:62.39, Y:-103.27, Z:2.88 [[-9.90703915e-01 -1.35919629e-01 5.62198385e-03 6.23905620e+01] [-1.35916847e-01 9.90719861e-01 8.75784571e-04 -1.03272966e+02] [-5.68884738e-03 1.03520885e-04 -9.99983813e-01 2.87736885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.817628 meters Centerline goodness [0,1] 0.9998208326801191 Centerline is valid? [True, True] Translation: X:62.37, Y:-103.25, Z:2.88 [[-9.78373960e-01 -2.06751915e-01 6.16763676e-03 6.23673239e+01] [-2.06747044e-01 9.78393393e-01 1.42411270e-03 -1.03249101e+02] [-6.32881308e-03 1.18174111e-04 -9.99979966e-01 2.87944621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.32, Y:-103.23, Z:2.88 [[-9.60475056e-01 -2.78314988e-01 5.33240679e-03 6.23154817e+01] [-2.78310119e-01 9.60489853e-01 1.64937206e-03 -1.03234706e+02] [-5.58076758e-03 1.00117950e-04 -9.99984422e-01 2.87576074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.25, Y:-103.23, Z:2.87 [[-9.37279024e-01 -3.48551876e-01 4.42952950e-03 6.22540749e+01] [-3.48547552e-01 9.37289487e-01 1.73831854e-03 -1.03226051e+02] [-4.75764562e-03 8.53878390e-05 -9.99988679e-01 2.87460421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.18, Y:-103.22, Z:2.87 [[-9.08607771e-01 -4.17633236e-01 3.79450824e-03 6.21845847e+01] [-4.17629249e-01 9.08615691e-01 1.82644721e-03 -1.03223821e+02] [-4.21053478e-03 7.48265000e-05 -9.99991133e-01 2.87378063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.10, Y:-103.23, Z:2.87 [[-8.74182042e-01 -4.85591764e-01 2.52912712e-03 6.21032872e+01] [-4.85589570e-01 8.74185699e-01 1.46044441e-03 -1.03233505e+02] [-2.92010654e-03 4.85765278e-05 -9.99995735e-01 2.87316604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.02, Y:-103.25, Z:2.87 [[-8.34582124e-01 -5.50879097e-01 2.21324404e-03 6.20173229e+01] [-5.50877025e-01 8.34585058e-01 1.51139143e-03 -1.03252595e+02] [-2.67973435e-03 4.21549810e-05 -9.99996409e-01 2.87293466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.93, Y:-103.28, Z:2.87 [[-7.89234149e-01 -6.14089665e-01 1.82779824e-03 6.19262358e+01] [-6.14087924e-01 7.89236265e-01 1.46280648e-03 -1.03283301e+02] [-2.34085900e-03 3.20679980e-05 -9.99997260e-01 2.87365907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.83, Y:-103.33, Z:2.87 [[-7.39553458e-01 -6.73096389e-01 1.39095255e-03 6.18329773e+01] [-6.73095137e-01 7.39554765e-01 1.29852445e-03 -1.03325464e+02] [-1.90271771e-03 2.40848488e-05 -9.99998190e-01 2.87398352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.74, Y:-103.38, Z:2.87 [[-6.85071306e-01 -7.28475325e-01 1.00294411e-03 6.17428016e+01] [-7.28474508e-01 6.85072040e-01 1.09098247e-03 -1.03375421e+02] [-1.48184278e-03 1.67815671e-05 -9.99998902e-01 2.87375065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.65, Y:-103.44, Z:2.87 [[-6.26323343e-01 -7.79562279e-01 1.31258195e-03 6.16516631e+01] [-7.79560496e-01 6.26324718e-01 1.66741942e-03 -1.03438750e+02] [-2.12195980e-03 2.11066652e-05 -9.99997748e-01 2.87368852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.56, Y:-103.51, Z:2.87 [[-5.63506774e-01 -8.26110439e-01 1.28804603e-03 6.15641817e+01] [-8.26108200e-01 5.63508245e-01 1.92326145e-03 -1.03510662e+02] [-2.31465092e-03 1.97054666e-05 -9.99997321e-01 2.87413614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.48, Y:-103.59, Z:2.88 [[-4.95611703e-01 -8.68542443e-01 1.75089050e-03 6.14830432e+01] [-8.68536887e-01 4.95614795e-01 3.10670827e-03 -1.03586622e+02] [-3.56607522e-03 1.90079944e-05 -9.99993641e-01 2.87532705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.17762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.40, Y:-103.68, Z:2.88 [[-4.25878816e-01 -9.04778810e-01 1.59321267e-03 6.14048060e+01] [-9.04772353e-01 4.25881796e-01 3.41845107e-03 -1.03675121e+02] [-3.77146237e-03 1.43511152e-05 -9.99992888e-01 2.87512940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.20762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.33, Y:-103.77, Z:2.88 [[-3.53690946e-01 -9.35361401e-01 1.32787817e-03 6.13333325e+01] [-9.35354705e-01 3.53693439e-01 3.53943499e-03 -1.03772303e+02] [-3.78031267e-03 9.82901893e-06 -9.99992855e-01 2.87517430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.27, Y:-103.87, Z:2.88 [[-2.78965126e-01 -9.60301005e-01 6.61948376e-04 6.12708526e+01] [-9.60298279e-01 2.78965911e-01 2.28824608e-03 -1.03872928e+02] [-2.38206604e-03 2.67296816e-06 -9.99997163e-01 2.87517668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.26762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.22, Y:-103.98, Z:2.87 [[-2.03855195e-01 -9.79000913e-01 5.22001758e-04 6.12168963e+01] [-9.78997666e-01 2.03855863e-01 2.52121653e-03 -1.03979258e+02] [-2.57468640e-03 2.92458318e-06 -9.99996685e-01 2.87473836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.297628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.17, Y:-104.09, Z:2.87 [[-1.27857966e-01 -9.91792449e-01 2.79297828e-04 6.11706673e+01] [-9.91790026e-01 1.27858271e-01 2.19241715e-03 -1.04094696e+02] [-2.21013331e-03 3.31319799e-06 -9.99997558e-01 2.87468978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.14, Y:-104.21, Z:2.88 [[-5.19076478e-02 -9.98651879e-01 1.44280947e-04 6.11359543e+01] [-9.98647589e-01 5.19078477e-02 2.92721529e-03 -1.04207590e+02] [-2.93075836e-03 7.85904030e-06 -9.99995705e-01 2.87533006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.11, Y:-104.33, Z:2.88 [[ 2.46800485e-02 -9.99695397e-01 -9.37277198e-05 6.11086252e+01] [-9.99689925e-01 -2.46802235e-02 3.30770149e-03 -1.04328223e+02] [-3.30900717e-03 1.20644240e-05 -9.99994525e-01 2.87542466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.09, Y:-104.45, Z:2.88 [[ 1.01378025e-01 -9.94847900e-01 -3.89322064e-04 6.10911245e+01] [-9.94841160e-01 -1.01378771e-01 3.66214135e-03 -1.04448278e+02] [-3.68274262e-03 1.60529563e-05 -9.99993219e-01 2.87539908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.08, Y:-104.57, Z:2.88 [[ 1.77228033e-01 -9.84169477e-01 -8.15972222e-04 6.10826976e+01] [-9.84159649e-01 -1.77229909e-01 4.39831023e-03 -1.04569424e+02] [-4.47329736e-03 2.35430661e-05 -9.99989994e-01 2.87551694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.08, Y:-104.69, Z:2.88 [[ 2.52264839e-01 -9.67657394e-01 -1.27267830e-03 6.10826458e+01] [-9.67645645e-01 -2.52268047e-01 4.76845105e-03 -1.04687656e+02] [-4.93528299e-03 2.85890816e-05 -9.99987821e-01 2.87591912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.10, Y:-104.83, Z:2.88 [[ 3.28325931e-01 -9.44563265e-01 -1.52359376e-03 6.10953852e+01] [-9.44553339e-01 -3.28329466e-01 4.33030511e-03 -1.04829608e+02] [-4.59048786e-03 1.73641190e-05 -9.99989464e-01 2.87613411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.11, Y:-104.95, Z:2.88 [[ 4.01225462e-01 -9.15977210e-01 -1.96962519e-03 6.11115795e+01] [-9.15966346e-01 -4.01230296e-01 4.46128842e-03 -1.04946511e+02] [-4.87671181e-03 1.41278795e-05 -9.99988109e-01 2.87612699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.13, Y:-105.05, Z:2.88 [[ 4.71428052e-01 -8.81900870e-01 -2.53895779e-03 6.11316242e+01] [-8.81888216e-01 -4.71434889e-01 4.72447048e-03 -1.05050919e+02] [-5.36346792e-03 1.18290382e-05 -9.99985616e-01 2.87671277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.16, Y:-105.16, Z:2.88 [[ 5.38413676e-01 -8.42674400e-01 -3.25093394e-03 6.11617353e+01] [-8.42659162e-01 -5.38423491e-01 5.06760539e-03 -1.05160044e+02] [-6.02072053e-03 1.09612188e-05 -9.99981875e-01 2.87685280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.20, Y:-105.27, Z:2.88 [[ 6.01607542e-01 -7.98783838e-01 -3.57017382e-03 6.12025575e+01] [-7.98769888e-01 -6.01618135e-01 4.72072360e-03 -1.05268078e+02] [-5.91871903e-03 1.17244250e-05 -9.99982484e-01 2.87769882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.25, Y:-105.37, Z:2.88 [[ 6.60575692e-01 -7.50748714e-01 -4.01547448e-03 6.12520548e+01] [-7.50735005e-01 -6.60587896e-01 4.53691823e-03 -1.05372620e+02] [-6.05865936e-03 1.75793567e-05 -9.99981646e-01 2.87769437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.31, Y:-105.47, Z:2.88 [[ 7.13805886e-01 -7.00326141e-01 -4.94503728e-03 6.13054359e+01] [-7.00309761e-01 -7.13823013e-01 4.79005713e-03 -1.05465992e+02] [-6.88448364e-03 4.38869056e-05 -9.99976301e-01 2.87882507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.30, Y:-105.47, Z:2.88 [[ 7.64588208e-01 -6.44497736e-01 -5.24791375e-03 6.13010775e+01] [-6.44483107e-01 -7.64606215e-01 4.34288460e-03 -1.05471154e+02] [-6.81156676e-03 6.16734021e-05 -9.99976799e-01 2.87866165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.30, Y:-105.48, Z:2.88 [[ 8.10658225e-01 -5.85493275e-01 -5.55580900e-03 6.12967709e+01] [-5.85480232e-01 -8.10677259e-01 3.90894535e-03 -1.05475710e+02] [-6.79262923e-03 8.39976440e-05 -9.99976926e-01 2.87871916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.29, Y:-105.48, Z:2.88 [[ 8.52208525e-01 -5.23165626e-01 -6.19337117e-03 6.12905503e+01] [-5.23152770e-01 -8.52231022e-01 3.66946315e-03 -1.05481259e+02] [-7.19792002e-03 1.12931506e-04 -9.99974088e-01 2.87830364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.77762800000002 meters Centerline goodness [0,1] 0.9998874507597074 Centerline is valid? [True, True] Translation: X:61.29, Y:-105.48, Z:2.88 [[ 8.87426899e-01 -4.60903342e-01 -6.45044366e-03 6.12853322e+01] [-4.60892476e-01 -8.87450328e-01 3.16890918e-03 -1.05483867e+02] [-7.18500917e-03 1.60785703e-04 -9.99974175e-01 2.87925003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.28, Y:-105.49, Z:2.88 [[ 9.19870718e-01 -3.92178364e-01 -5.83029273e-03 6.12800981e+01] [-3.92171545e-01 -9.19889182e-01 2.31787713e-03 -1.05489743e+02] [-6.27224447e-03 1.54327603e-04 -9.99980317e-01 2.87677950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.83762800000002 meters Centerline goodness [0,1] 0.9998424877928039 Centerline is valid? [True, True] Translation: X:61.27, Y:-105.50, Z:2.88 [[ 9.46973400e-01 -3.21232113e-01 -7.16301802e-03 6.12737108e+01] [-3.21224525e-01 -9.47000469e-01 2.21707560e-03 -1.05498513e+02] [-7.49557730e-03 2.01425442e-04 -9.99971887e-01 2.87868788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.86762800000002 meters Centerline goodness [0,1] 0.999864880081072 Centerline is valid? [True, True] Translation: X:61.26, Y:-105.50, Z:2.88 [[ 9.68448128e-01 -2.49098719e-01 -7.61910854e-03 6.12642926e+01] [-2.49092904e-01 -9.68478071e-01 1.71810587e-03 -1.05504993e+02] [-7.80691751e-03 2.33969455e-04 -9.99969498e-01 2.87939761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.89762800000003 meters Centerline goodness [0,1] 0.999820014398848 Centerline is valid? [True, True] Translation: X:61.26, Y:-105.51, Z:2.88 [[ 9.84743395e-01 -1.73836009e-01 -7.84143765e-03 6.12560500e+01] [-1.73832498e-01 -9.84774584e-01 1.13241251e-03 -1.05511944e+02] [-7.91890257e-03 2.47960953e-04 -9.99968614e-01 2.87993236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.92762800000003 meters Centerline goodness [0,1] 0.9998195637954755 Centerline is valid? [True, True] Translation: X:61.25, Y:-105.52, Z:2.88 [[ 9.95249674e-01 -9.70334457e-02 -7.91185608e-03 6.12478503e+01] [-9.70324125e-02 -9.95281089e-01 5.15247197e-04 -1.05518083e+02] [-7.92451694e-03 2.54906878e-04 -9.99968568e-01 2.87975803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.95762800000003 meters Centerline goodness [0,1] 0.9998424877928039 Centerline is valid? [True, True] Translation: X:61.24, Y:-105.52, Z:2.88 [[ 9.99787976e-01 -1.92970772e-02 -7.18516668e-03 6.12409905e+01] [-1.92982653e-02 -9.99813767e-01 -9.60517216e-05 -1.05524623e+02] [-7.18197505e-03 2.34692609e-04 -9.99974182e-01 2.87951745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.23, Y:-105.53, Z:2.88 [[ 9.98197408e-01 5.97125581e-02 -6.02866129e-03 6.12340654e+01] [ 5.97102959e-02 -9.98215594e-01 -5.54693775e-04 -1.05532626e+02] [-6.05102589e-03 1.93720740e-04 -9.99981674e-01 2.87686060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.01762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.23, Y:-105.55, Z:2.88 [[ 9.90076796e-01 1.40407111e-01 -5.81223235e-03 6.12296114e+01] [ 1.40403665e-01 -9.90093841e-01 -9.98670461e-04 -1.05546970e+02] [-5.89487588e-03 1.72701725e-04 -9.99982610e-01 2.87618522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.047628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.23, Y:-105.56, Z:2.88 [[ 9.75500507e-01 2.19928723e-01 -5.48795739e-03 6.12258441e+01] [ 2.19924365e-01 -9.75515932e-01 -1.39281497e-03 -1.05560306e+02] [-5.65990989e-03 1.51756164e-04 -9.99983971e-01 2.87607165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.22, Y:-105.57, Z:2.88 [[ 9.54350790e-01 2.98652202e-01 -4.62944757e-03 6.12232714e+01] [ 2.98648097e-01 -9.54362011e-01 -1.57003465e-03 -1.05573193e+02] [-4.88706320e-03 1.15788096e-04 -9.99988052e-01 2.87591269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.22, Y:-105.59, Z:2.88 [[ 9.26736165e-01 3.75695105e-01 -3.64269301e-03 6.12207683e+01] [ 3.75691862e-01 -9.26743320e-01 -1.56317032e-03 -1.05585871e+02] [-3.96311685e-03 8.01163443e-05 -9.99992144e-01 2.87586375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.22, Y:-105.60, Z:2.88 [[ 8.91034625e-01 4.53926984e-01 -2.75502644e-03 6.12213278e+01] [ 4.53924678e-01 -8.91038884e-01 -1.44734123e-03 -1.05601008e+02] [-3.11182292e-03 3.90566638e-05 -9.99995158e-01 2.87610120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.22, Y:-105.61, Z:2.88 [[ 8.50802881e-01 5.25478911e-01 -2.52425945e-03 6.12228597e+01] [ 5.25476506e-01 -8.50806625e-01 -1.58991220e-03 -1.05613521e+02] [-2.98312199e-03 2.62628488e-05 -9.99995550e-01 2.87689442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.22, Y:-105.62, Z:2.88 [[ 8.07050800e-01 5.90477166e-01 -2.39204659e-03 6.12226803e+01] [ 5.90474476e-01 -8.07054345e-01 -1.78266886e-03 -1.05623592e+02] [-2.98313685e-03 2.62618774e-05 -9.99995550e-01 2.87689455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.22, Y:-105.64, Z:2.88 [[ 7.56109057e-01 6.54439489e-01 -2.83724424e-03 6.12235288e+01] [ 6.54434780e-01 -7.56114380e-01 -2.48264989e-03 -1.05635324e+02] [-3.77002529e-03 2.03627589e-05 -9.99992893e-01 2.87815067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.23, Y:-105.65, Z:2.88 [[ 7.00326371e-01 7.13817472e-01 -2.75526208e-03 6.12271411e+01] [ 7.13811898e-01 -7.00331790e-01 -2.82097034e-03 -1.05647109e+02] [-3.94325555e-03 8.86106718e-06 -9.99992225e-01 2.87856014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.23, Y:-105.66, Z:2.88 [[ 6.38875126e-01 7.69303609e-01 -3.24501421e-03 6.12300428e+01] [ 7.69293775e-01 -6.38883367e-01 -3.88996627e-03 -1.05658166e+02] [-5.06575070e-03 -1.11665378e-05 -9.99987169e-01 2.87906183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.317628 meters Centerline goodness [0,1] 0.9999776920159725 Centerline is valid? [True, True] Translation: X:61.23, Y:-105.67, Z:2.88 [[ 5.75505298e-01 8.17792073e-01 -3.12676643e-03 6.12327439e+01] [ 8.17780188e-01 -5.75513792e-01 -4.40914765e-03 -1.05667261e+02] [-5.40526320e-03 -1.95198033e-05 -9.99985391e-01 2.87940310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.34762800000001 meters Centerline goodness [0,1] 0.9998434739831399 Centerline is valid? [True, True] Translation: X:61.24, Y:-105.68, Z:2.88 [[ 5.09002348e-01 8.60759939e-01 -2.98933967e-03 6.12371860e+01] [ 8.60745392e-01 -5.09011126e-01 -5.00441265e-03 -1.05676693e+02] [-5.82920507e-03 -2.58025521e-05 -9.99983010e-01 2.88001537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.37762800000002 meters Centerline goodness [0,1] 0.9999776516336656 Centerline is valid? [True, True] Translation: X:61.24, Y:-105.69, Z:2.88 [[ 4.39680253e-01 8.98150342e-01 -2.69027911e-03 6.12419122e+01] [ 8.98133933e-01 -4.39688483e-01 -5.42918241e-03 -1.05685216e+02] [-6.05910678e-03 -2.91266649e-05 -9.99981643e-01 2.88038751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.40762800000002 meters Centerline goodness [0,1] 0.9999552922767408 Centerline is valid? [True, True] Translation: X:61.24, Y:-105.69, Z:2.88 [[ 3.68217341e-01 9.29737075e-01 -2.22718611e-03 6.12444254e+01] [ 9.29720512e-01 -3.68224076e-01 -5.54965340e-03 -1.05694311e+02] [-5.97982207e-03 -2.71819901e-05 -9.99982120e-01 2.88099943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.25, Y:-105.70, Z:2.88 [[ 2.94953009e-01 9.55510089e-01 -1.78687464e-03 6.12465342e+01] [ 9.55493018e-01 -2.94958420e-01 -5.71155418e-03 -1.05702087e+02] [-5.98450137e-03 -2.27061492e-05 -9.99982092e-01 2.88084758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.25, Y:-105.71, Z:2.88 [[ 2.20196156e-01 9.75454804e-01 -1.25606929e-03 6.12509636e+01] [ 9.75439333e-01 -2.20199738e-01 -5.49388642e-03 -1.05710365e+02] [-5.63562403e-03 -1.54867176e-05 -9.99984120e-01 2.88040423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.26, Y:-105.72, Z:2.88 [[ 1.44507556e-01 9.89503457e-01 -6.89315462e-04 6.12558750e+01] [ 9.89492406e-01 -1.44509200e-01 -4.67650646e-03 -1.05718111e+02] [-4.72703173e-03 -6.28189662e-06 -9.99988828e-01 2.87995027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.26, Y:-105.73, Z:2.88 [[ 7.06184922e-02 9.97503369e-01 -2.39613145e-04 6.12581827e+01] [ 9.97497142e-01 -7.06188981e-02 -3.52467309e-03 -1.05725829e+02] [-3.53279450e-03 9.89367258e-06 -9.99993760e-01 2.87884239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.26, Y:-105.73, Z:2.88 [[-5.45138118e-03 9.99985141e-01 3.17775621e-05 6.12628253e+01] [ 9.99980602e-01 5.45145218e-03 -3.01288343e-03 -1.05734683e+02] [-3.01301189e-03 1.53525697e-05 -9.99995461e-01 2.87864009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.27, Y:-105.74, Z:2.88 [[-8.17916947e-02 9.96649426e-01 2.02097758e-04 6.12683927e+01] [ 9.96646854e-01 8.17919427e-02 -2.26416402e-03 -1.05741827e+02] [-2.27310774e-03 1.62302823e-05 -9.99997416e-01 2.87704671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.28, Y:-105.75, Z:2.88 [[-1.59838724e-01 9.87143100e-01 2.87061872e-04 6.12787546e+01] [ 9.87141639e-01 1.59838982e-01 -1.69823900e-03 -1.05748832e+02] [-1.72228859e-03 1.19263707e-05 -9.99998517e-01 2.87701492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.29, Y:-105.75, Z:2.88 [[-2.37550762e-01 9.71374967e-01 5.55907741e-04 6.12887051e+01] [ 9.71372441e-01 2.37551412e-01 -2.21548467e-03 -1.05754640e+02] [-2.28412302e-03 1.37033879e-05 -9.99997391e-01 2.87729371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.30, Y:-105.76, Z:2.88 [[-3.13486574e-01 9.49592113e-01 9.93393197e-04 6.12978479e+01] [ 9.49587513e-01 3.13488147e-01 -2.95565694e-03 -1.05761371e+02] [-3.11808551e-03 1.67550092e-05 -9.99995139e-01 2.87873007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.70762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.31, Y:-105.77, Z:2.88 [[-3.87136604e-01 9.22020314e-01 1.94688399e-03 6.13083693e+01] [ 9.22008982e-01 3.87141499e-01 -4.57135147e-03 -1.05766048e+02] [-4.96859850e-03 2.53070456e-05 -9.99987656e-01 2.88011368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.32, Y:-105.77, Z:2.88 [[-4.57908097e-01 8.88993948e-01 3.15181909e-03 6.13217842e+01] [ 8.88973441e-01 4.57918943e-01 -6.03839643e-03 -1.05768742e+02] [-6.81137556e-03 3.68528440e-05 -9.99976802e-01 2.88296746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.76762800000003 meters Centerline goodness [0,1] 0.9998875975091608 Centerline is valid? [True, True] Translation: X:61.33, Y:-105.77, Z:2.89 [[-5.25439496e-01 8.50819334e-01 4.44934319e-03 6.13331149e+01] [ 8.50789673e-01 5.25458331e-01 -7.10462021e-03 -1.05772299e+02] [-8.38269268e-03 5.24071743e-05 -9.99964863e-01 2.88565495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.34, Y:-105.77, Z:2.88 [[-5.90887523e-01 8.06738539e-01 4.98649325e-03 6.13445578e+01] [ 8.06710495e-01 5.90908562e-01 -6.72673869e-03 -1.05773648e+02] [-8.37328090e-03 4.79104724e-05 -9.99964942e-01 2.88444300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.827628 meters Centerline goodness [0,1] 0.9998654135169691 Centerline is valid? [True, True] Translation: X:61.36, Y:-105.77, Z:2.89 [[-6.51784087e-01 7.58376390e-01 6.53871703e-03 6.13560354e+01] [ 7.58339194e-01 6.51816882e-01 -7.51131046e-03 -1.05773848e+02] [-9.95844665e-03 6.28127680e-05 -9.99950411e-01 2.88651368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.37, Y:-105.77, Z:2.89 [[-7.08659944e-01 7.05516916e-01 6.85309571e-03 6.13678708e+01] [ 7.05484848e-01 7.08693077e-01 -6.72693761e-03 -1.05773857e+02] [-9.60270975e-03 6.76439536e-05 -9.99953891e-01 2.88504812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.39, Y:-105.76, Z:2.88 [[-7.56212786e-01 6.54287741e-01 7.05502609e-03 6.13929609e+01] [ 6.54260171e-01 7.56245692e-01 -6.00685061e-03 -1.05758849e+02] [-9.26554181e-03 7.33653405e-05 -9.99957071e-01 2.88461778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.42, Y:-105.74, Z:2.88 [[-8.00112889e-01 5.99803764e-01 7.40330976e-03 6.14167880e+01] [ 5.99779010e-01 8.00147135e-01 -5.44991581e-03 -1.05742522e+02] [-9.19261711e-03 7.98019138e-05 -9.99957744e-01 2.88377337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.43, Y:-105.72, Z:2.88 [[-8.40005136e-01 5.42528941e-01 7.32932413e-03 6.14348864e+01] [ 5.42509161e-01 8.40037107e-01 -4.63350017e-03 -1.05722178e+02] [-8.67071218e-03 8.40615455e-05 -9.99962405e-01 2.88325630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.46, Y:-105.71, Z:2.88 [[-8.75362426e-01 4.83424748e-01 6.41374578e-03 6.14593920e+01] [ 4.83412474e-01 8.75385918e-01 -3.44583601e-03 -1.05705429e+02] [-7.28030515e-03 8.41293466e-05 -9.99973495e-01 2.88121495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.48, Y:-105.68, Z:2.88 [[-9.06945975e-01 4.21203319e-01 6.06323623e-03 6.14775423e+01] [ 4.21194526e-01 9.06966238e-01 -2.72298492e-03 -1.05684645e+02] [-6.64608083e-03 8.42016992e-05 -9.99977911e-01 2.87992682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.83, Y:-104.92, Z:1.98 [[-8.89025922e-01 -4.57833140e-01 4.66113026e-03 6.18304556e+01] [ 4.57825978e-01 -8.89038129e-01 -2.56507378e-03 -1.04922411e+02] [ 5.31829831e-03 -1.46430563e-04 9.99985847e-01 1.97714611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.44, Y:-105.67, Z:2.88 [[-9.07387856e-01 4.20276968e-01 3.81427947e-03 6.14373094e+01] [ 4.20273553e-01 9.07395871e-01 -1.69554974e-03 -1.05668895e+02] [-4.17366195e-03 6.45195399e-05 -9.99991288e-01 2.87642037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.79, Y:-104.90, Z:1.98 [[-8.92183949e-01 -4.51670382e-01 1.29141760e-03 6.17913870e+01] [ 4.51669608e-01 -8.92184865e-01 -8.55328145e-04 -1.04904808e+02] [ 1.53850963e-03 -1.79815962e-04 9.99998800e-01 1.98047507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.40, Y:-105.65, Z:2.87 [[-9.07875382e-01 4.19237998e-01 1.33830874e-03 6.14000919e+01] [ 4.19237587e-01 9.07876368e-01 -5.87810277e-04 -1.05652723e+02] [-1.46145128e-03 2.74108452e-05 -9.99998932e-01 2.87398894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.74, Y:-104.89, Z:1.98 [[-8.94290667e-01 -4.47484567e-01 1.32848747e-03 6.17428359e+01] [ 4.47484031e-01 -8.94291653e-01 -6.93585508e-04 -1.04885501e+02] [ 1.49842407e-03 -2.57901193e-05 9.99998877e-01 1.98105763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.36, Y:-105.64, Z:2.87 [[-9.09208778e-01 4.16334577e-01 2.21754218e-03 6.13581143e+01] [ 4.16333461e-01 9.09211482e-01 -9.65140078e-04 -1.05636750e+02] [-2.41803599e-03 4.57231769e-05 -9.99997076e-01 2.87434256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.37, Y:-105.61, Z:2.88 [[-9.36474753e-01 3.50707828e-01 4.36539739e-03 6.13721020e+01] [ 3.50704442e-01 9.36484923e-01 -1.54353608e-03 -1.05609962e+02] [-4.62945903e-03 8.54816865e-05 -9.99989280e-01 2.87642252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.38, Y:-105.58, Z:2.88 [[-9.58937350e-01 2.83550255e-01 6.19778152e-03 6.13836280e+01] [ 2.83545132e-01 9.58957371e-01 -1.70861669e-03 -1.05583134e+02] [-6.42788697e-03 1.18894418e-04 -9.99979334e-01 2.87741871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.39, Y:-105.56, Z:2.88 [[-9.76524572e-01 2.15278703e-01 7.40549271e-03 6.13929470e+01] [ 2.15273620e-01 9.76552641e-01 -1.48617999e-03 -1.05555897e+02] [-7.55179636e-03 1.42915945e-04 -9.99971475e-01 2.87884399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.57, Y:-104.74, Z:1.97 [[-9.69759143e-01 -2.43906742e-01 8.75815309e-03 6.15729367e+01] [ 2.43896085e-01 -9.69798688e-01 -2.28129698e-03 -1.04739075e+02] [ 9.05006909e-03 -7.62293494e-05 9.99959044e-01 1.97451537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.34, Y:-105.55, Z:2.88 [[-9.77179324e-01 2.12150826e-01 1.06111681e-02 6.13429127e+01] [ 2.12140690e-01 9.77236912e-01 -2.08475134e-03 -1.05549034e+02] [-1.08119069e-02 2.13884622e-04 -9.99941527e-01 2.88246427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.35, Y:-105.52, Z:2.88 [[-9.89809704e-01 1.41940625e-01 1.13846074e-02 6.13517689e+01] [ 1.41933826e-01 9.89875148e-01 -1.40703734e-03 -1.05522315e+02] [-1.14690557e-02 2.23161663e-04 -9.99934203e-01 2.88276530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.35, Y:-105.49, Z:2.88 [[-9.97469272e-01 7.01502765e-02 1.15754287e-02 6.13547673e+01] [ 7.01480209e-02 9.97536412e-01 -6.01262811e-04 -1.05492241e+02] [-1.15890903e-02 2.12252233e-04 -9.99932822e-01 2.88096961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.42762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.36, Y:-105.46, Z:2.88 [[-9.99928138e-01 -4.48618328e-03 1.11171983e-02 6.13555268e+01] [-4.48408299e-03 9.99989924e-01 2.13842086e-04 -1.05462638e+02] [-1.11180456e-02 1.63976280e-04 -9.99938179e-01 2.88045283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.45762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.35, Y:-104.63, Z:1.98 [[-9.99296199e-01 -3.59719339e-02 1.06360926e-02 6.13493016e+01] [ 3.59678801e-02 -9.99352783e-01 -5.72244241e-04 -1.04634446e+02] [ 1.06497935e-02 -1.89283791e-04 9.99943271e-01 1.97531958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.25, Y:-105.46, Z:2.88 [[-9.99820035e-01 -1.59402077e-02 1.02862330e-02 6.12541261e+01] [-1.59383486e-02 9.99872942e-01 2.62691883e-04 -1.05459110e+02] [-1.02891134e-02 9.86990396e-05 -9.99947061e-01 2.87992946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.51762800000003 meters Centerline goodness [0,1] 0.9998220680145015 Centerline is valid? [True, True] Translation: X:61.25, Y:-105.43, Z:2.88 [[-9.95642279e-01 -9.26290748e-02 1.07846078e-02 6.12494411e+01] [-9.26231636e-02 9.95700684e-01 1.04736820e-03 -1.05428470e+02] [-1.08352582e-02 4.38995629e-05 -9.99941296e-01 2.88122834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.24, Y:-105.40, Z:2.88 [[-9.86130471e-01 -1.65666046e-01 1.00725279e-02 6.12378792e+01] [-1.65657205e-01 9.86181911e-01 1.71156430e-03 -1.05401754e+02] [-1.02168929e-02 1.92388851e-05 -9.99947806e-01 2.87864757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.08, Y:-104.60, Z:1.98 [[-9.94892174e-01 1.00406975e-01 1.03924234e-02 6.10834557e+01] [-1.00401540e-01 -9.94946451e-01 1.04472402e-03 -1.04601515e+02] [ 1.04448023e-02 -4.02755464e-06 9.99945452e-01 1.97702225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.09, Y:-105.43, Z:2.88 [[-9.84413520e-01 -1.75579917e-01 1.00853957e-02 6.10924481e+01] [-1.75570816e-01 9.84465181e-01 1.78769661e-03 -1.05425218e+02] [-1.02426045e-02 -1.08684320e-05 -9.99947543e-01 2.87738468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.07, Y:-105.40, Z:2.88 [[-9.68786354e-01 -2.47709307e-01 9.64882091e-03 6.10680928e+01] [-2.47697308e-01 9.68834402e-01 2.43819888e-03 -1.05402003e+02] [-9.95207419e-03 -2.78931630e-05 -9.99950477e-01 2.87633177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.02, Y:-105.39, Z:2.88 [[-9.47897980e-01 -3.18440294e-01 9.23031824e-03 6.10165892e+01] [-3.18425536e-01 9.47942919e-01 3.06593089e-03 -1.05387821e+02] [-9.72613075e-03 -3.29793333e-05 -9.99952700e-01 2.87619063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.96, Y:-105.38, Z:2.88 [[-9.21461489e-01 -3.88360051e-01 9.23016683e-03 6.09560288e+01] [-3.88341025e-01 9.21507715e-01 3.84439343e-03 -1.05380546e+02] [-9.99867878e-03 -4.19919555e-05 -9.99950011e-01 2.87635932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.88, Y:-105.38, Z:2.88 [[-8.89695745e-01 -4.56465052e-01 9.00760495e-03 6.08832842e+01] [-4.56442222e-01 8.89741341e-01 4.56557059e-03 -1.05383321e+02] [-1.00984619e-02 -4.94824853e-05 -9.99949008e-01 2.87628621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.80, Y:-105.39, Z:2.88 [[-8.52268021e-01 -5.23011091e-01 9.93067994e-03 6.08043812e+01] [-5.22976583e-01 8.52325873e-01 6.00840329e-03 -1.05394586e+02] [-1.16066370e-02 -7.27430721e-05 -9.99932638e-01 2.87772073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.72, Y:-105.42, Z:2.88 [[-8.10160319e-01 -5.86119162e-01 1.02266895e-02 6.07185974e+01] [-5.86073777e-01 8.10224858e-01 7.29432926e-03 -1.05418398e+02] [-1.25612642e-02 -8.40184068e-05 -9.99921101e-01 2.87813119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.63, Y:-105.45, Z:2.88 [[-7.63194129e-01 -6.46091372e-01 1.00329774e-02 6.06270810e+01] [-6.46037159e-01 7.63260067e-01 8.37012155e-03 -1.05454315e+02] [-1.30656343e-02 -9.36485626e-05 -9.99914637e-01 2.87908128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.54, Y:-105.49, Z:2.88 [[-7.11814554e-01 -7.02303107e-01 9.50718454e-03 6.05440991e+01] [-7.02242240e-01 7.11878035e-01 9.24657266e-03 -1.05493654e+02] [-1.32618526e-02 -9.45015748e-05 -9.99912053e-01 2.87876140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.45, Y:-105.55, Z:2.88 [[-6.56333208e-01 -7.54418850e-01 8.88367961e-03 6.04541257e+01] [-7.54351645e-01 6.56393320e-01 1.00700199e-02 -1.05549652e+02] [-1.34282008e-02 -9.21298818e-05 -9.99909833e-01 2.87868705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.37, Y:-105.61, Z:2.88 [[-5.97144111e-01 -8.02096323e-01 7.77176951e-03 6.03692786e+01] [-8.02030146e-01 5.97194678e-01 1.03034766e-02 -1.05614603e+02] [-1.29056401e-02 -8.05330837e-05 -9.99916716e-01 2.87766797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.29, Y:-105.69, Z:2.88 [[-5.33834698e-01 -8.45561808e-01 6.76338035e-03 6.02862247e+01] [-8.45495811e-01 5.33877535e-01 1.05646348e-02 -1.05687078e+02] [-1.25438685e-02 -7.86411141e-05 -9.99921320e-01 2.87750355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.21, Y:-105.77, Z:2.88 [[-4.66705874e-01 -8.84393844e-01 5.75815570e-03 6.02060135e+01] [-8.84328723e-01 4.66741387e-01 1.07324979e-02 -1.05770431e+02] [-1.21793246e-02 -8.31826697e-05 -9.99925826e-01 2.87667696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.13, Y:-105.86, Z:2.88 [[-3.96361301e-01 -9.18081839e-01 4.84318126e-03 6.01298686e+01] [-9.18016129e-01 3.96390879e-01 1.09844607e-02 -1.05861806e+02] [-1.20044268e-02 -9.23033748e-05 -9.99927940e-01 2.87750309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.06, Y:-105.95, Z:2.88 [[-3.21639466e-01 -9.46853225e-01 4.12596313e-03 6.00633307e+01] [-9.46780446e-01 3.21665902e-01 1.17402707e-02 -1.05953879e+02] [-1.24434948e-02 -1.30246823e-04 -9.99922568e-01 2.87734824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.00, Y:-106.06, Z:2.88 [[-2.46202179e-01 -9.69212876e-01 3.29979681e-03 6.00024284e+01] [-9.69133883e-01 2.46224244e-01 1.23748720e-02 -1.06056955e+02] [-1.28063753e-02 -1.51224447e-04 -9.99917984e-01 2.87763638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.95, Y:-106.17, Z:2.88 [[-1.69479718e-01 -9.85530639e-01 2.44640143e-03 5.99476847e+01] [-9.85442215e-01 1.69497285e-01 1.32026690e-02 -1.06167922e+02] [-1.34262932e-02 -1.73202623e-04 -9.99909848e-01 2.87932730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.90, Y:-106.28, Z:2.88 [[-9.26623060e-02 -9.95696585e-01 1.41670287e-03 5.99035861e+01] [-9.95607066e-01 9.26729734e-02 1.33525126e-02 -1.06280188e+02] [-1.34263413e-02 -1.73204778e-04 -9.99909848e-01 2.87932973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.87, Y:-106.39, Z:2.88 [[-1.42920934e-02 -9.99897786e-01 3.92850044e-04 5.98685600e+01] [-9.99800687e-01 1.42961807e-02 1.39357451e-02 -1.06393951e+02] [-1.39399369e-02 -1.93600773e-04 -9.99902816e-01 2.87885649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.17762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.84, Y:-106.51, Z:2.88 [[ 6.40057696e-02 -9.97949310e-01 -6.59963047e-04 5.98429776e+01] [-9.97859887e-01 -6.40088700e-02 1.33607927e-02 -1.06512949e+02] [-1.33756373e-02 -1.96617167e-04 -9.99910523e-01 2.87740863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.20762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.83, Y:-106.63, Z:2.88 [[ 1.41125300e-01 -9.89990422e-01 -1.61693042e-03 5.98263145e+01] [-9.89909337e-01 -1.41134438e-01 1.26718516e-02 -1.06633921e+02] [-1.27732163e-02 -1.87704345e-04 -9.99918402e-01 2.87666072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.82, Y:-106.76, Z:2.88 [[ 2.17267416e-01 -9.76109130e-01 -2.41572170e-03 5.98192100e+01] [-9.76039634e-01 -2.17280777e-01 1.16488790e-02 -1.06756650e+02] [-1.18954670e-02 -1.73081715e-04 -9.99929231e-01 2.87520538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.26762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.82, Y:-106.89, Z:2.87 [[ 2.92098829e-01 -9.56382936e-01 -3.15494743e-03 5.98224171e+01] [-9.56320959e-01 -2.92115821e-01 1.08889731e-02 -1.06885581e+02] [-1.13356381e-02 -1.63513951e-04 -9.99935736e-01 2.87440109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.29762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.83, Y:-107.00, Z:2.87 [[ 3.64918243e-01 -9.31033264e-01 -3.42596771e-03 5.98298173e+01] [-9.30988654e-01 -3.64934299e-01 9.11500814e-03 -1.06999518e+02] [-9.73662891e-03 -1.36695686e-04 -9.99952589e-01 2.87431264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.85, Y:-107.12, Z:2.88 [[ 4.35694831e-01 -9.00085524e-01 -4.00793896e-03 5.98471973e+01] [-9.00044625e-01 -4.35713245e-01 8.58146027e-03 -1.07115579e+02] [-9.47036026e-03 -1.31573963e-04 -9.99955146e-01 2.87519446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.88, Y:-107.23, Z:2.88 [[ 5.03772141e-01 -8.63824163e-01 -4.63089825e-03 5.98757581e+01] [-8.63785276e-01 -5.03793409e-01 8.19742422e-03 -1.07230650e+02] [-9.41414913e-03 -1.29532224e-04 -9.99955678e-01 2.87514001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.91, Y:-107.34, Z:2.88 [[ 5.67944135e-01 -8.23048028e-01 -5.60393694e-03 5.99104638e+01] [-8.23005744e-01 -5.67971767e-01 8.34373290e-03 -1.07339404e+02] [-1.00501709e-02 -1.26701874e-04 -9.99949488e-01 2.87667553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.96, Y:-107.45, Z:2.88 [[ 6.29080181e-01 -7.77313811e-01 -6.43152475e-03 5.99560915e+01] [-7.77271170e-01 -6.29113046e-01 8.14270301e-03 -1.07446506e+02] [-1.03755916e-02 -1.23374318e-04 -9.99946165e-01 2.87667043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.01, Y:-107.55, Z:2.88 [[ 6.86183593e-01 -7.27387703e-01 -7.69452553e-03 6.00062215e+01] [-7.27339952e-01 -6.86226722e-01 8.33546085e-03 -1.07546174e+02] [-1.13433008e-02 -1.23120643e-04 -9.99935655e-01 2.87750200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.06, Y:-107.63, Z:2.88 [[ 7.38969179e-01 -6.73680357e-01 -8.90671091e-03 6.00566478e+01] [-6.73629559e-01 -7.39022844e-01 8.27369800e-03 -1.07633860e+02] [-1.21560906e-02 -1.14184072e-04 -9.99926105e-01 2.87767268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.05, Y:-107.64, Z:2.88 [[ 7.86802186e-01 -6.17115164e-01 -1.05448887e-02 6.00536442e+01] [-6.17058526e-01 -7.86872842e-01 8.36093955e-03 -1.07638349e+02] [-1.34571491e-02 -7.15920531e-05 -9.99909446e-01 2.87856275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.537628 meters Centerline goodness [0,1] 0.9998651382333108 Centerline is valid? [True, True] Translation: X:60.05, Y:-107.64, Z:2.88 [[ 8.31034164e-01 -5.56096738e-01 -1.17743938e-02 6.00489755e+01] [-5.56040331e-01 -8.31117571e-01 7.92044971e-03 -1.07643224e+02] [-1.41904418e-02 -3.51265008e-05 -9.99899310e-01 2.88098989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.04, Y:-107.65, Z:2.88 [[ 8.70619539e-01 -4.91815035e-01 -1.18148330e-02 6.00431975e+01] [-4.91769812e-01 -8.70699702e-01 6.66938702e-03 -1.07646440e+02] [-1.35672764e-02 3.67956459e-06 -9.99907960e-01 2.87915506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.04, Y:-107.65, Z:2.88 [[ 9.04970409e-01 -4.25297736e-01 -1.22635272e-02 6.00387210e+01] [-4.25259432e-01 -9.05053498e-01 5.70803387e-03 -1.07648296e+02] [-1.35267620e-02 4.95788601e-05 -9.99908508e-01 2.87898330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.04, Y:-107.65, Z:2.88 [[ 9.34199361e-01 -3.56547692e-01 -1.20538900e-02 6.00356424e+01] [-3.56519294e-01 -9.34277119e-01 4.50090948e-03 -1.07649918e+02] [-1.28664625e-02 9.26976029e-05 -9.99917219e-01 2.87862886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.03, Y:-107.65, Z:2.88 [[ 9.57503780e-01 -2.88238788e-01 -1.02426994e-02 6.00318611e+01] [-2.88223875e-01 -9.57558552e-01 2.93542696e-03 -1.07648370e+02] [-1.06540883e-02 1.41508109e-04 -9.99943234e-01 2.87686983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.02, Y:-107.65, Z:2.88 [[ 9.76587438e-01 -2.14901421e-01 -9.71367552e-03 6.00230687e+01] [-2.14892391e-01 -9.76635733e-01 1.97633465e-03 -1.07654789e+02] [-9.91143973e-03 1.57331369e-04 -9.99950868e-01 2.87503305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.02, Y:-107.66, Z:2.87 [[ 9.90004580e-01 -1.40738062e-01 -9.15034016e-03 6.00151383e+01] [-1.40733677e-01 -9.90046851e-01 1.12458019e-03 -1.07660009e+02] [-9.21753670e-03 1.74421481e-04 -9.99957502e-01 2.87475543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.01, Y:-107.66, Z:2.87 [[ 9.97797037e-01 -6.57474818e-02 -8.85103524e-03 6.00073507e+01] [-6.57466188e-02 -9.97836275e-01 3.88757507e-04 -1.07664693e+02] [-8.85744385e-03 1.94024551e-04 -9.99960753e-01 2.87452565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.00, Y:-107.67, Z:2.87 [[ 9.99947634e-01 6.89937296e-03 -7.55835309e-03 6.00007364e+01] [ 6.89760013e-03 -9.99976177e-01 -2.60595281e-04 -1.07672197e+02] [-7.55997098e-03 2.08447137e-04 -9.99971401e-01 2.87242127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.99, Y:-107.68, Z:2.87 [[ 9.96549905e-01 8.27085003e-02 -6.89859111e-03 5.99929563e+01] [ 8.27050695e-02 -9.96573761e-01 -7.81607885e-04 -1.07678984e+02] [-6.93960050e-03 2.08362806e-04 -9.99975899e-01 2.87210960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.99, Y:-107.69, Z:2.87 [[ 9.87373600e-01 1.58303413e-01 -5.77962495e-03 5.99877320e+01] [ 1.58299572e-01 -9.87390497e-01 -1.11899659e-03 -1.07692809e+02] [-5.88388773e-03 1.89955535e-04 -9.99982672e-01 2.87110221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.98, Y:-107.71, Z:2.87 [[ 9.72626810e-01 2.32330569e-01 -4.42665617e-03 5.99823529e+01] [ 2.32327403e-01 -9.72636870e-01 -1.22361361e-03 -1.07705289e+02] [-4.58981184e-03 1.61685868e-04 -9.99989454e-01 2.87090499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.98, Y:-107.72, Z:2.87 [[ 9.51578524e-01 3.07377205e-01 -4.19120914e-03 5.99790860e+01] [ 3.07373484e-01 -9.51587741e-01 -1.52078512e-03 -1.07717775e+02] [-4.45575791e-03 1.58879899e-04 -9.99990060e-01 2.87102844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.98, Y:-107.73, Z:2.87 [[ 9.24556535e-01 3.81022017e-01 -4.17561266e-03 5.99768335e+01] [ 3.81017329e-01 -9.24565950e-01 -1.89708005e-03 -1.07730443e+02] [-4.58345856e-03 1.62976974e-04 -9.99989483e-01 2.87134941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.95762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.98, Y:-107.74, Z:2.87 [[ 8.91547909e-01 4.52909170e-01 -3.95087208e-03 5.99752187e+01] [ 4.52903935e-01 -8.91556650e-01 -2.18312206e-03 -1.07742524e+02] [-4.51118227e-03 1.56992398e-04 -9.99989812e-01 2.87176262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.97, Y:-107.76, Z:2.87 [[ 8.52091947e-01 5.23376761e-01 -4.00990509e-03 5.99748279e+01] [ 5.23370100e-01 -8.52101368e-01 -2.64521012e-03 -1.07756397e+02] [-4.80128712e-03 1.55297810e-04 -9.99988462e-01 2.87251389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.01762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.97, Y:-107.77, Z:2.87 [[ 8.07321550e-01 5.90095680e-01 -4.35929405e-03 5.99732153e+01] [ 5.90085944e-01 -8.07333302e-01 -3.39371997e-03 -1.07767792e+02] [-5.52202276e-03 1.67465118e-04 -9.99984740e-01 2.87260182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.97, Y:-107.78, Z:2.87 [[ 7.57424542e-01 6.52907922e-01 -4.39424167e-03 5.99738368e+01] [ 6.52895621e-01 -7.57437269e-01 -4.01130441e-03 -1.07778019e+02] [-5.94737484e-03 1.69279260e-04 -9.99982300e-01 2.87287001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.97, Y:-107.79, Z:2.87 [[ 7.02283972e-01 7.11883100e-01 -4.43556179e-03 5.99737865e+01] [ 7.11867360e-01 -7.02297959e-01 -4.73701175e-03 -1.07789097e+02] [-6.48728461e-03 1.69195767e-04 -9.99978943e-01 2.87360660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.98, Y:-107.80, Z:2.87 [[ 6.41253180e-01 7.67318728e-01 -4.04086464e-03 5.99774164e+01] [ 7.67302076e-01 -6.41265896e-01 -5.05717317e-03 -1.07801584e+02] [-6.47173237e-03 1.42364547e-04 -9.99979048e-01 2.87486248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.98, Y:-107.81, Z:2.88 [[ 5.77892227e-01 8.16104273e-01 -3.79341981e-03 5.99778607e+01] [ 8.16085101e-01 -5.77904661e-01 -5.59565255e-03 -1.07810079e+02] [-6.75887095e-03 1.37930726e-04 -9.99977149e-01 2.87529296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.98, Y:-107.82, Z:2.88 [[ 5.10963730e-01 8.59596544e-01 -3.13818989e-03 5.99783712e+01] [ 8.59578864e-01 -5.10973352e-01 -5.51446784e-03 -1.07817306e+02] [-6.34374891e-03 1.20171349e-04 -9.99979871e-01 2.87557238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.98, Y:-107.82, Z:2.88 [[ 4.40952280e-01 8.97526814e-01 -2.58931711e-03 5.99790272e+01] [ 8.97509876e-01 -4.40959869e-01 -5.51507321e-03 -1.07823611e+02] [-6.09171102e-03 1.07946425e-04 -9.99981440e-01 2.87570946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.98, Y:-107.83, Z:2.87 [[ 3.67719697e-01 9.29934996e-01 -1.76879114e-03 5.99790199e+01] [ 9.29923161e-01 -3.67723942e-01 -4.69218305e-03 -1.07831219e+02] [-5.01385208e-03 8.05682746e-05 -9.99987427e-01 2.87477282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.98, Y:-107.84, Z:2.87 [[ 2.93208978e-01 9.56047410e-01 -1.35804797e-03 5.99762929e+01] [ 9.56035931e-01 -2.93212114e-01 -4.68565211e-03 -1.07836572e+02] [-4.87790168e-03 7.55326169e-05 -9.99988100e-01 2.87384861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.97, Y:-107.84, Z:2.87 [[ 2.16819593e-01 9.76211221e-01 -9.56922930e-04 5.99735181e+01] [ 9.76200230e-01 -2.16821693e-01 -4.63289542e-03 -1.07842642e+02] [-4.73016615e-03 7.03541140e-05 -9.99988810e-01 2.87338665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.97, Y:-107.85, Z:2.87 [[ 1.39301026e-01 9.90249933e-01 -5.41809935e-04 5.99710573e+01] [ 9.90240591e-01 -1.39302066e-01 -4.30199726e-03 -1.07848384e+02] [-4.33552775e-03 6.27504428e-05 -9.99990600e-01 2.87328446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.97, Y:-107.86, Z:2.87 [[ 6.03360020e-02 9.98178114e-01 -1.37979359e-04 5.99707714e+01] [ 9.98173753e-01 -6.03361462e-02 -2.95092152e-03 -1.07855613e+02] [-2.95387043e-03 4.03194319e-05 -9.99995637e-01 2.87342455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.97, Y:-107.86, Z:2.87 [[-1.87361428e-02 9.99824459e-01 8.49402071e-05 5.99672375e+01] [ 9.99820873e-01 1.87363032e-02 -2.67826099e-03 -1.07862082e+02] [-2.67938231e-03 3.47447115e-05 -9.99996410e-01 2.87321986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.96, Y:-107.87, Z:2.87 [[-9.74586143e-02 9.95239552e-01 2.29966078e-04 5.99630799e+01] [ 9.95237385e-01 9.74588821e-02 -2.07711243e-03 -1.07868023e+02] [-2.08963668e-03 2.64383386e-05 -9.99997816e-01 2.87305920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.96, Y:-107.88, Z:2.87 [[-1.75720550e-01 9.84439978e-01 4.66963801e-04 5.99580233e+01] [ 9.84436939e-01 1.75721168e-01 -2.44614196e-03 -1.07875633e+02] [-2.49013536e-03 2.98590044e-05 -9.99996899e-01 2.87301957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.97, Y:-107.88, Z:2.87 [[-2.52852654e-01 9.67504462e-01 8.06758542e-04 5.99724085e+01] [ 9.67499965e-01 2.52853939e-01 -2.95013219e-03 -1.07876799e+02] [-3.05825813e-03 3.45901081e-05 -9.99995323e-01 2.87258406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.98, Y:-107.88, Z:2.87 [[-3.28368289e-01 9.44548883e-01 1.29389977e-03 5.99827803e+01] [ 9.44542034e-01 3.28370836e-01 -3.59732958e-03 -1.07878462e+02] [-3.82273258e-03 4.08937623e-05 -9.99992693e-01 2.87283195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.99, Y:-107.88, Z:2.87 [[-4.01664707e-01 9.15784769e-01 1.92867807e-03 5.99932522e+01] [ 9.15774782e-01 4.01669334e-01 -4.27721595e-03 -1.07878732e+02] [-4.69170006e-03 4.82280493e-05 -9.99988993e-01 2.87373177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.00, Y:-107.88, Z:2.87 [[-4.72345630e-01 8.81409172e-01 2.73443003e-03 6.00026569e+01] [ 8.81395095e-01 4.72353542e-01 -4.98171977e-03 -1.07878446e+02] [-5.68255121e-03 5.70196472e-05 -9.99983853e-01 2.87470072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.01, Y:-107.88, Z:2.88 [[-5.40173636e-01 8.41544792e-01 3.84777459e-03 6.00123875e+01] [ 8.41524337e-01 5.40187336e-01 -5.86795083e-03 -1.07877277e+02] [-7.01666257e-03 6.82836246e-05 -9.99975381e-01 2.87580006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.02, Y:-107.88, Z:2.88 [[-6.04112227e-01 7.96886488e-01 4.51030527e-03 6.00207402e+01] [ 7.96865194e-01 6.04129059e-01 -5.82603111e-03 -1.07877168e+02] [-7.36749194e-03 7.45286569e-05 -9.99972857e-01 2.87613720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.03, Y:-107.87, Z:2.88 [[-6.63650635e-01 7.48025822e-01 5.02034106e-03 6.00316804e+01] [ 7.48005390e-01 6.63669618e-01 -5.52949702e-03 -1.07872838e+02] [-7.46805439e-03 8.55879620e-05 -9.99972110e-01 2.87533349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.04, Y:-107.87, Z:2.88 [[-7.18785256e-01 6.95212130e-01 5.27738337e-03 6.00408886e+01] [ 6.95194388e-01 7.18804622e-01 -4.96767915e-03 -1.07869628e+02] [-7.24699836e-03 9.81127733e-05 -9.99973735e-01 2.87552370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.70762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.06, Y:-107.85, Z:2.88 [[-7.62866334e-01 6.46529302e-01 5.90062909e-03 6.00604476e+01] [ 6.46511390e-01 7.62889141e-01 -4.81476619e-03 -1.07853465e+02] [-7.61441328e-03 1.41800881e-04 -9.99971000e-01 2.87590757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.73762800000003 meters Centerline goodness [0,1] 0.9998254570842606 Centerline is valid? [True, True] Translation: X:60.08, Y:-107.84, Z:2.88 [[-8.04687499e-01 5.93650717e-01 7.54027130e-03 6.00834782e+01] [ 5.93626994e-01 8.04722800e-01 -5.31102966e-03 -1.07838547e+02] [-9.22072480e-03 2.02389409e-04 -9.99957468e-01 2.87916999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.76762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.10, Y:-107.82, Z:2.88 [[-8.43345943e-01 5.37313953e-01 7.83173560e-03 6.01003854e+01] [ 5.37293230e-01 8.43382277e-01 -4.72432743e-03 -1.07817215e+02] [-9.14359405e-03 2.23696149e-04 -9.99958171e-01 2.87648376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.12, Y:-107.80, Z:2.88 [[-8.76437525e-01 4.81429944e-01 9.08149400e-03 6.01204616e+01] [ 4.81407730e-01 8.76484520e-01 -4.63508984e-03 -1.07801742e+02] [-1.01912599e-02 3.09534747e-04 -9.99948020e-01 2.87640533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.13, Y:-107.78, Z:2.88 [[-9.07382083e-01 4.20199406e-01 9.49810898e-03 6.01324980e+01] [ 4.20180241e-01 9.07431731e-01 -4.02725980e-03 -1.07778281e+02] [-1.03111376e-02 3.36654338e-04 -9.99946782e-01 2.87607111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.857628 meters Centerline goodness [0,1] 0.9998467365839774 Centerline is valid? [True, True] Translation: X:60.15, Y:-107.75, Z:2.88 [[-9.34021673e-01 3.57057523e-01 1.06508003e-02 6.01477624e+01] [ 3.57039091e-01 9.34082314e-01 -3.64939048e-03 -1.07754983e+02] [-1.12517665e-02 3.94142257e-04 -9.99936619e-01 2.87799491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.16, Y:-107.73, Z:2.88 [[-9.56759072e-01 2.90684079e-01 1.07165726e-02 6.01575534e+01] [ 2.90670467e-01 9.56819005e-01 -2.84088224e-03 -1.07729076e+02] [-1.10796195e-02 3.96951300e-04 -9.99938540e-01 2.87596901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.37, Y:-106.97, Z:1.98 [[-9.58063818e-01 -2.86346565e-01 1.09254527e-02 6.03667864e+01] [ 2.86323342e-01 -9.58126034e-01 -3.66707878e-03 -1.06974853e+02] [ 1.15180161e-02 -3.85083364e-04 9.99933591e-01 1.97836383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.947628 meters Centerline goodness [0,1] 0.9998469978798278 Centerline is valid? [True, True] Translation: X:60.11, Y:-107.72, Z:2.88 [[-9.57803651e-01 2.87204288e-01 1.12188892e-02 6.01085148e+01] [ 2.87189680e-01 9.57869261e-01 -2.92678409e-03 -1.07716535e+02] [-1.15868140e-02 4.18664695e-04 -9.99932783e-01 2.87832215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.12, Y:-107.69, Z:2.88 [[-9.76099950e-01 2.17077084e-01 1.03163553e-02 6.01167736e+01] [ 2.17068885e-01 9.76154397e-01 -1.92149299e-03 -1.07688818e+02] [-1.04874677e-02 3.63790540e-04 -9.99944939e-01 2.87528066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.27, Y:-106.93, Z:1.98 [[-9.76485149e-01 -2.15343948e-01 1.01851521e-02 6.02656313e+01] [ 2.15328342e-01 -9.76538198e-01 -2.61783868e-03 -1.06925291e+02] [ 1.05099258e-02 -3.63128688e-04 9.99944703e-01 1.98019436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.06, Y:-107.68, Z:2.87 [[-9.77372352e-01 2.11308941e-01 9.58212277e-03 6.00621237e+01] [ 2.11301999e-01 9.77419269e-01 -1.74265660e-03 -1.07676164e+02] [-9.73399036e-03 3.21497319e-04 -9.99952572e-01 2.87422179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.20, Y:-106.92, Z:1.98 [[-9.76561987e-01 -2.15042855e-01 9.12448422e-03 6.02008710e+01] [ 2.15030280e-01 -9.76604557e-01 -2.34915873e-03 -1.06918386e+02] [ 9.41618267e-03 -3.32058725e-04 9.99955612e-01 1.98186496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.09762800000001 meters Centerline goodness [0,1] 0.9998472816127062 Centerline is valid? [True, True] Translation: X:60.00, Y:-107.66, Z:2.88 [[-9.79767343e-01 1.99950232e-01 8.70970767e-03 6.00029562e+01] [ 1.99944384e-01 9.79806028e-01 -1.54598565e-03 -1.07661372e+02] [-8.84294427e-03 2.26750881e-04 -9.99960875e-01 2.87509429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.14, Y:-106.91, Z:1.98 [[-9.75588176e-01 -2.19491741e-01 7.14747649e-03 6.01392379e+01] [ 2.19483680e-01 -9.75614316e-01 -1.90288966e-03 -1.06912495e+02] [ 7.39084895e-03 -2.87682204e-04 9.99972646e-01 1.98382513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.94, Y:-107.65, Z:2.87 [[-9.81893722e-01 1.89311355e-01 6.77719447e-03 5.99431174e+01] [ 1.89307761e-01 9.81917101e-01 -1.17380401e-03 -1.07647147e+02] [-6.87685758e-03 1.30424726e-04 -9.99976346e-01 2.87186692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.95, Y:-107.62, Z:2.87 [[-9.93232198e-01 1.15965894e-01 6.45843971e-03 5.99458752e+01] [ 1.15964115e-01 9.93253191e-01 -6.50541213e-04 -1.07617732e+02] [-6.49030644e-03 1.02808766e-04 -9.99978932e-01 2.87243445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.03, Y:-106.87, Z:1.98 [[-9.87499231e-01 -1.57497748e-01 6.30305821e-03 6.00257170e+01] [ 1.57493843e-01 -9.87519340e-01 -1.11438418e-03 -1.06872835e+02] [ 6.39990489e-03 -1.07760660e-04 9.99979515e-01 1.98297832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.88, Y:-107.61, Z:2.87 [[-9.94661707e-01 1.02985897e-01 6.48026143e-03 5.98787449e+01] [ 1.02984027e-01 9.94682815e-01 -6.22537688e-04 -1.07606809e+02] [-6.50991729e-03 4.81490174e-05 -9.99978809e-01 2.87243008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.87, Y:-107.58, Z:2.87 [[-9.99530907e-01 2.98562155e-02 6.82442396e-03 5.98735510e+01] [ 2.98557588e-02 9.99554203e-01 -1.68813669e-04 -1.07577887e+02] [-6.82642179e-03 3.50138760e-05 -9.99976699e-01 2.87270798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.87, Y:-107.55, Z:2.87 [[-9.98950595e-01 -4.53227182e-02 6.59992568e-03 5.98676442e+01] [-4.53216822e-02 9.98972398e-01 3.06520842e-04 -1.07548309e+02] [-6.60703594e-03 7.07944305e-06 -9.99978173e-01 2.87239216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.84, Y:-106.81, Z:1.98 [[-9.99737628e-01 -2.18570905e-02 6.85150352e-03 5.98434469e+01] [ 2.18566420e-02 -9.99761105e-01 -1.40348110e-04 -1.06811253e+02] [ 6.85293433e-03 9.43957264e-06 9.99976518e-01 1.98262142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.77, Y:-107.55, Z:2.87 [[-9.98540650e-01 -5.35368579e-02 7.09761249e-03 5.97740997e+01] [-5.35355627e-02 9.98565874e-01 3.72483704e-04 -1.07552414e+02] [-7.10737523e-03 -8.03455870e-06 -9.99974742e-01 2.87335470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.77, Y:-107.53, Z:2.87 [[-9.92125576e-01 -1.24962310e-01 8.44174008e-03 5.97696651e+01] [-1.24957905e-01 9.92161489e-01 1.04941302e-03 -1.07526470e+02] [-8.50670649e-03 -1.37126527e-05 -9.99963817e-01 2.87364389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.42762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.75, Y:-107.50, Z:2.88 [[-9.80592128e-01 -1.95804324e-01 9.98721898e-03 5.97515989e+01] [-1.95794365e-01 9.80642986e-01 1.97487851e-03 -1.07504688e+02] [-1.01805860e-02 -1.88908789e-05 -9.99948176e-01 2.87549083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.45762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.72, Y:-107.48, Z:2.88 [[-9.63864320e-01 -2.66208967e-01 9.91762027e-03 5.97231171e+01] [-2.66195069e-01 9.63915341e-01 2.72022977e-03 -1.07484500e+02] [-1.02838959e-02 -1.80892015e-05 -9.99947119e-01 2.87511105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.67, Y:-107.47, Z:2.88 [[-9.41796266e-01 -3.36050046e-01 9.49519744e-03 5.96683222e+01] [-3.36033148e-01 9.41844130e-01 3.37010080e-03 -1.07474125e+02] [-1.00755185e-02 -1.67527385e-05 -9.99949241e-01 2.87573738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.51762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.61, Y:-107.47, Z:2.88 [[-9.14336961e-01 -4.04851415e-01 9.12433200e-03 5.96066399e+01] [-4.04831453e-01 9.14382486e-01 4.02035336e-03 -1.07470481e+02] [-9.97077513e-03 -1.78589113e-05 -9.99950290e-01 2.87616491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.53, Y:-107.48, Z:2.88 [[-8.81496150e-01 -4.72118616e-01 8.27947434e-03 5.95340955e+01] [-4.72098011e-01 8.81535032e-01 4.41082013e-03 -1.07478572e+02] [-9.38107697e-03 -2.06024078e-05 -9.99955997e-01 2.87620768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.45, Y:-107.50, Z:2.88 [[-8.43509350e-01 -5.37055971e-01 7.92850058e-03 5.94539144e+01] [-5.37032511e-01 8.43546610e-01 5.01982794e-03 -1.07495399e+02] [-9.38398835e-03 -2.35907763e-05 -9.99955969e-01 2.87665884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.37, Y:-107.52, Z:2.88 [[-8.00071561e-01 -5.99846616e-01 8.33870388e-03 5.93730490e+01] [-5.99814510e-01 8.00115014e-01 6.20624442e-03 -1.07522947e+02] [-1.03947169e-02 -3.62359161e-05 -9.99945973e-01 2.87664661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.28, Y:-107.56, Z:2.88 [[-7.52123138e-01 -6.58975259e-01 7.89902254e-03 5.92829901e+01] [-6.58939491e-01 7.52164614e-01 6.86587238e-03 -1.07562051e+02] [-1.04658053e-02 -4.09964153e-05 -9.99945231e-01 2.87707111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.20, Y:-107.61, Z:2.88 [[-6.99680163e-01 -7.14419740e-01 7.21832073e-03 5.91982414e+01] [-7.14382348e-01 6.99717395e-01 7.30942970e-03 -1.07606222e+02] [-1.02727854e-02 -4.23779475e-05 -9.99947233e-01 2.87742236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.11, Y:-107.66, Z:2.88 [[-6.43207945e-01 -7.65658816e-01 7.07931747e-03 5.91120323e+01] [-7.65613209e-01 6.43246901e-01 8.35699451e-03 -1.07662195e+02] [-1.09523555e-02 -4.47337030e-05 -9.99940020e-01 2.87792745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.03, Y:-107.73, Z:2.88 [[-5.83020138e-01 -8.12431489e-01 6.52638700e-03 5.90271115e+01] [-8.12381389e-01 5.83056664e-01 9.02244779e-03 -1.07729465e+02] [-1.11353741e-02 -4.16465842e-05 -9.99937999e-01 2.87851944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.95, Y:-107.81, Z:2.88 [[-5.19360570e-01 -8.54533446e-01 6.09818041e-03 5.89459780e+01] [-8.54475405e-01 5.19396369e-01 9.95957910e-03 -1.07806148e+02] [-1.16781662e-02 -3.81324934e-05 -9.99931807e-01 2.87889288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.87, Y:-107.89, Z:2.88 [[-4.53085594e-01 -8.91449178e-01 5.63990418e-03 5.88729995e+01] [-8.91380862e-01 4.53120694e-01 1.10361495e-02 -1.07892425e+02] [-1.23937237e-02 -2.69823034e-05 -9.99923195e-01 2.87860018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.80, Y:-107.99, Z:2.88 [[-3.83524201e-01 -9.23517989e-01 4.86943765e-03 5.88020550e+01] [-9.23444243e-01 3.83555112e-01 1.16707446e-02 -1.07987000e+02] [-1.26458403e-02 -2.06411746e-05 -9.99920038e-01 2.87865401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.74, Y:-108.09, Z:2.88 [[-3.12008236e-01 -9.50071267e-01 3.93029885e-03 5.87389420e+01] [-9.49996236e-01 3.12032990e-01 1.19400532e-02 -1.08086809e+02] [-1.25702843e-02 -8.37418250e-06 -9.99920991e-01 2.87853308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.68, Y:-108.19, Z:2.88 [[-2.38765822e-01 -9.71072576e-01 2.98898332e-03 5.86841026e+01] [-9.70996155e-01 2.38784530e-01 1.21825491e-02 -1.08189220e+02] [-1.25438624e-02 6.48505183e-06 -9.99921323e-01 2.87845606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.64, Y:-108.30, Z:2.88 [[-1.65319867e-01 -9.86237976e-01 1.99881577e-03 5.86394964e+01] [-9.86163169e-01 1.65331946e-01 1.21470539e-02 -1.08297400e+02] [-1.23103539e-02 3.69908425e-05 -9.99924224e-01 2.87877648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.60, Y:-108.41, Z:2.88 [[-8.84766243e-02 -9.96077744e-01 1.00769390e-03 5.85977322e+01] [-9.96008392e-01 8.84823552e-02 1.17539562e-02 -1.08414245e+02] [-1.17970173e-02 3.62787906e-05 -9.99930412e-01 2.87808137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.56, Y:-108.53, Z:2.88 [[-1.01650200e-02 -9.99948331e-01 8.35624945e-05 5.85636596e+01] [-9.99893363e-01 1.01653374e-02 1.04847124e-02 -1.08533087e+02] [-1.04850201e-02 2.30237280e-05 -9.99945030e-01 2.87739777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.54, Y:-108.65, Z:2.88 [[ 6.80776696e-02 -9.97679784e-01 -6.92711925e-04 5.85392374e+01] [-9.97630303e-01 -6.80811923e-02 9.93628301e-03 -1.08653333e+02] [-9.96038934e-03 1.46314155e-05 -9.99950394e-01 2.87631081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.02762800000002 meters Centerline goodness [0,1] 0.9998191845221951 Centerline is valid? [True, True] Translation: X:58.53, Y:-108.77, Z:2.88 [[ 1.45312969e-01 -9.89384293e-01 -1.69180034e-03 5.85250210e+01] [-9.89318492e-01 -1.45322817e-01 1.14105630e-02 -1.08771536e+02] [-1.15352890e-02 1.56265643e-05 -9.99933466e-01 2.87959428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.52, Y:-108.89, Z:2.88 [[ 2.21480646e-01 -9.75161786e-01 -2.41149266e-03 5.85197611e+01] [-9.75104653e-01 -2.21493774e-01 1.05557532e-02 -1.08893790e+02] [-1.08276978e-02 1.35626647e-05 -9.99941379e-01 2.87707145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.52, Y:-109.02, Z:2.88 [[ 2.96706310e-01 -9.54963201e-01 -3.26353702e-03 5.85238918e+01] [-9.54905804e-01 -2.96724257e-01 1.04700025e-02 -1.09015946e+02] [-1.09668377e-02 9.85464123e-06 -9.99939862e-01 2.87762194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.54, Y:-109.14, Z:2.88 [[ 3.70261182e-01 -9.28917916e-01 -4.26178481e-03 5.85353736e+01] [-9.28856479e-01 -3.70285708e-01 1.06834690e-02 -1.09135200e+02] [-1.15021438e-02 2.91257666e-06 -9.99933848e-01 2.87814966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.56, Y:-109.26, Z:2.88 [[ 4.40701638e-01 -8.97638522e-01 -5.21048023e-03 5.85576733e+01] [-8.97575965e-01 -4.40732439e-01 1.05973785e-02 -1.09256070e+02] [-1.18090428e-02 6.51976204e-06 -9.99930271e-01 2.87872588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.17762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.59, Y:-109.37, Z:2.88 [[ 5.08202441e-01 -8.61213566e-01 -6.43996324e-03 5.85864607e+01] [-8.61144789e-01 -5.08243243e-01 1.08838508e-02 -1.09369103e+02] [-1.26463878e-02 1.45412504e-05 -9.99920031e-01 2.88019479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.20762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.62, Y:-109.48, Z:2.88 [[ 5.71788841e-01 -8.20364403e-01 -7.73098465e-03 5.86237705e+01] [-8.20290281e-01 -5.71841102e-01 1.10276549e-02 -1.09477381e+02] [-1.34675903e-02 3.61615590e-05 -9.99909307e-01 2.88077579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.67, Y:-109.58, Z:2.88 [[ 6.29697537e-01 -7.76791097e-01 -8.75237283e-03 5.86675105e+01] [-7.76718278e-01 -6.29758352e-01 1.06365208e-02 -1.09577224e+02] [-1.37742346e-02 1.00336973e-04 -9.99905126e-01 2.88072509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.26762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.72, Y:-109.68, Z:2.88 [[ 6.85829807e-01 -7.27699773e-01 -9.51395944e-03 5.87198904e+01] [-7.27632414e-01 -6.85895781e-01 9.90190530e-03 -1.09676665e+02] [-1.37311989e-02 1.31643463e-04 -9.99905714e-01 2.88031182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.29762800000003 meters Centerline goodness [0,1] 0.9998646056639964 Centerline is valid? [True, True] Translation: X:58.77, Y:-109.77, Z:2.88 [[ 7.37664852e-01 -6.75085811e-01 -1.04744843e-02 5.87735959e+01] [-6.75021084e-01 -7.37739194e-01 9.34974261e-03 -1.09765652e+02] [-1.40393162e-02 1.73521289e-04 -9.99901429e-01 2.88251065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.77, Y:-109.77, Z:2.88 [[ 7.85353007e-01 -6.18962936e-01 -1.02731613e-02 5.87694396e+01] [-6.18913587e-01 -7.85420166e-01 7.81889452e-03 -1.09770483e+02] [-1.29083540e-02 2.17606795e-04 -9.99916660e-01 2.87918723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.76, Y:-109.77, Z:2.88 [[ 8.29938563e-01 -5.57755966e-01 -1.05006286e-02 5.87631482e+01] [-5.57714985e-01 -8.30004954e-01 6.76545592e-03 -1.09773973e+02] [-1.24890472e-02 2.41445161e-04 -9.99921980e-01 2.87878225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.76, Y:-109.78, Z:2.88 [[ 8.69845895e-01 -4.93222955e-01 -9.96166881e-03 5.87563016e+01] [-4.93193826e-01 -8.69902900e-01 5.36603911e-03 -1.09780184e+02] [-1.13123383e-02 2.45406456e-04 -9.99935983e-01 2.87784890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.75, Y:-109.79, Z:2.88 [[ 9.04882396e-01 -4.25565308e-01 -9.05639350e-03 5.87497337e+01] [-4.25546582e-01 -9.04927684e-01 3.99913642e-03 -1.09786141e+02] [-9.89727492e-03 2.35169158e-04 -9.99950993e-01 2.87705846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.74, Y:-109.79, Z:2.88 [[ 9.34765518e-01 -3.55183283e-01 -7.63299322e-03 5.87432851e+01] [-3.55173240e-01 -9.34796658e-01 2.67891768e-03 -1.09794880e+02] [-8.08680333e-03 2.06875061e-04 -9.99967280e-01 2.87552271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.74, Y:-109.80, Z:2.87 [[ 9.59179115e-01 -2.82767418e-01 -4.24419485e-03 5.87371151e+01] [-2.82765207e-01 -9.59188497e-01 1.12491578e-03 -1.09803447e+02] [-4.38907241e-03 1.21114908e-04 -9.99990361e-01 2.87277990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.73, Y:-109.81, Z:2.87 [[ 9.78275667e-01 -2.07291522e-01 -2.63536485e-03 5.87278575e+01] [-2.07290978e-01 -9.78279213e-01 4.80838869e-04 -1.09811256e+02] [-2.67779647e-03 7.58943922e-05 -9.99996412e-01 2.87172314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.72, Y:-109.82, Z:2.87 [[ 9.91493384e-01 -1.30144846e-01 -1.78556332e-03 5.87203300e+01] [-1.30144729e-01 -9.91494991e-01 1.82334554e-04 -1.09821410e+02] [-1.79410699e-03 5.15981511e-05 -9.99998389e-01 2.87154659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.71, Y:-109.83, Z:2.87 [[ 9.98676749e-01 -5.13992040e-02 -1.69499381e-03 5.87124172e+01] [-5.13992108e-02 -9.98678186e-01 3.95728689e-05 -1.09830311e+02] [-1.69478735e-03 4.76008399e-05 -9.99998563e-01 2.87129021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.70, Y:-109.84, Z:2.87 [[ 9.99548724e-01 2.98819639e-02 -3.06854694e-03 5.87048574e+01] [ 2.98815903e-02 -9.99553432e-01 -1.67538954e-04 -1.09840400e+02] [-3.07218302e-03 7.57702849e-05 -9.99995278e-01 2.87270580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.70, Y:-109.85, Z:2.87 [[ 9.93900327e-01 1.10219970e-01 -3.70112550e-03 5.86994677e+01] [ 1.10218893e-01 -9.93907215e-01 -4.94378035e-04 -1.09851331e+02] [-3.73306567e-03 8.34285363e-05 -9.99993029e-01 2.87386994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.69, Y:-109.86, Z:2.87 [[ 9.81739850e-01 1.90155129e-01 -5.28143620e-03 5.86936556e+01] [ 1.90151793e-01 -9.81754050e-01 -1.13142005e-03 -1.09860940e+02] [-5.40021671e-03 1.06485588e-04 -9.99985413e-01 2.87497731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.69, Y:-109.87, Z:2.88 [[ 9.62450879e-01 2.71349964e-01 -7.58305324e-03 5.86907609e+01] [ 2.71340600e-01 -9.62480745e-01 -2.25715377e-03 -1.09872761e+02] [-7.91102132e-03 1.14809409e-04 -9.99968701e-01 2.87722970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.69, Y:-109.88, Z:2.88 [[ 9.37510366e-01 3.47871737e-01 -7.71810439e-03 5.86870688e+01] [ 3.47859049e-01 -9.37542129e-01 -2.97278811e-03 -1.09882742e+02] [-8.27019699e-03 1.02207218e-04 -9.99965796e-01 2.87825067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.69, Y:-109.89, Z:2.88 [[ 9.06564269e-01 4.21990192e-01 -8.09347026e-03 5.86850926e+01] [ 4.21972461e-01 -9.06600391e-01 -3.86951290e-03 -1.09891622e+02] [-8.97043980e-03 9.27405640e-05 -9.99959761e-01 2.87881934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.68, Y:-109.90, Z:2.88 [[ 8.69888506e-01 4.93188186e-01 -7.70716225e-03 5.86833191e+01] [ 4.93168051e-01 -8.69922645e-01 -4.45704851e-03 -1.09899596e+02] [-8.90279864e-03 7.62090836e-05 -9.99960366e-01 2.87932252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.68, Y:-109.91, Z:2.88 [[ 8.26883204e-01 5.62333246e-01 -6.74442525e-03 5.86804254e+01] [ 5.62314098e-01 -8.26910707e-01 -4.64078975e-03 -1.09907622e+02] [-8.18670782e-03 4.49056940e-05 -9.99966487e-01 2.87893793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.68, Y:-109.91, Z:2.88 [[ 7.79757868e-01 6.26049707e-01 -6.27947984e-03 5.86778839e+01] [ 6.26029028e-01 -7.79783151e-01 -5.08860322e-03 -1.09913189e+02] [-8.08235113e-03 3.67417341e-05 -9.99967337e-01 2.87828635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.67, Y:-109.92, Z:2.88 [[ 7.27899411e-01 6.85662122e-01 -5.46825866e-03 5.86734428e+01] [ 6.85642469e-01 -7.27919950e-01 -5.19142129e-03 -1.09919197e+02] [-7.54001551e-03 2.95621281e-05 -9.99971573e-01 2.87747672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.67, Y:-109.93, Z:2.88 [[ 6.71775345e-01 7.40740271e-01 -4.66233228e-03 5.86682817e+01] [ 7.40722167e-01 -6.71791523e-01 -5.17877628e-03 -1.09925126e+02] [-6.96824345e-03 2.54813485e-05 -9.99975721e-01 2.87682887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.66, Y:-109.93, Z:2.88 [[ 6.11690243e-01 7.91085994e-01 -4.24239529e-03 5.86643257e+01] [ 7.91066678e-01 -6.11704954e-01 -5.52811607e-03 -1.09931034e+02] [-6.96830941e-03 2.54771153e-05 -9.99975721e-01 2.87682945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.95762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.66, Y:-109.94, Z:2.87 [[ 5.48003405e-01 8.36471884e-01 -2.65636537e-03 5.86634539e+01] [ 8.36461888e-01 -5.48009842e-01 -4.08932407e-03 -1.09938323e+02] [-4.87631897e-03 1.90151205e-05 -9.99988111e-01 2.87414609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.66, Y:-109.95, Z:2.87 [[ 4.81094573e-01 8.76666846e-01 -1.80379365e-03 5.86631440e+01] [ 8.76660556e-01 -4.81097954e-01 -3.32095745e-03 -1.09946436e+02] [-3.77917473e-03 1.63798673e-05 -9.99992859e-01 2.87289564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.01762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.66, Y:-109.95, Z:2.87 [[ 4.10829849e-01 9.11711127e-01 -1.28653792e-03 5.86647594e+01] [ 9.11706554e-01 -4.10831863e-01 -2.88775266e-03 -1.09954868e+02] [-3.16134700e-03 1.34299392e-05 -9.99995003e-01 2.87159748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.67, Y:-109.96, Z:2.87 [[ 3.37944866e-01 9.41165397e-01 -9.81451074e-04 5.86657559e+01] [ 9.41161324e-01 -3.37946291e-01 -2.76887414e-03 -1.09963864e+02] [-2.93764628e-03 1.20230076e-05 -9.99995685e-01 2.87125410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.67, Y:-109.97, Z:2.87 [[ 2.62477800e-01 9.64937546e-01 -9.68159003e-04 5.86698146e+01] [ 9.64930810e-01 -2.62479586e-01 -3.60531469e-03 -1.09972506e+02] [-3.73302549e-03 1.21086194e-05 -9.99993032e-01 2.87175706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.67, Y:-109.98, Z:2.87 [[ 1.85610965e-01 9.82622897e-01 -9.01437690e-04 5.86734671e+01] [ 9.82610965e-01 -1.85613153e-01 -4.84248495e-03 -1.09982021e+02] [-4.92565528e-03 1.30557445e-05 -9.99987869e-01 2.87313453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.68, Y:-109.99, Z:2.87 [[ 1.07472527e-01 9.94207841e-01 -6.52119580e-04 5.86797765e+01] [ 9.94188842e-01 -1.07474505e-01 -6.14638919e-03 -1.09990937e+02] [-6.18087455e-03 1.22379710e-05 -9.99980898e-01 2.87355053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.167628 meters Centerline goodness [0,1] 0.9998654406817672 Centerline is valid? [True, True] Translation: X:58.69, Y:-110.00, Z:2.88 [[ 2.92766459e-02 9.99571321e-01 -2.28935485e-04 5.86850099e+01] [ 9.99536367e-01 -2.92775367e-02 -8.35918564e-03 -1.10000457e+02] [-8.36230490e-03 1.58995753e-05 -9.99965035e-01 2.87734615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.69, Y:-110.01, Z:2.88 [[-5.04621449e-02 9.98725867e-01 4.63510996e-04 5.86905325e+01] [ 9.98684574e-01 5.04642733e-02 -9.08176681e-03 -1.10008739e+02] [-9.09358617e-03 4.61584972e-06 -9.99958652e-01 2.87554104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.70, Y:-110.02, Z:2.88 [[-1.28438445e-01 9.91716680e-01 1.26178612e-03 5.86967544e+01] [ 9.91669296e-01 1.28444643e-01 -9.69439034e-03 -1.10015803e+02] [-9.77615827e-03 6.14213189e-06 -9.99952212e-01 2.87572507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.70, Y:-110.02, Z:2.88 [[-2.05416679e-01 9.78672346e-01 2.10404965e-03 5.87043097e+01] [ 9.78621494e-01 2.05427455e-01 -9.97656621e-03 -1.10022956e+02] [-1.01960190e-02 9.71511062e-06 -9.99948019e-01 2.87601845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.71, Y:-110.03, Z:2.88 [[-2.81111642e-01 9.59670288e-01 3.03021587e-03 5.87136121e+01] [ 9.59615081e-01 2.81127973e-01 -1.02936046e-02 -1.10028841e+02] [-1.07303450e-02 1.41887394e-05 -9.99942428e-01 2.87570275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.72, Y:-110.04, Z:2.88 [[-3.53759218e-01 9.35329128e-01 3.72004437e-03 5.87216948e+01] [ 9.35278384e-01 3.53778775e-01 -9.74285372e-03 -1.10035860e+02] [-1.04288476e-02 3.26527723e-05 -9.99945618e-01 2.87525733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.73, Y:-110.04, Z:2.87 [[-4.25022140e-01 9.05172119e-01 4.42898913e-03 5.87315207e+01] [ 9.05124022e-01 4.25045214e-01 -9.33113837e-03 -1.10041002e+02] [-1.03288069e-02 4.28440511e-05 -9.99946656e-01 2.87388584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.74, Y:-110.05, Z:2.87 [[-4.92361824e-01 8.70379914e-01 4.31737777e-03 5.87408410e+01] [ 8.70347490e-01 4.92380749e-01 -7.51296581e-03 -1.10046525e+02] [-8.66492823e-03 5.85213529e-05 -9.99962457e-01 2.87264780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.75, Y:-110.05, Z:2.87 [[-5.57379779e-01 8.30244123e-01 4.74109657e-03 5.87519994e+01] [ 8.30215203e-01 5.57399937e-01 -6.93014845e-03 -1.10048909e+02] [-8.39640196e-03 7.34058444e-05 -9.99964747e-01 2.87111687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.76, Y:-110.05, Z:2.87 [[-6.18707067e-01 7.85604670e-01 5.18341478e-03 5.87635369e+01] [ 7.85578355e-01 6.18728772e-01 -6.43077152e-03 -1.10051005e+02] [-8.25917201e-03 9.32146740e-05 -9.99965888e-01 2.87105078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.46762800000002 meters Centerline goodness [0,1] 0.9999096290271565 Centerline is valid? [True, True] Translation: X:58.78, Y:-110.05, Z:2.87 [[-6.76050089e-01 7.36832408e-01 5.85482531e-03 5.87768171e+01] [ 7.36806337e-01 6.76075430e-01 -6.19960134e-03 -1.10049929e+02] [-8.52637073e-03 1.22631350e-04 -9.99963642e-01 2.87206691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.79, Y:-110.05, Z:2.87 [[-7.27802365e-01 6.85762344e-01 5.80736223e-03 5.87885627e+01] [ 6.85742223e-01 7.27825517e-01 -5.25555319e-03 -1.10051192e+02] [-7.83080689e-03 1.57349445e-04 -9.99969326e-01 2.87039302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.81, Y:-110.04, Z:2.87 [[-7.72503686e-01 6.34980453e-01 6.15467211e-03 5.88120287e+01] [ 6.34962154e-01 7.72528182e-01 -4.82407420e-03 -1.10036693e+02] [-7.81785047e-03 1.81368753e-04 -9.99969424e-01 2.87006890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.84, Y:-110.02, Z:2.87 [[-8.13763252e-01 5.81159835e-01 6.52808392e-03 5.88377025e+01] [ 5.81143149e-01 8.13789410e-01 -4.40863877e-03 -1.10022366e+02] [-7.87460934e-03 2.06163022e-04 -9.99968974e-01 2.87003527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.86, Y:-110.00, Z:2.87 [[-8.50580554e-01 5.25798806e-01 6.95252136e-03 5.88625927e+01] [ 5.25783575e-01 8.50608932e-01 -4.00957505e-03 -1.10004409e+02] [-8.02210654e-03 2.45054972e-04 -9.99967792e-01 2.86979650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.88, Y:-109.98, Z:2.87 [[-8.84984847e-01 4.65561892e-01 7.34471689e-03 5.88802883e+01] [ 4.65548288e-01 8.85015286e-01 -3.56859116e-03 -1.09982248e+02] [-8.16158677e-03 2.61171271e-04 -9.99966660e-01 2.86982206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.90, Y:-109.96, Z:2.87 [[-9.15378794e-01 4.02515308e-01 7.94292577e-03 5.89005126e+01] [ 4.02502802e-01 9.15413211e-01 -3.18536075e-03 -1.09958473e+02] [-8.55321565e-03 2.81238197e-04 -9.99963381e-01 2.86890644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.92, Y:-109.93, Z:2.87 [[-9.41467324e-01 3.37006231e-01 8.12884520e-03 5.89155776e+01] [ 3.36996256e-01 9.41502374e-01 -2.60845339e-03 -1.09932092e+02] [-8.53239209e-03 2.83616764e-04 -9.99963558e-01 2.86863538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.70762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.19, Y:-109.12, Z:1.99 [[-9.40567506e-01 -3.39501653e-01 8.44955412e-03 5.91883613e+01] [ 3.39485392e-01 -9.40605420e-01 -3.33347016e-03 -1.09118777e+02] [ 9.07941504e-03 -2.66853523e-04 9.99958746e-01 1.98721929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.87, Y:-109.91, Z:2.87 [[-9.43491997e-01 3.31279481e-01 8.76104590e-03 5.88732521e+01] [ 3.31267987e-01 9.43532630e-01 -2.77429938e-03 -1.09912554e+02] [-9.18540114e-03 2.84724778e-04 -9.99957773e-01 2.86973611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.76762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.88, Y:-109.88, Z:2.87 [[-9.64896866e-01 2.62476485e-01 8.95168284e-03 5.88848421e+01] [ 2.62467823e-01 9.64938350e-01 -2.15002609e-03 -1.09881465e+02] [-9.20215336e-03 2.74975275e-04 -9.99957621e-01 2.86926605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.09, Y:-109.07, Z:1.99 [[-9.62521230e-01 -2.71065315e-01 8.74509523e-03 5.90899904e+01] [ 2.71051508e-01 -9.62560917e-01 -2.74975131e-03 -1.09069578e+02] [ 9.16304909e-03 -2.76322763e-04 9.99957980e-01 1.98687019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.827628 meters Centerline goodness [0,1] 0.99993355040202 Centerline is valid? [True, True] Translation: X:58.83, Y:-109.86, Z:2.87 [[-9.66537363e-01 2.56368054e-01 8.99708405e-03 5.88315780e+01] [ 2.56359394e-01 9.66579203e-01 -2.12263372e-03 -1.09860233e+02] [-9.24056980e-03 2.54882214e-04 -9.99957273e-01 2.87004327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.03, Y:-109.06, Z:1.99 [[-9.62952247e-01 -2.69539041e-01 8.46614850e-03 5.90325108e+01] [ 2.69526160e-01 -9.62989425e-01 -2.64871500e-03 -1.09063854e+02] [ 8.86674358e-03 -2.68737562e-04 9.99960654e-01 1.98657588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.78, Y:-109.85, Z:2.87 [[-9.68015552e-01 2.50750195e-01 8.38031750e-03 5.87849879e+01] [ 2.50742781e-01 9.68051801e-01 -1.94102560e-03 -1.09846160e+02] [-8.59929400e-03 2.22361144e-04 -9.99963001e-01 2.86924320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.98, Y:-109.06, Z:1.99 [[-9.63664593e-01 -2.66984871e-01 8.34451902e-03 5.89770225e+01] [ 2.66972899e-01 -9.63700696e-01 -2.53772692e-03 -1.09056100e+02] [ 8.71915348e-03 -2.17757147e-04 9.99961964e-01 1.98694291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.73, Y:-109.83, Z:2.87 [[-9.69458884e-01 2.45114408e-01 8.27038795e-03 5.87346562e+01] [ 2.45107276e-01 9.69494139e-01 -1.88093195e-03 -1.09831332e+02] [-8.47913617e-03 2.03646071e-04 -9.99964031e-01 2.86910444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.92, Y:-109.05, Z:1.99 [[-9.63593370e-01 -2.67237427e-01 8.48382817e-03 5.89199960e+01] [ 2.67225351e-01 -9.63630698e-01 -2.54741702e-03 -1.09048607e+02] [ 8.85604243e-03 -1.87580195e-04 9.99960767e-01 1.98680947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.68, Y:-109.81, Z:2.87 [[-9.71718401e-01 2.35970490e-01 9.01539491e-03 5.86837624e+01] [ 2.35961966e-01 9.71760206e-01 -2.01289832e-03 -1.09813393e+02] [-9.23578662e-03 1.71319971e-04 -9.99957335e-01 2.86888254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.69, Y:-109.78, Z:2.87 [[-9.86443455e-01 1.63811172e-01 9.75756617e-03 5.86902661e+01] [ 1.63804728e-01 9.86491701e-01 -1.46143862e-03 -1.09783347e+02] [-9.86515802e-03 1.56708913e-04 -9.99951326e-01 2.86922751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.81, Y:-109.01, Z:1.99 [[-9.78760464e-01 -2.04733942e-01 1.05814578e-02 5.88072104e+01] [ 2.04720822e-01 -9.78817655e-01 -2.32005566e-03 -1.09009154e+02] [ 1.08323119e-02 -1.04534007e-04 9.99941323e-01 1.98505576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.63, Y:-109.76, Z:2.87 [[-9.88430473e-01 1.51274371e-01 1.10120441e-02 5.86275413e+01] [ 1.51265914e-01 9.88491810e-01 -1.60164935e-03 -1.09764608e+02] [-1.11276039e-02 8.26278857e-05 -9.99938083e-01 2.87120034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.74, Y:-109.01, Z:1.98 [[-9.78567623e-01 -2.05637644e-01 1.08887979e-02 5.87429653e+01] [ 2.05623985e-01 -9.78628200e-01 -2.37149465e-03 -1.09005521e+02] [ 1.11437533e-02 -8.16698589e-05 9.99937903e-01 1.98437454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.15762800000002 meters Centerline goodness [0,1] 0.9998256586832872 Centerline is valid? [True, True] Translation: X:58.57, Y:-109.75, Z:2.87 [[-9.89655914e-01 1.43013252e-01 1.13305945e-02 5.85666573e+01] [ 1.43004320e-01 9.89720773e-01 -1.59881282e-03 -1.09752073e+02] [-1.14427761e-02 3.80493903e-05 -9.99934529e-01 2.87307360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.58, Y:-109.72, Z:2.87 [[-9.97503921e-01 7.00592339e-02 8.81082716e-03 5.85785834e+01] [ 7.00565019e-02 9.97542833e-01 -6.18706816e-04 -1.09721970e+02] [-8.83252361e-03 9.32538524e-08 -9.99960993e-01 2.86892647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.58, Y:-109.69, Z:2.87 [[-9.99963796e-01 -2.05208685e-03 8.25809632e-03 5.85763659e+01] [-2.05208623e-03 9.99997894e-01 8.54769424e-06 -1.09692426e+02] [-8.25809647e-03 -8.39894099e-06 -9.99965901e-01 2.86825867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.58, Y:-109.66, Z:2.87 [[-9.97209919e-01 -7.42133349e-02 8.04724069e-03 5.85754969e+01] [-7.42110496e-02 9.97242388e-01 5.82639034e-04 -1.09663004e+02] [-8.06828911e-03 -1.61807533e-05 -9.99967451e-01 2.86854051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.57, Y:-109.63, Z:2.87 [[-9.89272451e-01 -1.45814417e-01 8.84157101e-03 5.85661757e+01] [-1.45808813e-01 9.89311961e-01 1.27863333e-03 -1.09634671e+02] [-8.93351513e-03 -2.42622434e-05 -9.99960095e-01 2.86958626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.45, Y:-108.90, Z:1.98 [[-9.97371339e-01 7.15348044e-02 1.15405328e-02 5.84536873e+01] [-7.15275492e-02 -9.97438082e-01 1.04072737e-03 -1.08900418e+02] [ 1.15854151e-02 2.12525622e-04 9.99932864e-01 1.98346149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.45, Y:-109.65, Z:2.87 [[-9.87920215e-01 -1.54427878e-01 1.28716636e-02 5.84461748e+01] [-1.54415623e-01 9.88004062e-01 1.94657759e-03 -1.09647467e+02] [-1.30178618e-02 -6.45225984e-05 -9.99915262e-01 2.87366669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.42, Y:-109.62, Z:2.87 [[-9.74166449e-01 -2.25439243e-01 1.32995397e-02 5.84238013e+01] [-2.25419269e-01 9.74257226e-01 3.00185059e-03 -1.09623682e+02] [-1.36339076e-02 -7.36703777e-05 -9.99907051e-01 2.87427213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.39762800000003 meters Centerline goodness [0,1] 0.9998910461746312 Centerline is valid? [True, True] Translation: X:58.38, Y:-109.61, Z:2.88 [[-9.55205094e-01 -2.95579170e-01 1.47031709e-02 5.83841561e+01] [-2.95545475e-01 9.55318244e-01 4.46366888e-03 -1.09606894e+02] [-1.53655750e-02 -8.17363796e-05 -9.99881939e-01 2.87658766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.42762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.32, Y:-109.60, Z:2.87 [[-9.30648823e-01 -3.65649206e-01 1.39077615e-02 5.83240664e+01] [-3.65609806e-01 9.30752733e-01 5.36840556e-03 -1.09598550e+02] [-1.49076402e-02 -8.87136505e-05 -9.99888871e-01 2.87438925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.45762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.26, Y:-109.60, Z:2.87 [[-9.00905678e-01 -4.33816758e-01 1.31140652e-02 5.82591446e+01] [-4.33772247e-01 9.01001117e-01 6.21492469e-03 -1.09597641e+02] [-1.45119259e-02 -8.94566122e-05 -9.99894692e-01 2.87124095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.48762800000003 meters Centerline goodness [0,1] 0.9998474247477059 Centerline is valid? [True, True] Translation: X:58.18, Y:-109.61, Z:2.88 [[-8.66134403e-01 -4.99642376e-01 1.29881413e-02 5.81818946e+01] [-4.99587765e-01 8.66231775e-01 7.38762060e-03 -1.09605277e+02] [-1.49419090e-02 -9.00441273e-05 -9.99888359e-01 2.87739874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.51762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.10, Y:-109.63, Z:2.87 [[-8.25606577e-01 -5.64126845e-01 1.16053297e-02 5.80991687e+01] [-5.64072831e-01 8.25688133e-01 7.80697294e-03 -1.09625725e+02] [-1.39865060e-02 -1.00762966e-04 -9.99902179e-01 2.87192930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.02, Y:-109.65, Z:2.87 [[-7.80030246e-01 -6.25659313e-01 1.01606803e-02 5.80157345e+01] [-6.25608042e-01 7.80096413e-01 8.01027563e-03 -1.09654028e+02] [-1.29380138e-02 -1.08346029e-04 -9.99916295e-01 2.87044835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.93, Y:-109.69, Z:2.87 [[-7.29918815e-01 -6.83472683e-01 9.14409711e-03 5.79292009e+01] [-6.83421003e-01 7.29976081e-01 8.40557383e-03 -1.09692147e+02] [-1.24199523e-02 -1.13881534e-04 -9.99922863e-01 2.86979949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.84, Y:-109.74, Z:2.87 [[-6.75314682e-01 -7.37488014e-01 7.84281787e-03 5.78415597e+01] [-7.37440241e-01 6.75360212e-01 8.39493433e-03 -1.09741159e+02] [-1.14878906e-02 -1.14387093e-04 -9.99934005e-01 2.86859172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.76, Y:-109.80, Z:2.87 [[-6.16759324e-01 -7.87130127e-01 5.83953250e-03 5.77562143e+01] [-7.87096337e-01 6.16786960e-01 7.29394296e-03 -1.09798020e+02] [-9.34302974e-03 -9.76673159e-05 -9.99956348e-01 2.86700916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.67, Y:-109.87, Z:2.87 [[-5.54962806e-01 -8.31861353e-01 4.79311854e-03 5.76712103e+01] [-8.31831676e-01 5.54983497e-01 7.02711716e-03 -1.09867941e+02] [-8.50568888e-03 -8.72791679e-05 -9.99963822e-01 2.86633732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.59, Y:-109.94, Z:2.87 [[-4.89962926e-01 -8.71734513e-01 3.90761613e-03 5.75916691e+01] [-8.71708039e-01 4.89978502e-01 6.79425625e-03 -1.09943674e+02] [-7.83743556e-03 -7.73667251e-05 -9.99969284e-01 2.86617995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.52, Y:-110.03, Z:2.86 [[-4.22572758e-01 -9.06323622e-01 3.12350351e-03 5.75184429e+01] [-9.06299966e-01 4.22584297e-01 6.54861806e-03 -1.10031605e+02] [-7.25511077e-03 -6.35635319e-05 -9.99973679e-01 2.86497755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.45, Y:-110.12, Z:2.86 [[-3.52224299e-01 -9.35911970e-01 2.61292852e-03 5.74527671e+01] [-9.35887432e-01 3.52233986e-01 6.77739512e-03 -1.10120146e+02] [-7.26340744e-03 -5.82437152e-05 -9.99973619e-01 2.86466956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.39, Y:-110.22, Z:2.86 [[-2.80224572e-01 -9.59932148e-01 2.11205142e-03 5.73919443e+01] [-9.59906215e-01 2.80232526e-01 7.05621211e-03 -1.10219733e+02] [-7.36535036e-03 -5.00472647e-05 -9.99972874e-01 2.86478211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.34, Y:-110.33, Z:2.86 [[-2.05315947e-01 -9.78694500e-01 1.56125617e-03 5.73362516e+01] [-9.78668030e-01 2.05321877e-01 7.19818627e-03 -1.10325021e+02] [-7.36538536e-03 -5.00490668e-05 -9.99972874e-01 2.86478384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.29, Y:-110.44, Z:2.86 [[-1.30272665e-01 -9.91477671e-01 1.03015716e-03 5.72905646e+01] [-9.91449204e-01 1.30276731e-01 7.51332554e-03 -1.10437351e+02] [-7.58350001e-03 -4.25675606e-05 -9.99971244e-01 2.86494692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.26, Y:-110.55, Z:2.87 [[-5.58953920e-02 -9.98436525e-01 4.58788184e-04 5.72550475e+01] [-9.98406174e-01 5.58972702e-02 7.78508631e-03 -1.10548634e+02] [-7.79855953e-03 -2.29065035e-05 -9.99969591e-01 2.86616029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.23, Y:-110.66, Z:2.87 [[ 2.00221011e-02 -9.99799525e-01 -1.56156610e-04 5.72267197e+01] [-9.99762408e-01 -2.00227033e-02 8.61506224e-03 -1.10663243e+02] [-8.61646181e-03 -1.63721388e-05 -9.99962877e-01 2.86771657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.21, Y:-110.78, Z:2.87 [[ 9.64816929e-02 -9.95334363e-01 -8.88055913e-04 5.72079845e+01] [-9.95291221e-01 -9.64857793e-02 9.26716177e-03 -1.10779876e+02] [-9.30960932e-03 -1.02372021e-05 -9.99956665e-01 2.86833951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.20, Y:-110.90, Z:2.87 [[ 1.71457303e-01 -9.85189853e-01 -1.82970057e-03 5.72024294e+01] [-9.85134220e-01 -1.71467065e-01 1.04696599e-02 -1.10903765e+02] [-1.06283361e-02 7.40100210e-06 -9.99943518e-01 2.86805945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.20, Y:-111.02, Z:2.87 [[ 2.45860971e-01 -9.69301320e-01 -2.70800484e-03 5.72024923e+01] [-9.69243510e-01 -2.45875884e-01 1.05862632e-02 -1.11022736e+02] [-1.09271120e-02 2.19671547e-05 -9.99940297e-01 2.86761889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.21, Y:-111.14, Z:2.87 [[ 3.18474011e-01 -9.47925214e-01 -3.47735605e-03 5.72109971e+01] [-9.47870092e-01 -3.18492992e-01 1.02226736e-02 -1.11139410e+02] [-1.07978436e-02 4.04259239e-05 -9.99941701e-01 2.86731013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.05762800000002 meters Centerline goodness [0,1] 0.9998222301231057 Centerline is valid? [True, True] Translation: X:57.23, Y:-111.26, Z:2.87 [[ 3.87893438e-01 -9.21694105e-01 -4.31944146e-03 5.72301941e+01] [-9.21639102e-01 -3.87917480e-01 1.00694638e-02 -1.11258257e+02] [-1.09565523e-02 7.50872060e-05 -9.99939972e-01 2.87038457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.26, Y:-111.37, Z:2.87 [[ 4.53489664e-01 -8.91252077e-01 -4.10598690e-03 5.72574874e+01] [-8.91217616e-01 -4.53508240e-01 7.83814839e-03 -1.11367335e+02] [-8.84786493e-03 1.04808579e-04 -9.99960851e-01 2.86617795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.29, Y:-111.48, Z:2.87 [[ 5.17900912e-01 -8.55429354e-01 -4.38921506e-03 5.72944628e+01] [-8.55400693e-01 -5.17919495e-01 7.00358959e-03 -1.11479674e+02] [-8.26433617e-03 1.27372173e-04 -9.99965842e-01 2.86607185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.34, Y:-111.58, Z:2.87 [[ 5.79168343e-01 -8.15195660e-01 -4.47952894e-03 5.73361061e+01] [-8.15173189e-01 -5.79185648e-01 6.05452054e-03 -1.11582072e+02] [-7.53009774e-03 1.45005255e-04 -9.99971638e-01 2.86554929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.17762800000003 meters Centerline goodness [0,1] 0.9998878596900442 Centerline is valid? [True, True] Translation: X:57.39, Y:-111.68, Z:2.87 [[ 6.36566438e-01 -7.71207438e-01 -4.71770954e-03 5.73857378e+01] [-7.71188239e-01 -6.36583897e-01 5.44456416e-03 -1.11681616e+02] [-7.20210630e-03 1.72415294e-04 -9.99974050e-01 2.86717488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.20762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.45, Y:-111.78, Z:2.86 [[ 6.88390911e-01 -7.25325595e-01 -4.55347646e-03 5.74481907e+01] [-7.25311642e-01 -6.88405941e-01 4.50358111e-03 -1.11776453e+02] [-6.40120290e-03 2.02465177e-04 -9.99979492e-01 2.86431558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.23762800000003 meters Centerline goodness [0,1] 0.9998417005879693 Centerline is valid? [True, True] Translation: X:57.44, Y:-111.78, Z:2.87 [[ 7.40812026e-01 -6.71694285e-01 -4.93245013e-03 5.74434007e+01] [-6.71681379e-01 -7.40828413e-01 4.16991251e-03 -1.11784320e+02] [-6.45500560e-03 2.23913569e-04 -9.99979141e-01 2.86611403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.26762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.44, Y:-111.79, Z:2.86 [[ 7.91733465e-01 -6.10853252e-01 -4.05270059e-03 5.74359442e+01] [-6.10846317e-01 -7.91743820e-01 2.91551238e-03 -1.11790744e+02] [-4.98965086e-03 1.67268516e-04 -9.99987538e-01 2.86297853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.29762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.43, Y:-111.79, Z:2.86 [[ 8.37123823e-01 -5.46996405e-01 -4.31716406e-03 5.74289902e+01] [-5.46990159e-01 -8.37134938e-01 2.61960872e-03 -1.11794347e+02] [-5.04696542e-03 1.68509393e-04 -9.99987250e-01 2.86320182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.327628 meters Centerline goodness [0,1] 0.9998195556558024 Centerline is valid? [True, True] Translation: X:57.42, Y:-111.80, Z:2.87 [[ 8.77198551e-01 -4.80090875e-01 -5.95432250e-03 5.74224886e+01] [-4.80081531e-01 -8.77218731e-01 3.00370722e-03 -1.11798158e+02] [-6.66529565e-03 2.23712635e-04 -9.99977762e-01 2.86705642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.42, Y:-111.80, Z:2.87 [[ 9.12965804e-01 -4.07970604e-01 -7.30939942e-03 5.74153200e+01] [-4.07959681e-01 -9.12995030e-01 2.99554406e-03 -1.11804704e+02] [-7.89553926e-03 2.47110969e-04 -9.99968799e-01 2.86578107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.387628 meters Centerline goodness [0,1] 0.9999549153535764 Centerline is valid? [True, True] Translation: X:57.41, Y:-111.81, Z:2.87 [[ 9.42144279e-01 -3.35109037e-01 -8.12960052e-03 5.74094229e+01] [-3.35098975e-01 -9.42179316e-01 2.61040673e-03 -1.11808101e+02] [-8.53431234e-03 2.64841035e-04 -9.99963547e-01 2.86805859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.417628 meters Centerline goodness [0,1] 0.9998197020576503 Centerline is valid? [True, True] Translation: X:57.40, Y:-111.81, Z:2.87 [[ 9.65565759e-01 -2.60010636e-01 -8.78835553e-03 5.74027830e+01] [-2.60002466e-01 -9.65605713e-01 2.07961703e-03 -1.11814927e+02] [-9.02680885e-03 2.76987121e-04 -9.99959219e-01 2.86998888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.39, Y:-111.82, Z:2.87 [[ 9.83311281e-01 -1.81749699e-01 -8.12235198e-03 5.73939137e+01] [-1.81745479e-01 -9.83344798e-01 1.26080129e-03 -1.11818787e+02] [-8.21622282e-03 2.36440627e-04 -9.99966218e-01 2.86667754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.477628 meters Centerline goodness [0,1] 0.9998206921283844 Centerline is valid? [True, True] Translation: X:57.39, Y:-111.83, Z:2.87 [[ 9.94622050e-01 -1.03266786e-01 -7.93402176e-03 5.73860712e+01] [-1.03265271e-01 -9.94653669e-01 6.01446333e-04 -1.11830436e+02] [-7.95371329e-03 2.21097124e-04 -9.99968344e-01 2.86895184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.507628 meters Centerline goodness [0,1] 0.9998207523918353 Centerline is valid? [True, True] Translation: X:57.38, Y:-111.84, Z:2.87 [[ 9.99688543e-01 -2.37760053e-02 -7.58415319e-03 5.73798323e+01] [-2.37768453e-02 -9.99717291e-01 -2.05950726e-05 -1.11841498e+02] [-7.58151941e-03 2.00915895e-04 -9.99971240e-01 2.86843074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.37, Y:-111.86, Z:2.86 [[ 9.98341785e-01 5.72333368e-02 -6.16650299e-03 5.73742778e+01] [ 5.72313324e-02 -9.98360818e-01 -5.01153182e-04 -1.11857505e+02] [-6.18507764e-03 1.47404980e-04 -9.99980861e-01 2.86406103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.37, Y:-111.87, Z:2.86 [[ 9.90483781e-01 1.37490973e-01 -6.17342558e-03 5.73693864e+01] [ 1.37487455e-01 -9.90503011e-01 -9.92764139e-04 -1.11870344e+02] [-6.25129273e-03 1.34548206e-04 -9.99980451e-01 2.86442091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.37, Y:-111.89, Z:2.87 [[ 9.75235467e-01 2.21061590e-01 -6.89622372e-03 5.73663677e+01] [ 2.21055295e-01 -9.75259844e-01 -1.67159665e-03 -1.11885363e+02] [-7.09513588e-03 1.05753576e-04 -9.99974824e-01 2.86524825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.62762800000002 meters Centerline goodness [0,1] 0.9998214843575668 Centerline is valid? [True, True] Translation: X:57.36, Y:-111.90, Z:2.87 [[ 9.53995711e-01 2.99718015e-01 -7.82917175e-03 5.73625619e+01] [ 2.99707084e-01 -9.54027831e-01 -2.56149959e-03 -1.11897679e+02] [-8.23697531e-03 9.72013809e-05 -9.99966071e-01 2.86976581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.65762800000002 meters Centerline goodness [0,1] 0.9998665005339978 Centerline is valid? [True, True] Translation: X:57.36, Y:-111.91, Z:2.87 [[ 9.24288826e-01 3.81602977e-01 -8.32673622e-03 5.73627385e+01] [ 3.81587226e-01 -9.24326332e-01 -3.46723660e-03 -1.11913606e+02] [-9.01972936e-03 2.73518667e-05 -9.99959321e-01 2.87072011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.36, Y:-111.93, Z:2.87 [[ 8.89496945e-01 4.56876587e-01 -7.67921714e-03 5.73631362e+01] [ 4.56859692e-01 -8.89530092e-01 -3.92902850e-03 -1.11926082e+02] [-8.62597585e-03 -1.34659355e-05 -9.99962796e-01 2.86840067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.71762800000002 meters Centerline goodness [0,1] 0.9998662088034608 Centerline is valid? [True, True] Translation: X:57.36, Y:-111.94, Z:2.87 [[ 8.49268025e-01 5.27898625e-01 -8.17693806e-03 5.73641670e+01] [ 5.27874686e-01 -8.49307388e-01 -5.02760968e-03 -1.11936338e+02] [-9.59880214e-03 -4.66104626e-05 -9.99953929e-01 2.87204562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.74762800000002 meters Centerline goodness [0,1] 0.9998884277234793 Centerline is valid? [True, True] Translation: X:57.37, Y:-111.95, Z:2.87 [[ 8.03342341e-01 5.95466134e-01 -7.82088075e-03 5.73651780e+01] [ 5.95438874e-01 -8.03380406e-01 -5.69827833e-03 -1.11945591e+02] [-9.67627412e-03 -7.91881760e-05 -9.99953181e-01 2.87205717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.37, Y:-111.95, Z:2.87 [[ 7.52327791e-01 6.58750453e-01 -7.12283208e-03 5.73658261e+01] [ 6.58722239e-01 -7.52361502e-01 -6.09772743e-03 -1.11954019e+02] [-9.37582535e-03 -1.04478088e-04 -9.99956041e-01 2.86914668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.37, Y:-111.96, Z:2.87 [[ 6.95932073e-01 7.18084782e-01 -5.72675406e-03 5.73665150e+01] [ 7.18061863e-01 -6.95955625e-01 -5.73839688e-03 -1.11962174e+02] [-8.10622217e-03 -1.18629254e-04 -9.99967137e-01 2.86760674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.37, Y:-111.97, Z:2.87 [[ 6.37004722e-01 7.70847433e-01 -4.38388648e-03 5.73662233e+01] [ 7.70830289e-01 -6.37019799e-01 -5.14211634e-03 -1.11970145e+02] [-6.75640967e-03 -1.03680093e-04 -9.99977170e-01 2.86683776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.36, Y:-111.98, Z:2.87 [[ 5.74640719e-01 8.18398736e-01 -3.39907112e-03 5.73649267e+01] [ 8.18385327e-01 -5.74650765e-01 -4.68568234e-03 -1.11975908e+02] [-5.78803532e-03 -8.91660624e-05 -9.99983245e-01 2.86567876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.36, Y:-111.98, Z:2.86 [[ 5.09194316e-01 8.60648624e-01 -2.25702715e-03 5.73612609e+01] [ 8.60640724e-01 -5.09199314e-01 -3.68824324e-03 -1.11981345e+02] [-4.32355815e-03 -6.44569890e-05 -9.99990651e-01 2.86394228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.36, Y:-111.99, Z:2.86 [[ 4.40587288e-01 8.97708229e-01 -1.66644087e-03 5.73584742e+01] [ 8.97702257e-01 -4.40590436e-01 -3.27497784e-03 -1.11986600e+02] [-3.67419246e-03 -5.30541280e-05 -9.99993249e-01 2.86366170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.95762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.36, Y:-111.99, Z:2.86 [[ 3.69378214e-01 9.29278083e-01 -1.40728100e-03 5.73553251e+01] [ 9.29271861e-01 -3.69380891e-01 -3.40086614e-03 -1.11992452e+02] [-3.68017308e-03 -5.15407731e-05 -9.99993227e-01 2.86383955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.35, Y:-112.00, Z:2.87 [[ 2.97121878e-01 9.54838289e-01 -1.55935417e-03 5.73488481e+01] [ 9.54826217e-01 -2.97125963e-01 -4.80170646e-03 -1.11998446e+02] [-5.04817779e-03 -6.22202015e-05 -9.99987256e-01 2.86589550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.01762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.34, Y:-112.00, Z:2.87 [[ 2.22261940e-01 9.74985772e-01 -1.54085293e-03 5.73438712e+01] [ 9.74964662e-01 -2.22267268e-01 -6.41631195e-03 -1.12004010e+02] [-6.59829403e-03 -7.61752151e-05 -9.99978228e-01 2.86694395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.34, Y:-112.01, Z:2.87 [[ 1.46245900e-01 9.89247416e-01 -1.29847731e-03 5.73390402e+01] [ 9.89213539e-01 -1.46251638e-01 -8.18730726e-03 -1.12010485e+02] [-8.28917698e-03 -8.71112170e-05 -9.99965640e-01 2.86862789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.33, Y:-112.02, Z:2.87 [[ 6.93405910e-02 9.97592734e-01 -7.86600474e-04 5.73345439e+01] [ 9.97543129e-01 -6.93449877e-02 -9.94882678e-03 -1.12018673e+02] [-9.97942412e-03 -9.48103687e-05 -9.99950200e-01 2.87051186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.33, Y:-112.03, Z:2.87 [[-8.97021162e-03 9.99959767e-01 -5.20340697e-06 5.73319037e+01] [ 9.99900049e-01 8.96961905e-03 -1.09287290e-02 -1.12026738e+02] [-1.09282426e-02 -1.03235899e-04 -9.99940280e-01 2.87169867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.33, Y:-112.04, Z:2.87 [[-8.71311450e-02 9.96196276e-01 1.06881142e-03 5.73304464e+01] [ 9.96102345e-01 8.71376071e-02 -1.36804843e-02 -1.12035998e+02] [-1.37215812e-02 -1.27350696e-04 -9.99905847e-01 2.87450976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.33, Y:-112.04, Z:2.88 [[-1.63962961e-01 9.86463724e-01 2.33836677e-03 5.73272084e+01] [ 9.86352260e-01 1.63979587e-01 -1.48295109e-02 -1.12043985e+02] [-1.50122190e-02 -1.25037185e-04 -9.99887302e-01 2.87574165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.32, Y:-112.05, Z:2.88 [[-2.39052270e-01 9.70999599e-01 3.71355124e-03 5.73232084e+01] [ 9.70875557e-01 2.39081089e-01 -1.55204910e-02 -1.12053835e+02] [-1.59582304e-02 -1.04812481e-04 -9.99872654e-01 2.87677579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.33, Y:-112.06, Z:2.87 [[-3.12206116e-01 9.50001695e-01 4.91134435e-03 5.73282900e+01] [ 9.49880719e-01 3.12244737e-01 -1.51605972e-02 -1.12059741e+02] [-1.59361344e-02 -6.80398506e-05 -9.99873009e-01 2.87231328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.33, Y:-112.07, Z:2.87 [[-3.80919010e-01 9.24592104e-01 5.49077490e-03 5.73335907e+01] [ 9.24496554e-01 3.80958581e-01 -1.32921544e-02 -1.12066100e+02] [-1.43815788e-02 1.29681712e-05 -9.99896580e-01 2.86974833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.34, Y:-112.07, Z:2.87 [[-4.49642542e-01 8.93187682e-01 6.11145581e-03 5.73415537e+01] [ 8.93106732e-01 4.49684070e-01 -1.20250922e-02 -1.12070867e+02] [-1.34888886e-02 5.11892905e-05 -9.99909020e-01 2.86854373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.35, Y:-112.07, Z:2.87 [[-5.15605128e-01 8.56803951e-01 6.19206746e-03 5.73523104e+01] [ 8.56744056e-01 5.15642302e-01 -1.01311432e-02 -1.12073903e+02] [-1.18732954e-02 8.13476191e-05 -9.99929507e-01 2.86727414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.36, Y:-112.08, Z:2.87 [[-5.78691737e-01 8.15521550e-01 6.36203303e-03 5.73626204e+01] [ 8.15474284e-01 5.78726698e-01 -8.78074560e-03 -1.12077348e+02] [-1.08427656e-02 1.06729403e-04 -9.99941210e-01 2.86692839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.37762800000002 meters Centerline goodness [0,1] 0.9998426895590813 Centerline is valid? [True, True] Translation: X:57.37, Y:-112.08, Z:2.87 [[-6.35631966e-01 7.71962097e-01 6.82092659e-03 5.73713884e+01] [ 7.71920564e-01 6.35668539e-01 -8.00952168e-03 -1.12081286e+02] [-1.05188956e-02 1.74105487e-04 -9.99944660e-01 2.86994313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.38, Y:-112.08, Z:2.87 [[-6.92713405e-01 7.21184539e-01 6.40306400e-03 5.73820242e+01] [ 7.21155954e-01 6.92742977e-01 -6.42317630e-03 -1.12082815e+02] [-9.06797306e-03 1.68187405e-04 -9.99958871e-01 2.86662586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.39, Y:-112.08, Z:2.87 [[-7.45696475e-01 6.66255358e-01 6.36908601e-03 5.73925769e+01] [ 6.66233021e-01 7.45723654e-01 -5.45832902e-03 -1.12083290e+02] [-8.38621904e-03 1.73038704e-04 -9.99964820e-01 2.86554920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.41, Y:-112.07, Z:2.86 [[-7.90021133e-01 6.13049234e-01 6.10296741e-03 5.74143663e+01] [ 6.13032573e-01 7.90044687e-01 -4.52289915e-03 -1.12066986e+02] [-7.59437684e-03 1.68131906e-04 -9.99971148e-01 2.86443528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.44, Y:-112.05, Z:2.86 [[-8.30740585e-01 5.56636829e-01 5.05180290e-03 5.74391334e+01] [ 5.56627555e-01 8.30755934e-01 -3.21617795e-03 -1.12048472e+02] [-5.98705833e-03 1.40163150e-04 -9.99982068e-01 2.86204411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.46, Y:-112.03, Z:2.86 [[-8.67956648e-01 4.96616201e-01 4.85853957e-03 5.74584806e+01] [ 4.96609258e-01 8.67970237e-01 -2.62938191e-03 -1.12027670e+02] [-5.52286139e-03 1.30606220e-04 -9.99984740e-01 2.86225418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.48, Y:-112.00, Z:2.86 [[-9.01173861e-01 4.33426119e-01 5.24135177e-03 5.74775388e+01] [ 4.33419642e-01 9.01189093e-01 -2.37323212e-03 -1.12004365e+02] [-5.75206983e-03 1.33010052e-04 -9.99983448e-01 2.86236880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.49, Y:-111.98, Z:2.86 [[-9.30104451e-01 3.67254438e-01 5.46708485e-03 5.74944559e+01] [ 3.67248890e-01 9.30120509e-01 -2.02252795e-03 -1.11980776e+02] [-5.82783011e-03 1.26618601e-04 -9.99983010e-01 2.86280114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.51, Y:-111.95, Z:2.86 [[-9.53974840e-01 2.99820548e-01 6.29629890e-03 5.75068025e+01] [ 2.99814972e-01 9.53995608e-01 -1.83377184e-03 -1.11953001e+02] [-6.55644397e-03 1.38352479e-04 -9.99978497e-01 2.86206042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.76, Y:-111.14, Z:1.99 [[-9.45792851e-01 -3.24709861e-01 6.27600383e-03 5.77550594e+01] [ 3.24701776e-01 -9.45813665e-01 -2.29533260e-03 -1.11137072e+02] [ 6.68124731e-03 -1.33079576e-04 9.99977671e-01 1.99298649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.46, Y:-111.94, Z:2.86 [[-9.55577386e-01 2.94650091e-01 7.29273559e-03 5.74622376e+01] [ 2.94642691e-01 9.55605202e-01 -2.09347181e-03 -1.11938695e+02] [-7.58581773e-03 1.48276916e-04 -9.99971216e-01 2.86405837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.70762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.47, Y:-111.91, Z:2.87 [[-9.74352754e-01 2.24866578e-01 8.46949989e-03 5.74711867e+01] [ 2.24859483e-01 9.74389551e-01 -1.79318550e-03 -1.11908168e+02] [-8.65581968e-03 1.57252137e-04 -9.99962525e-01 2.86625002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.48, Y:-111.88, Z:2.87 [[-9.87855092e-01 1.55141159e-01 8.57543715e-03 5.74800576e+01] [ 1.55136693e-01 9.87892300e-01 -1.18753547e-03 -1.11881499e+02] [-8.65584396e-03 1.57252007e-04 -9.99962525e-01 2.86625028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.76762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.49, Y:-111.85, Z:2.87 [[-9.96394744e-01 8.43182569e-02 9.37788522e-03 5.74870243e+01] [ 8.43161097e-02 9.96438861e-01 -6.24792678e-04 -1.11852954e+02] [-9.39717069e-03 1.68166657e-04 -9.99955831e-01 2.86726979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.55, Y:-111.02, Z:1.99 [[-9.93180911e-01 -1.16209645e-01 9.32715409e-03 5.75522852e+01] [ 1.16202935e-01 -9.93224693e-01 -1.25997088e-03 -1.11017163e+02] [ 9.41038052e-03 -1.67536344e-04 9.99955707e-01 1.98831224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.41, Y:-111.85, Z:2.87 [[-9.96887984e-01 7.82724074e-02 9.36899821e-03 5.74050245e+01] [ 7.82704779e-02 9.96931996e-01 -5.73004529e-04 -1.11846014e+02] [-9.38510452e-03 1.62094637e-04 -9.99955946e-01 2.86713094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.46, Y:-111.01, Z:1.99 [[-9.93677713e-01 -1.11905208e-01 9.04587342e-03 5.74612512e+01] [ 1.11898968e-01 -9.93718871e-01 -1.19465651e-03 -1.11011491e+02] [ 9.12274341e-03 -1.74879649e-04 9.99958372e-01 1.98952136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.32, Y:-111.84, Z:2.87 [[-9.97442121e-01 7.09832833e-02 8.40166244e-03 5.73199172e+01] [ 7.09818820e-02 9.97477496e-01 -4.65237040e-04 -1.11839325e+02] [-8.41349327e-03 1.32318792e-04 -9.99964597e-01 2.86584931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.32, Y:-111.81, Z:2.87 [[-9.99964997e-01 -1.90245615e-03 8.14773074e-03 5.73212163e+01] [-1.90146682e-03 9.99998184e-01 1.29168301e-04 -1.11810801e+02] [-8.14796168e-03 1.13671140e-04 -9.99966798e-01 2.86578597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.32, Y:-111.78, Z:2.87 [[-9.96890878e-01 -7.84247513e-02 7.62467046e-03 5.73175008e+01] [-7.84219548e-02 9.96920034e-01 6.65518241e-04 -1.11778969e+02] [-7.65337984e-03 6.55075014e-05 -9.99970710e-01 2.86585257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.31, Y:-111.75, Z:2.87 [[-9.88246033e-01 -1.52680124e-01 7.65237662e-03 5.73067936e+01] [-1.52675232e-01 9.88275659e-01 1.22279363e-03 -1.11749858e+02] [-7.74935383e-03 4.00925755e-05 -9.99969973e-01 2.86619926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.007628 meters Centerline goodness [0,1] 0.9998217111274542 Centerline is valid? [True, True] Translation: X:57.28, Y:-111.72, Z:2.87 [[-9.74026547e-01 -2.26237572e-01 9.42582906e-03 5.72845275e+01] [-2.26226771e-01 9.74072154e-01 2.21080258e-03 -1.11723579e+02] [-9.68160422e-03 2.10055270e-05 -9.99953132e-01 2.86985148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.24, Y:-111.70, Z:2.87 [[-9.53773810e-01 -3.00410008e-01 8.32742942e-03 5.72398887e+01] [-3.00398734e-01 9.53810163e-01 2.60270100e-03 -1.11704317e+02] [-8.72466424e-03 -1.91612090e-05 -9.99961939e-01 2.86752197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.067628 meters Centerline goodness [0,1] 0.999865933771283 Centerline is valid? [True, True] Translation: X:57.18, Y:-111.69, Z:2.87 [[-9.27229220e-01 -3.74364509e-01 9.85836955e-03 5.71833721e+01] [-3.74344208e-01 9.27281623e-01 3.89936092e-03 -1.11691822e+02] [-1.06012673e-02 -7.48221615e-05 -9.99943802e-01 2.87111400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.11, Y:-111.69, Z:2.87 [[-8.95582018e-01 -4.44814009e-01 8.56425395e-03 5.71142504e+01] [-4.44794690e-01 8.95622961e-01 4.14677868e-03 -1.11691309e+02] [-9.51488773e-03 -9.55542678e-05 -9.99954728e-01 2.86905019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.04, Y:-111.70, Z:2.87 [[-8.58973911e-01 -5.11956160e-01 8.04427903e-03 5.70369651e+01] [-5.11934906e-01 8.59011570e-01 4.66628965e-03 -1.11701363e+02] [-9.29906449e-03 -1.09926158e-04 -9.99956757e-01 2.86827604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.96, Y:-111.72, Z:2.87 [[-8.17378245e-01 -5.76056472e-01 7.19343379e-03 5.69565141e+01] [-5.76035382e-01 8.17409890e-01 4.93052221e-03 -1.11719515e+02] [-8.72024315e-03 -1.13570791e-04 -9.99961972e-01 2.86803164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.86, Y:-111.75, Z:2.87 [[-7.71058569e-01 -6.36729051e-01 6.69317713e-03 5.68649515e+01] [-6.36706394e-01 7.71087609e-01 5.37281163e-03 -1.11753788e+02] [-8.58205121e-03 -1.18836227e-04 -9.99963166e-01 2.86767176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.78, Y:-111.79, Z:2.87 [[-7.20283637e-01 -6.93654720e-01 5.88320138e-03 5.67818546e+01] [-6.93632866e-01 7.20307654e-01 5.50724988e-03 -1.11792211e+02] [-8.05784486e-03 -1.13999864e-04 -9.99967529e-01 2.86735170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.69, Y:-111.84, Z:2.87 [[-6.65342585e-01 -7.46518443e-01 5.42749831e-03 5.66942307e+01] [-7.46494990e-01 6.65364713e-01 5.91860260e-03 -1.11843918e+02] [-8.02961186e-03 -1.13701941e-04 -9.99967756e-01 2.86798605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.61, Y:-111.90, Z:2.87 [[-6.06760206e-01 -7.94868193e-01 5.15831019e-03 5.66101588e+01] [-7.94841042e-01 6.06782122e-01 6.57073526e-03 -1.11902324e+02] [-8.35283886e-03 -1.13175966e-04 -9.99965108e-01 2.86850001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.53, Y:-111.98, Z:2.87 [[-5.45994847e-01 -8.37774762e-01 4.80358131e-03 5.65292110e+01] [-8.37743880e-01 5.46015969e-01 7.19399636e-03 -1.11975486e+02] [-8.64978070e-03 -9.62858988e-05 -9.99962585e-01 2.86877111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.45, Y:-112.06, Z:2.87 [[-4.82007563e-01 -8.76155833e-01 4.43454307e-03 5.64499870e+01] [-8.76120260e-01 4.82027955e-01 7.89559355e-03 -1.12059249e+02] [-9.05534407e-03 -7.94572264e-05 -9.99958996e-01 2.86818974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.38, Y:-112.14, Z:2.87 [[-4.15244681e-01 -9.09702064e-01 3.74304700e-03 5.63794418e+01] [-9.09666321e-01 4.15261547e-01 8.06423412e-03 -1.12142846e+02] [-8.89039391e-03 -5.62934776e-05 -9.99960478e-01 2.86870259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.31, Y:-112.24, Z:2.87 [[-3.46312505e-01 -9.38113987e-01 3.12998923e-03 5.63124051e+01] [-9.38076509e-01 3.46326648e-01 8.38546407e-03 -1.12239705e+02] [-8.95051981e-03 -3.21782966e-05 -9.99959943e-01 2.86959506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.42762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.26, Y:-112.34, Z:2.87 [[-2.76238597e-01 -9.61086216e-01 2.35012697e-03 5.62551012e+01] [-9.61051415e-01 2.76248594e-01 8.17881157e-03 -1.12336899e+02] [-8.50976233e-03 7.10580655e-07 -9.99963791e-01 2.86855108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.45762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.20, Y:-112.44, Z:2.87 [[-2.01921747e-01 -9.79400456e-01 1.53458273e-03 5.62008754e+01] [-9.79371874e-01 2.01927578e-01 7.48236903e-03 -1.12443389e+02] [-7.63811021e-03 7.92586026e-06 -9.99970829e-01 2.86786938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.16, Y:-112.55, Z:2.87 [[-1.26700744e-01 -9.91940466e-01 1.01668567e-03 5.61558851e+01] [-9.91907304e-01 1.26704822e-01 8.11100224e-03 -1.12554342e+02] [-8.17445032e-03 1.92120767e-05 -9.99966588e-01 2.86812610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.51762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.12, Y:-112.67, Z:2.87 [[-5.11319659e-02 -9.98691822e-01 4.08572336e-04 5.61189789e+01] [-9.98654156e-01 5.11335859e-02 8.67373860e-03 -1.12674308e+02] [-8.68328357e-03 3.54828446e-05 -9.99962299e-01 2.86734482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.26, Y:-112.75, Z:1.99 [[-1.06012068e-01 9.94364398e-01 9.40776218e-04 5.52564335e+01] [-9.94329714e-01 -1.06016228e-01 8.30536711e-03 -1.12746992e+02] [ 8.35829891e-03 -5.49726050e-05 9.99965067e-01 1.98861769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.11, Y:-112.97, Z:2.87 [[-4.88511142e-02 -9.98806030e-01 2.89891797e-04 5.61065557e+01] [-9.98774607e-01 4.88518769e-02 7.92332152e-03 -1.12972192e+02] [-7.92802306e-03 9.75265184e-05 -9.99968568e-01 2.86672692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.08, Y:-113.10, Z:2.87 [[ 2.54657735e-02 -9.99675643e-01 -3.22448198e-04 5.60811682e+01] [-9.99644893e-01 -2.54675196e-02 7.84176288e-03 -1.13096288e+02] [-7.84743130e-03 1.22637137e-04 -9.99969201e-01 2.86599338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.06, Y:-113.21, Z:2.87 [[ 1.00140970e-01 -9.94972866e-01 -8.84045422e-04 5.60624647e+01] [-9.94945310e-01 -1.00144777e-01 7.40629382e-03 -1.13210462e+02] [-7.45759392e-03 1.37903401e-04 -9.99972182e-01 2.86539200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.06, Y:-113.33, Z:2.87 [[ 1.69885730e-01 -9.85462419e-01 -1.63111449e-03 5.60561813e+01] [-9.85428377e-01 -1.69893423e-01 8.19376939e-03 -1.13328994e+02] [-8.35176743e-03 2.15342011e-04 -9.99965100e-01 2.86589663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.06, Y:-113.45, Z:2.87 [[ 2.41550414e-01 -9.70385182e-01 -2.44856305e-03 5.60586632e+01] [-9.70346151e-01 -2.41562670e-01 8.70764683e-03 -1.13450194e+02] [-9.04125289e-03 2.72618037e-04 -9.99959090e-01 2.86623177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.727628 meters Centerline goodness [0,1] 0.9998197508054886 Centerline is valid? [True, True] Translation: X:56.07, Y:-113.57, Z:2.87 [[ 3.11848088e-01 -9.50124795e-01 -3.69380540e-03 5.60708557e+01] [-9.50071545e-01 -3.11869744e-01 1.00658966e-02 -1.13571882e+02] [-1.07158441e-02 3.70348774e-04 -9.99942515e-01 2.86878597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.757628 meters Centerline goodness [0,1] 0.9998647826380908 Centerline is valid? [True, True] Translation: X:56.09, Y:-113.70, Z:2.87 [[ 3.79201704e-01 -9.25303883e-01 -4.33488440e-03 5.60918265e+01] [-9.25255504e-01 -3.79226248e-01 9.47130987e-03 -1.13698219e+02] [-1.04077418e-02 4.19338810e-04 -9.99945750e-01 2.86920096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.11, Y:-113.80, Z:2.87 [[ 4.47575434e-01 -8.94235232e-01 -4.42504677e-03 5.61142038e+01] [-8.94199766e-01 -4.47597140e-01 7.97366905e-03 -1.13803266e+02] [-9.11097406e-03 3.88057392e-04 -9.99958419e-01 2.86720230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.15, Y:-113.92, Z:2.87 [[ 5.13561192e-01 -8.58039713e-01 -4.76997986e-03 5.61491836e+01] [-8.58009436e-01 -5.13583198e-01 7.21849343e-03 -1.13915705e+02] [-8.64353554e-03 3.85549640e-04 -9.99962570e-01 2.86564737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.84762800000001 meters Centerline goodness [0,1] 0.9998655974194705 Centerline is valid? [True, True] Translation: X:56.19, Y:-114.02, Z:2.87 [[ 5.76499205e-01 -8.17081367e-01 -5.16781462e-03 5.61944220e+01] [-8.17054445e-01 -5.76522234e-01 6.64432353e-03 -1.14023371e+02] [-8.40831298e-03 3.91938671e-04 -9.99964573e-01 2.86641491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.24, Y:-114.13, Z:2.86 [[ 6.37088341e-01 -7.70782085e-01 -3.66383200e-03 5.62366905e+01] [-7.70771601e-01 -6.37098824e-01 4.02835328e-03 -1.14128339e+02] [-5.43920560e-03 2.57560758e-04 -9.99985174e-01 2.86153758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.29, Y:-114.23, Z:2.86 [[ 6.94810237e-01 -7.19185213e-01 -3.37100249e-03 5.62895571e+01] [-7.19178221e-01 -6.94818381e-01 3.17865255e-03 -1.14226148e+02] [-4.62827440e-03 2.15791242e-04 -9.99989266e-01 2.86094914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.28, Y:-114.23, Z:2.86 [[ 7.50081974e-01 -6.61336074e-01 -3.41022372e-03 5.62826496e+01] [-6.61330405e-01 -7.50089701e-01 2.74537051e-03 -1.14229920e+02] [-4.37358624e-03 1.96031704e-04 -9.99990417e-01 2.86035843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.28, Y:-114.24, Z:2.86 [[ 8.00978263e-01 -5.98686012e-01 -2.98014075e-03 5.62752073e+01] [-5.98682567e-01 -8.00983792e-01 2.03680308e-03 -1.14235073e+02] [-3.60644996e-03 1.52723318e-04 -9.99993485e-01 2.85988770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.26, Y:-114.25, Z:2.86 [[ 8.48855372e-01 -5.28614727e-01 -3.32075677e-03 5.62610092e+01] [-5.28611305e-01 -8.48861857e-01 1.90695600e-03 -1.14252533e+02] [-3.82690878e-03 1.36659721e-04 -9.99992668e-01 2.85983939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.25, Y:-114.26, Z:2.86 [[ 8.89113692e-01 -4.57671179e-01 -3.73285794e-03 5.62532939e+01] [-4.57667771e-01 -8.89121518e-01 1.77137262e-03 -1.14261390e+02] [-4.12967051e-03 1.33457122e-04 -9.99991464e-01 2.86009294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.25, Y:-114.27, Z:2.86 [[ 9.23432998e-01 -3.83732755e-01 -4.54656451e-03 5.62483296e+01] [-3.83728852e-01 -9.23444180e-01 1.73647042e-03 -1.14271007e+02] [-4.86483911e-03 1.41133887e-04 -9.99988157e-01 2.86062199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.24, Y:-114.28, Z:2.86 [[ 9.52183632e-01 -3.05469722e-01 -5.88049934e-03 5.62426310e+01] [-3.05464840e-01 -9.52201779e-01 1.73317250e-03 -1.14283443e+02] [-6.12885365e-03 1.45987300e-04 -9.99981208e-01 2.86169550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.24, Y:-114.29, Z:2.86 [[ 9.73651615e-01 -2.27950975e-01 -6.39422764e-03 5.62401840e+01] [-2.27947010e-01 -9.73672600e-01 1.35197346e-03 -1.14291059e+02] [-6.53406792e-03 1.41193927e-04 -9.99978643e-01 2.86213255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.24, Y:-114.30, Z:2.86 [[ 9.88733310e-01 -1.49539081e-01 -6.67128209e-03 5.62351528e+01] [-1.49536598e-01 -9.88755807e-01 8.72274881e-04 -1.14300519e+02] [-6.72670809e-03 1.35153595e-04 -9.99977366e-01 2.86238262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.17762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.23, Y:-114.31, Z:2.86 [[ 9.97580097e-01 -6.91744700e-02 -6.98882408e-03 5.62298527e+01] [-6.91736375e-02 -9.97604570e-01 3.61060341e-04 -1.14308877e+02] [-6.99705900e-03 1.23255774e-04 -9.99975513e-01 2.86246077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.20762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.23, Y:-114.32, Z:2.86 [[ 9.99923119e-01 9.95923400e-03 -7.38717565e-03 5.62265380e+01] [ 9.95804600e-03 -9.99950398e-01 -1.97584342e-04 -1.14320767e+02] [-7.38877702e-03 1.24007317e-04 -9.99972695e-01 2.86145522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.22, Y:-114.33, Z:2.86 [[ 9.95999548e-01 8.90481751e-02 -7.43791879e-03 5.62233265e+01] [ 8.90447973e-02 -9.96027313e-01 -7.84713483e-04 -1.14327761e+02] [-7.47824757e-03 1.19266303e-04 -9.99972030e-01 2.86268327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.26762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.22, Y:-114.33, Z:2.86 [[ 9.85849996e-01 1.67451349e-01 -7.73512567e-03 5.62219888e+01] [ 1.67445239e-01 -9.85880333e-01 -1.43548089e-03 -1.14333214e+02] [-7.86628148e-03 1.19958862e-04 -9.99969053e-01 2.86260898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.29762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.22, Y:-114.34, Z:2.86 [[ 9.69337083e-01 2.45614872e-01 -7.67815480e-03 5.62198658e+01] [ 2.45606278e-01 -9.69367486e-01 -2.05762108e-03 -1.14338832e+02] [-7.94833595e-03 1.08725400e-04 -9.99968406e-01 2.86342958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.22, Y:-114.34, Z:2.86 [[ 9.46837673e-01 3.21624275e-01 -7.49979454e-03 5.62168096e+01] [ 3.21613335e-01 -9.46867369e-01 -2.65467711e-03 -1.14340130e+02] [-7.95511933e-03 1.01514364e-04 -9.99968352e-01 2.86378673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.21, Y:-114.34, Z:2.86 [[ 9.18335617e-01 3.95746470e-01 -6.66526416e-03 5.62145340e+01] [ 3.95735371e-01 -9.18359801e-01 -2.96519920e-03 -1.14340634e+02] [-7.29457778e-03 8.53672564e-05 -9.99973391e-01 2.86396193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.387628 meters Centerline goodness [0,1] 0.9998710786420284 Centerline is valid? [True, True] Translation: X:56.21, Y:-114.34, Z:2.87 [[ 8.84172555e-01 4.67113835e-01 -6.59990085e-03 5.62139113e+01] [ 4.67100130e-01 -8.84197183e-01 -3.57900931e-03 -1.14342961e+02] [-7.50741851e-03 8.16472533e-05 -9.99971816e-01 2.86537383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.22, Y:-114.35, Z:2.86 [[ 8.43167527e-01 5.37617206e-01 -6.02177081e-03 5.62189489e+01] [ 5.37603026e-01 -8.43189028e-01 -3.90503410e-03 -1.14353770e+02] [-7.17690460e-03 5.52757313e-05 -9.99974244e-01 2.86147702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.22, Y:-114.36, Z:2.86 [[ 7.97788850e-01 6.02906743e-01 -6.03398470e-03 5.62238415e+01] [ 6.02889027e-01 -7.97811667e-01 -4.62213461e-03 -1.14363160e+02] [-7.60069952e-03 4.96642909e-05 -9.99971113e-01 2.86099545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.477628 meters Centerline goodness [0,1] 0.9998923504209098 Centerline is valid? [True, True] Translation: X:56.23, Y:-114.37, Z:2.86 [[ 7.47813351e-01 6.63881762e-01 -6.01644126e-03 5.62280579e+01] [ 6.63859752e-01 -7.47837552e-01 -5.40613449e-03 -1.14372098e+02] [-8.08835479e-03 4.87063482e-05 -9.99967288e-01 2.86357965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.23, Y:-114.38, Z:2.86 [[ 6.92474237e-01 7.21417456e-01 -6.02366938e-03 5.62337203e+01] [ 7.21389660e-01 -6.92500435e-01 -6.33296433e-03 -1.14379332e+02] [-8.74010468e-03 4.00018400e-05 -9.99961804e-01 2.86316637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.24, Y:-114.39, Z:2.86 [[ 6.33484725e-01 7.73727807e-01 -6.51020770e-03 5.62381468e+01] [ 7.73686267e-01 -6.33518175e-01 -8.01756774e-03 -1.14385242e+02] [-1.03277500e-02 4.21484001e-05 -9.99946666e-01 2.86404484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.25, Y:-114.39, Z:2.86 [[ 5.70545730e-01 8.21239528e-01 -6.57318713e-03 5.62464332e+01] [ 8.21184193e-01 -5.70583592e-01 -9.53342038e-03 -1.14393773e+02] [-1.15797744e-02 4.14549314e-05 -9.99932951e-01 2.86418385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.59762800000001 meters Centerline goodness [0,1] 0.999870867768595 Centerline is valid? [True, True] Translation: X:56.25, Y:-114.40, Z:2.87 [[ 5.03949555e-01 8.63705400e-01 -6.91585107e-03 5.62535259e+01] [ 8.63622953e-01 -5.03997005e-01 -1.19337268e-02 -1.14401611e+02] [-1.37927925e-02 4.13085864e-05 -9.99904874e-01 2.86787076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.62762800000002 meters Centerline goodness [0,1] 0.999870867768595 Centerline is valid? [True, True] Translation: X:56.26, Y:-114.41, Z:2.87 [[ 4.34751055e-01 9.00530955e-01 -5.95981171e-03 5.62592066e+01] [ 9.00445044e-01 -4.34791902e-01 -1.24388184e-02 -1.14407228e+02] [-1.37928189e-02 4.13065270e-05 -9.99904874e-01 2.86787099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.26, Y:-114.41, Z:2.87 [[ 3.60763388e-01 9.32638262e-01 -5.97071395e-03 5.62631506e+01] [ 9.32510025e-01 -3.60812793e-01 -1.54654699e-02 -1.14412664e+02] [-1.65779990e-02 1.16247109e-05 -9.99862575e-01 2.86810052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.27, Y:-114.42, Z:2.87 [[ 2.85912753e-01 9.58242005e-01 -5.11449745e-03 5.62693416e+01] [ 9.58088785e-01 -2.85958494e-01 -1.71353231e-02 -1.14416668e+02] [-1.78823203e-02 -9.35254064e-07 -9.99840099e-01 2.86759443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.71762800000002 meters Centerline goodness [0,1] 0.9998276864755422 Centerline is valid? [True, True] Translation: X:56.28, Y:-114.42, Z:2.87 [[ 2.09804928e-01 9.77735571e-01 -3.87893025e-03 5.62766541e+01] [ 9.77568903e-01 -2.09840782e-01 -1.80522935e-02 -1.14421256e+02] [-1.84643273e-02 -4.46145208e-06 -9.99829520e-01 2.86970544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.74762800000002 meters Centerline goodness [0,1] 0.999892048276011 Centerline is valid? [True, True] Translation: X:56.28, Y:-114.43, Z:2.87 [[ 1.32194040e-01 9.91221144e-01 -2.31954531e-03 5.62837149e+01] [ 9.91070075e-01 -1.32214388e-01 -1.73049657e-02 -1.14425081e+02] [-1.74597252e-02 -1.12186141e-05 -9.99847567e-01 2.86894200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.29, Y:-114.43, Z:2.87 [[ 5.42225846e-02 9.98528523e-01 -8.36490292e-04 5.62867726e+01] [ 9.98412072e-01 -5.42290358e-02 -1.52494714e-02 -1.14429318e+02] [-1.52723942e-02 -8.29625336e-06 -9.99883370e-01 2.86548112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.29, Y:-114.43, Z:2.86 [[-2.29431972e-02 9.99736717e-01 3.27267847e-04 5.62906070e+01] [ 9.99640911e-01 2.29455292e-02 -1.38401960e-02 -1.14431966e+02] [-1.38440614e-02 9.61198320e-06 -9.99904166e-01 2.86366704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.83762800000002 meters Centerline goodness [0,1] 0.9998700426693236 Centerline is valid? [True, True] Translation: X:56.29, Y:-114.44, Z:2.86 [[-9.93074343e-02 9.95055874e-01 1.35663136e-03 5.62934480e+01] [ 9.94967741e-01 9.93166943e-02 -1.32434105e-02 -1.14436575e+02] [-1.33126696e-02 3.46353207e-05 -9.99911382e-01 2.86421109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.86762800000002 meters Centerline goodness [0,1] 0.9998477996173247 Centerline is valid? [True, True] Translation: X:56.29, Y:-114.44, Z:2.86 [[-1.73071568e-01 9.84907598e-01 1.80441599e-03 5.62948594e+01] [ 9.84857990e-01 1.73080961e-01 -9.88540466e-03 -1.14440560e+02] [-1.00485202e-02 6.62110262e-05 -9.99949510e-01 2.86127076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.30, Y:-114.44, Z:2.86 [[-2.48058388e-01 9.68742596e-01 2.19514717e-03 5.63033450e+01] [ 9.68707156e-01 2.48068091e-01 -8.28658236e-03 -1.14443279e+02] [-8.57211127e-03 7.08985099e-05 -9.99963256e-01 2.85706228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.31, Y:-114.45, Z:2.86 [[-3.21445503e-01 9.46925396e-01 2.25465069e-03 5.63113087e+01] [ 9.46903584e-01 3.21453403e-01 -6.42743905e-03 -1.14446123e+02] [-6.81107041e-03 6.88654423e-05 -9.99976802e-01 2.85603679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.95762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.32, Y:-114.45, Z:2.86 [[-3.93127006e-01 9.19481143e-01 2.36320158e-03 5.63187659e+01] [ 9.19465568e-01 3.93134103e-01 -5.35230132e-03 -1.14449892e+02] [-5.85039527e-03 6.87482945e-05 -9.99982884e-01 2.85568196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.98762800000003 meters Centerline goodness [0,1] 0.9999563366444711 Centerline is valid? [True, True] Translation: X:56.33, Y:-114.45, Z:2.86 [[-4.62530148e-01 8.86599611e-01 2.64429721e-03 5.63255386e+01] [ 8.86586033e-01 4.62537701e-01 -4.90735770e-03 -1.14452114e+02] [-5.57394858e-03 7.45960884e-05 -9.99984463e-01 2.85643616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.01762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.33, Y:-114.45, Z:2.86 [[-5.30587436e-01 8.47624550e-01 3.09775409e-03 5.63340380e+01] [ 8.47610935e-01 5.30596473e-01 -4.80477446e-03 -1.14454386e+02] [-5.71630218e-03 7.63372863e-05 -9.99983659e-01 2.85610306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.34, Y:-114.45, Z:2.86 [[-5.95576431e-01 8.03289050e-01 3.92653488e-03 5.63431842e+01] [ 8.03272523e-01 5.95589368e-01 -5.15349302e-03 -1.14453795e+02] [-6.47834694e-03 8.47785946e-05 -9.99979012e-01 2.85697327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.35, Y:-114.45, Z:2.86 [[-6.56722202e-01 7.54111956e-01 5.57747947e-03 5.63519319e+01] [ 7.54086155e-01 6.56745877e-01 -6.23887682e-03 -1.14452794e+02] [-8.36779824e-03 1.08691133e-04 -9.99964983e-01 2.85797415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.107628 meters Centerline goodness [0,1] 0.9998239010323802 Centerline is valid? [True, True] Translation: X:56.36, Y:-114.45, Z:2.86 [[-7.13142703e-01 7.00967085e-01 8.52237186e-03 5.63598418e+01] [ 7.00919753e-01 7.13193606e-01 -8.14743887e-03 -1.14452975e+02] [-1.17891876e-02 1.63212196e-04 -9.99930492e-01 2.86265919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.137628 meters Centerline goodness [0,1] 0.9997798035847977 Centerline is valid? [True, True] Translation: X:56.38, Y:-114.44, Z:2.86 [[-7.60461365e-01 6.49306393e-01 9.98604794e-03 5.63801156e+01] [ 6.49253664e-01 7.60526905e-01 -8.27688850e-03 -1.14436337e+02] [-1.29688947e-02 1.89224288e-04 -9.99915882e-01 2.86384544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.40, Y:-114.42, Z:2.86 [[-8.03266949e-01 5.95518480e-01 1.09521030e-02 5.63998230e+01] [ 5.95466921e-01 8.03341577e-01 -7.83939626e-03 -1.14421466e+02] [-1.34667851e-02 2.24487154e-04 -9.99909294e-01 2.86152234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.197628 meters Centerline goodness [0,1] 0.9998895613376331 Centerline is valid? [True, True] Translation: X:56.41, Y:-114.40, Z:2.86 [[-8.42371786e-01 5.38762003e-01 1.20531072e-02 5.64139173e+01] [ 5.38711282e-01 8.42457972e-01 -7.39726082e-03 -1.14400416e+02] [-1.41395993e-02 2.61901017e-04 -9.99899997e-01 2.86324017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.44, Y:-114.38, Z:2.86 [[-8.77881195e-01 4.78719141e-01 1.23528046e-02 5.64379744e+01] [ 4.78676111e-01 8.77968057e-01 -6.42429901e-03 -1.14384332e+02] [-1.39208028e-02 2.73221178e-04 -9.99903064e-01 2.86135711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.45, Y:-114.36, Z:2.86 [[-9.09115155e-01 4.16345085e-01 1.28998386e-02 5.64537666e+01] [ 4.16307707e-01 9.09206624e-01 -5.58642273e-03 -1.14364057e+02] [-1.40544983e-02 2.91600646e-04 -9.99901188e-01 2.86194401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.47, Y:-114.34, Z:2.86 [[-9.35596284e-01 3.52868429e-01 1.19776576e-02 5.64693327e+01] [ 3.52843466e-01 9.35672906e-01 -4.20722557e-03 -1.14342940e+02] [-1.26917667e-02 2.89973604e-04 -9.99919414e-01 2.86062642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.48, Y:-114.32, Z:2.86 [[-9.58164190e-01 2.85992099e-01 1.13975665e-02 5.64836071e+01] [ 2.85975259e-01 9.58231936e-01 -3.11563873e-03 -1.14319935e+02] [-1.18125603e-02 2.74128569e-04 -9.99930192e-01 2.86006061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.34762800000001 meters Centerline goodness [0,1] 0.9998890860692103 Centerline is valid? [True, True] Translation: X:56.49, Y:-114.30, Z:2.86 [[-9.75952164e-01 2.17679585e-01 1.15313858e-02 5.64923874e+01] [ 2.17667738e-01 9.76020247e-01 -2.28787973e-03 -1.14295289e+02] [-1.17528908e-02 2.77149498e-04 -9.99930894e-01 2.86178651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.37762800000002 meters Centerline goodness [0,1] 0.9999112294718153 Centerline is valid? [True, True] Translation: X:56.66, Y:-113.48, Z:2.00 [[-9.70928652e-01 -2.39144739e-01 1.03608293e-02 5.66625643e+01] [ 2.39127604e-01 -9.70983878e-01 -2.88040553e-03 -1.13484822e+02] [ 1.07490320e-02 -3.19107975e-04 9.99942177e-01 1.99644539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.44, Y:-114.29, Z:2.86 [[-9.77643544e-01 2.10037145e-01 9.87410492e-03 5.64376684e+01] [ 2.10028507e-01 9.77693386e-01 -1.91545638e-03 -1.14285225e+02] [-1.00561641e-02 2.01209948e-04 -9.99949415e-01 2.85772467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.60, Y:-113.47, Z:2.00 [[-9.71113991e-01 -2.38427604e-01 9.48130959e-03 5.66014490e+01] [ 2.38414103e-01 -9.71160251e-01 -2.54612628e-03 -1.13469854e+02] [ 9.81493779e-03 -2.12100928e-04 9.99951810e-01 1.99741447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.38, Y:-114.27, Z:2.86 [[-9.79282640e-01 2.02264946e-01 9.71605787e-03 5.63788784e+01] [ 2.02256617e-01 9.79330826e-01 -1.84253204e-03 -1.14274707e+02] [-9.88791462e-03 1.60777352e-04 -9.99951100e-01 2.85798807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.49762800000002 meters Centerline goodness [0,1] 0.9998668264748968 Centerline is valid? [True, True] Translation: X:56.39, Y:-114.25, Z:2.86 [[-9.91707951e-01 1.28044993e-01 1.09462353e-02 5.63869417e+01] [ 1.28038666e-01 9.91768351e-01 -1.27970165e-03 -1.14245992e+02] [-1.10199891e-02 1.32451061e-04 -9.99939269e-01 2.86098122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.39, Y:-114.22, Z:2.86 [[-9.98473511e-01 5.42147293e-02 1.05551176e-02 5.63889989e+01] [ 5.42126998e-02 9.98529296e-01 -4.78508899e-04 -1.14217320e+02] [-1.05655364e-02 9.44429612e-05 -9.99944179e-01 2.85864716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.43, Y:-113.39, Z:2.00 [[-9.94290250e-01 -1.06196333e-01 1.04517137e-02 5.64339406e+01] [ 1.06189440e-01 -9.94345176e-01 -1.21383006e-03 -1.13393925e+02] [ 1.05215154e-02 -9.70377741e-05 9.99944643e-01 1.99701445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.30, Y:-114.21, Z:2.86 [[-9.98983679e-01 4.39084825e-02 1.01811159e-02 5.63035222e+01] [ 4.39066202e-02 9.99035557e-01 -4.06464935e-04 -1.14212939e+02] [-1.01891441e-02 4.09665544e-05 -9.99948088e-01 2.85956534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.61762800000002 meters Centerline goodness [0,1] 0.9998660295628098 Centerline is valid? [True, True] Translation: X:56.30, Y:-114.19, Z:2.86 [[-9.99436350e-01 -3.17300688e-02 1.09628936e-02 5.63017686e+01] [-3.17282177e-02 9.99496475e-01 3.42769437e-04 -1.14185594e+02] [-1.09682496e-02 -5.25684063e-06 -9.99939847e-01 2.86098622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.29, Y:-113.36, Z:2.00 [[-9.99161700e-01 -3.95957173e-02 1.03960075e-02 5.62850973e+01] [ 3.95932207e-02 -9.99215782e-01 -4.45927391e-04 -1.13360650e+02] [ 1.04055116e-02 -3.39421499e-05 9.99945861e-01 1.99739794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.20, Y:-114.19, Z:2.86 [[-9.99042627e-01 -4.25593433e-02 1.01258092e-02 5.62014316e+01] [-4.25576716e-02 9.99093939e-01 3.80599957e-04 -1.14187374e+02] [-1.01328327e-02 -5.06952824e-05 -9.99948660e-01 2.85902999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.70762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.20, Y:-114.16, Z:2.86 [[-9.93301239e-01 -1.15104628e-01 1.01771387e-02 5.61982304e+01] [-1.15099277e-01 9.93353371e-01 1.11193339e-03 -1.14160259e+02] [-1.02374837e-02 -6.68964897e-05 -9.99947593e-01 2.85946879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.19, Y:-114.14, Z:2.86 [[-9.82090106e-01 -1.88149173e-01 9.94542597e-03 5.61874611e+01] [-1.88140463e-01 9.82140459e-01 1.81271200e-03 -1.14135843e+02] [-1.01088655e-02 -9.08905255e-05 -9.99948900e-01 2.85975267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.76762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.16, Y:-114.11, Z:2.86 [[-9.65743801e-01 -2.59319684e-01 9.60278272e-03 5.61641060e+01] [-2.59307881e-01 9.65791537e-01 2.47602866e-03 -1.14113904e+02] [-9.91636925e-03 -9.88679183e-05 -9.99950827e-01 2.85958835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.11, Y:-114.10, Z:2.86 [[-9.43777621e-01 -3.30442434e-01 9.57080188e-03 5.61142392e+01] [-3.30426662e-01 9.43826141e-01 3.23048242e-03 -1.14100613e+02] [-1.01006615e-02 -1.13591104e-04 -9.99948981e-01 2.85987250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.05, Y:-114.10, Z:2.86 [[-9.16428800e-01 -4.00092372e-01 9.18411193e-03 5.60528552e+01] [-4.00073607e-01 9.16474811e-01 3.87691056e-03 -1.14095733e+02] [-9.96812958e-03 -1.21408290e-04 -9.99950310e-01 2.86014242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.99, Y:-114.10, Z:2.86 [[-8.83346681e-01 -4.68601581e-01 1.05451333e-02 5.59857802e+01] [-4.68570364e-01 8.83409606e-01 5.41121344e-03 -1.14099898e+02] [-1.18513753e-02 -1.61159533e-04 -9.99929757e-01 2.86208722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.91, Y:-114.11, Z:2.86 [[-8.45429468e-01 -5.33978265e-01 1.07808151e-02 5.59058270e+01] [-5.33937526e-01 8.45498185e-01 6.59830913e-03 -1.14114591e+02] [-1.26385133e-02 -1.77876773e-04 -9.99920115e-01 2.86331150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.82, Y:-114.14, Z:2.86 [[-8.02184379e-01 -5.96983400e-01 1.05377067e-02 5.58222052e+01] [-5.96935082e-01 8.02253565e-01 7.59774928e-03 -1.14137737e+02] [-1.29896429e-02 -1.95531021e-04 -9.99915612e-01 2.86287365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.947628 meters Centerline goodness [0,1] 0.9998414639670246 Centerline is valid? [True, True] Translation: X:55.73, Y:-114.17, Z:2.87 [[-7.54614278e-01 -6.56090323e-01 1.01380291e-02 5.57308727e+01] [-6.56034653e-01 7.54682349e-01 8.54907565e-03 -1.14172705e+02] [-1.32599574e-02 -1.99643851e-04 -9.99912063e-01 2.86618066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.64, Y:-114.22, Z:2.86 [[-7.02657607e-01 -7.11461247e-01 9.75604562e-03 5.56408407e+01] [-7.11396661e-01 7.02725304e-01 9.58847785e-03 -1.14217488e+02] [-1.36776505e-02 -2.03001373e-04 -9.99906436e-01 2.86361284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.55, Y:-114.27, Z:2.86 [[-6.47271386e-01 -7.62203199e-01 9.27556919e-03 5.55521966e+01] [-7.62129119e-01 6.47337816e-01 1.06281890e-02 -1.14271343e+02] [-1.41052664e-02 -1.89858726e-04 -9.99900498e-01 2.86371657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.47, Y:-114.33, Z:2.86 [[-5.87928732e-01 -8.08868217e-01 8.48608795e-03 5.54684459e+01] [-8.08788190e-01 5.87989947e-01 1.13792039e-02 -1.14331156e+02] [-1.41940108e-02 -1.73286807e-04 -9.99899245e-01 2.86336156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.38, Y:-114.40, Z:2.86 [[-5.25159418e-01 -8.50971297e-01 7.44559937e-03 5.53846204e+01] [-8.50889857e-01 5.25212174e-01 1.17738432e-02 -1.14404331e+02] [-1.39297221e-02 -1.52240326e-04 -9.99902965e-01 2.86337583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.09762800000001 meters Centerline goodness [0,1] 0.9998872299156479 Centerline is valid? [True, True] Translation: X:55.30, Y:-114.49, Z:2.86 [[-4.59511286e-01 -8.88148268e-01 6.48323660e-03 5.53042583e+01] [-8.88063798e-01 4.59557001e-01 1.22495999e-02 -1.14489744e+02] [-1.38588777e-02 -1.28698333e-04 -9.99903953e-01 2.86449355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.23, Y:-114.57, Z:2.86 [[-3.88963133e-01 -9.21239662e-01 5.01667983e-03 5.52338099e+01] [-9.21167176e-01 3.88995463e-01 1.15570127e-02 -1.14572886e+02] [-1.25982442e-02 -1.25948918e-04 -9.99920631e-01 2.86086075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.17, Y:-114.67, Z:2.86 [[-3.16197151e-01 -9.48685609e-01 3.86996588e-03 5.51652780e+01] [-9.48619308e-01 3.16220808e-01 1.12164946e-02 -1.14670807e+02] [-1.18646907e-02 -1.24500732e-04 -9.99929604e-01 2.86088505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.11, Y:-114.77, Z:2.86 [[-2.41365432e-01 -9.70430237e-01 2.80757761e-03 5.51051206e+01] [-9.70370369e-01 2.41381729e-01 1.07799596e-02 -1.14773858e+02] [-1.11388967e-02 -1.22480521e-04 -9.99937953e-01 2.86031591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.05, Y:-114.89, Z:2.86 [[-1.65712472e-01 -9.86172355e-01 1.86066667e-03 5.50504508e+01] [-9.86117700e-01 1.65722878e-01 1.03831370e-02 -1.14891374e+02] [-1.05479177e-02 -1.14221030e-04 -9.99944363e-01 2.86045503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.01, Y:-115.00, Z:2.86 [[-8.92916793e-02 -9.96004924e-01 1.08974460e-03 5.50073455e+01] [-9.95945439e-01 8.92982569e-02 1.08859821e-02 -1.15000209e+02] [-1.09398041e-02 -1.13298546e-04 -9.99940152e-01 2.86093067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.97, Y:-115.11, Z:2.86 [[-1.26223438e-02 -9.99920305e-01 2.44219450e-04 5.49733073e+01] [-9.99859391e-01 1.26242707e-02 1.10375287e-02 -1.15109664e+02] [-1.10397322e-02 -1.04865627e-04 -9.99939055e-01 2.86106645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.95, Y:-115.23, Z:2.86 [[ 6.37851041e-02 -9.97963481e-01 -5.92380134e-04 5.49488299e+01] [-9.97906402e-01 -6.37877917e-02 1.06738504e-02 -1.15225823e+02] [-1.06898995e-02 -8.96927280e-05 -9.99942857e-01 2.86059124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.94, Y:-115.35, Z:2.86 [[ 1.37985501e-01 -9.90433394e-01 -1.30163669e-03 5.49365473e+01] [-9.90385692e-01 -1.37991630e-01 9.72061654e-03 -1.15345723e+02] [-9.80723820e-03 -5.21817826e-05 -9.99951907e-01 2.85862288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.93, Y:-115.46, Z:2.86 [[ 2.12882772e-01 -9.77075734e-01 -1.98362425e-03 5.49306404e+01] [-9.77031640e-01 -2.12892010e-01 9.28256751e-03 -1.15464619e+02] [-9.49206922e-03 -3.80350467e-05 -9.99954949e-01 2.85869076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.93, Y:-115.59, Z:2.86 [[ 2.86922316e-01 -9.57950252e-01 -2.62679704e-03 5.49345332e+01] [-9.57909257e-01 -2.86934339e-01 8.86231504e-03 -1.15586604e+02] [-9.24337519e-03 -2.65627559e-05 -9.99957279e-01 2.85834405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.42762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.95, Y:-115.70, Z:2.86 [[ 3.59351998e-01 -9.33195968e-01 -3.38020042e-03 5.49471069e+01] [-9.33154213e-01 -3.59367895e-01 8.82785123e-03 -1.15704709e+02] [-9.45285069e-03 -1.80577177e-05 -9.99955321e-01 2.85933720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.45762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.97, Y:-115.82, Z:2.86 [[ 4.30354605e-01 -9.02649352e-01 -4.36598168e-03 5.49682459e+01] [-9.02602487e-01 -4.30376751e-01 9.19801887e-03 -1.15823911e+02] [-1.01816028e-02 -1.76638556e-05 -9.99948166e-01 2.86008138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.00, Y:-115.95, Z:2.86 [[ 4.99330865e-01 -8.66396240e-01 -5.12278195e-03 5.50022181e+01] [-8.66350157e-01 -4.99357142e-01 8.93586910e-03 -1.15949023e+02] [-1.03001011e-02 -2.38323007e-05 -9.99946952e-01 2.85980014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.51762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.04, Y:-116.06, Z:2.86 [[ 5.65999578e-01 -8.24382729e-01 -6.13146477e-03 5.50386643e+01] [-8.24333569e-01 -5.66032786e-01 9.00292044e-03 -1.16060247e+02] [-1.08924622e-02 -4.12769364e-05 -9.99940675e-01 2.85949595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.08, Y:-116.17, Z:2.86 [[ 6.27919687e-01 -7.78248366e-01 -6.80790429e-03 5.50825600e+01] [-7.78201915e-01 -6.27956590e-01 8.50301199e-03 -1.16165749e+02] [-1.08925236e-02 -4.12844744e-05 -9.99940674e-01 2.85949896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.577628 meters Centerline goodness [0,1] 0.9998192907160606 Centerline is valid? [True, True] Translation: X:55.13, Y:-116.26, Z:2.86 [[ 6.85693016e-01 -7.27845246e-01 -8.14768103e-03 5.51272329e+01] [-7.27793143e-01 -6.85741420e-01 8.70891021e-03 -1.16258774e+02] [-1.19259413e-02 -4.18125274e-05 -9.99928883e-01 2.86267059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.19, Y:-116.35, Z:2.86 [[ 7.40169274e-01 -6.72373003e-01 -7.99935472e-03 5.51851853e+01] [-6.72333040e-01 -7.40212498e-01 7.33082924e-03 -1.16354589e+02] [-1.08502740e-02 -4.78240783e-05 -9.99941133e-01 2.85870042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.18, Y:-116.36, Z:2.86 [[ 7.90499179e-01 -6.12407058e-01 -8.28512791e-03 5.51802453e+01] [-6.12372789e-01 -7.90542594e-01 6.47882808e-03 -1.16359599e+02] [-1.05174266e-02 -4.79213951e-05 -9.99944689e-01 2.85784456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.17, Y:-116.37, Z:2.86 [[ 8.35747715e-01 -5.49051739e-01 -8.24291042e-03 5.51747871e+01] [-5.49024542e-01 -8.35788362e-01 5.46501870e-03 -1.16366087e+02] [-9.88990662e-03 -4.18167715e-05 -9.99951093e-01 2.85717330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.17, Y:-116.37, Z:2.86 [[ 8.75277420e-01 -4.83563299e-01 -7.48163894e-03 5.51679306e+01] [-4.83545428e-01 -8.75309394e-01 4.15730765e-03 -1.16370391e+02] [-8.55907025e-03 -2.10852071e-05 -9.99963370e-01 2.85625304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.16, Y:-116.38, Z:2.86 [[ 9.09863248e-01 -4.14840289e-01 -7.51033223e-03 5.51614496e+01] [-4.14826070e-01 -9.09894243e-01 3.43473116e-03 -1.16375330e+02] [-8.25847293e-03 -9.65404395e-06 -9.99965898e-01 2.85590756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.757628 meters Centerline goodness [0,1] 0.9997966331487967 Centerline is valid? [True, True] Translation: X:55.16, Y:-116.38, Z:2.86 [[ 9.38324333e-01 -3.45650952e-01 -8.53614429e-03 5.51561215e+01] [-3.45636847e-01 -9.38363159e-01 3.12266969e-03 -1.16380197e+02] [-9.08935708e-03 2.03290464e-05 -9.99958691e-01 2.86020560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.15, Y:-116.39, Z:2.86 [[ 9.62463626e-01 -2.71269673e-01 -8.74832760e-03 5.51497786e+01] [-2.71258664e-01 -9.62503384e-01 2.44402121e-03 -1.16388955e+02] [-9.08328376e-03 2.07781406e-05 -9.99958746e-01 2.85662769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.14, Y:-116.40, Z:2.86 [[ 9.80589404e-01 -1.95838768e-01 -9.57063336e-03 5.51399629e+01] [-1.95829738e-01 -9.80636108e-01 1.88092557e-03 -1.16395683e+02] [-9.75366679e-03 2.97989365e-05 -9.99952431e-01 2.85748786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.13, Y:-116.40, Z:2.86 [[ 9.92725125e-01 -1.19944516e-01 -1.04947088e-02 5.51316427e+01] [-1.19938323e-01 -9.92780596e-01 1.21978589e-03 -1.16399320e+02] [-1.05652499e-02 4.78056643e-05 -9.99944185e-01 2.85829205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.87762800000002 meters Centerline goodness [0,1] 0.9998640935036694 Centerline is valid? [True, True] Translation: X:55.12, Y:-116.40, Z:2.86 [[ 9.98864239e-01 -4.59790152e-02 -1.24964747e-02 5.51229259e+01] [-4.59767654e-02 -9.98942400e-01 4.67413627e-04 -1.16399688e+02] [-1.25047496e-02 1.07664728e-04 -9.99921807e-01 2.86224178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.90762800000002 meters Centerline goodness [0,1] 0.9998413885301248 Centerline is valid? [True, True] Translation: X:55.12, Y:-116.41, Z:2.86 [[ 9.99459679e-01 3.02784188e-02 -1.27893697e-02 5.51158952e+01] [ 3.02741861e-02 -9.99541494e-01 -5.24470222e-04 -1.16407682e+02] [-1.27993858e-02 1.36999082e-04 -9.99918075e-01 2.86162322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.11, Y:-116.42, Z:2.86 [[ 9.94099996e-01 1.07762677e-01 -1.23451498e-02 5.51093818e+01] [ 1.07752599e-01 -9.94176637e-01 -1.48055502e-03 -1.16415368e+02] [-1.24328081e-02 1.41597759e-04 -9.99922700e-01 2.85905395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.10, Y:-116.42, Z:2.86 [[ 9.82892125e-01 1.83813151e-01 -1.16531526e-02 5.51029812e+01] [ 1.83798392e-01 -9.82961191e-01 -2.33425662e-03 -1.16423570e+02] [-1.18836638e-02 1.52491746e-04 -9.99929375e-01 2.85876998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.10, Y:-116.43, Z:2.86 [[ 9.65937379e-01 2.58577043e-01 -1.01436388e-02 5.50968875e+01] [ 2.58561116e-01 -9.65990626e-01 -2.87396019e-03 -1.16431854e+02] [-1.05418001e-02 1.53315001e-04 -9.99944422e-01 2.85825370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.09, Y:-116.44, Z:2.86 [[ 9.42849359e-01 3.33091056e-01 -9.24311273e-03 5.50930592e+01] [ 3.33073525e-01 -9.42894653e-01 -3.42056618e-03 -1.16444670e+02] [-9.85464157e-03 1.46442490e-04 -9.99951431e-01 2.85685826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.09, Y:-116.46, Z:2.86 [[ 9.13800394e-01 4.06080158e-01 -8.23077398e-03 5.50896864e+01] [ 4.06062373e-01 -9.13837451e-01 -3.80289675e-03 -1.16456211e+02] [-9.06587043e-03 1.32880931e-04 -9.99958895e-01 2.85683018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.09, Y:-116.47, Z:2.86 [[ 8.78496884e-01 4.77691575e-01 -7.34734893e-03 5.50878700e+01] [ 4.77673809e-01 -8.78527602e-01 -4.12132247e-03 -1.16468793e+02] [-8.42356986e-03 1.10932797e-04 -9.99964515e-01 2.85568349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.09, Y:-116.48, Z:2.86 [[ 8.37552301e-01 5.46308334e-01 -7.30384519e-03 5.50858807e+01] [ 5.46286496e-01 -8.37584141e-01 -4.88577437e-03 -1.16480830e+02] [-8.78672416e-03 1.02099573e-04 -9.99961391e-01 2.85639646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.09, Y:-116.49, Z:2.86 [[ 7.90959319e-01 6.11829367e-01 -6.94132875e-03 5.50862261e+01] [ 6.11804866e-01 -7.90989772e-01 -5.47606311e-03 -1.16493054e+02] [-8.84093626e-03 8.46044391e-05 -9.99960915e-01 2.85644264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.17762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.09, Y:-116.51, Z:2.86 [[ 7.38982646e-01 6.73687150e-01 -7.09041403e-03 5.50873041e+01] [ 6.73655242e-01 -7.39016657e-01 -6.55707768e-03 -1.16505824e+02] [-9.65735305e-03 6.90720352e-05 -9.99953364e-01 2.85742671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.20762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.09, Y:-116.52, Z:2.86 [[ 6.79760842e-01 7.33392774e-01 -7.76117151e-03 5.50911240e+01] [ 7.33344708e-01 -6.79805147e-01 -8.39645682e-03 -1.16519361e+02] [-1.14339851e-02 1.59685054e-05 -9.99934630e-01 2.85900761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.23762800000003 meters Centerline goodness [0,1] 0.9998649713064026 Centerline is valid? [True, True] Translation: X:55.09, Y:-116.53, Z:2.86 [[ 6.18802140e-01 7.85510016e-01 -7.61095048e-03 5.50945353e+01] [ 7.85450718e-01 -6.18848944e-01 -9.65167040e-03 -1.16532167e+02] [-1.22915124e-02 -5.55222056e-06 -9.99924457e-01 2.86245609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.26762800000003 meters Centerline goodness [0,1] 0.9998202206791164 Centerline is valid? [True, True] Translation: X:55.10, Y:-116.54, Z:2.86 [[ 5.53383847e-01 8.32899243e-01 -6.72078202e-03 5.50987122e+01] [ 8.32838574e-01 -5.53424656e-01 -1.00528950e-02 -1.16543808e+02] [-1.20924951e-02 -3.42167957e-05 -9.99926883e-01 2.86346064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.29762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.10, Y:-116.55, Z:2.86 [[ 4.84092125e-01 8.74997765e-01 -5.80749410e-03 5.51024642e+01] [ 8.74936422e-01 -4.84126954e-01 -1.03609316e-02 -1.16554702e+02] [-1.18773564e-02 -6.55427063e-05 -9.99929460e-01 2.86089106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.11, Y:-116.57, Z:2.86 [[ 4.11975150e-01 9.11181247e-01 -5.02097332e-03 5.51052733e+01] [ 9.11116325e-01 -4.12005735e-01 -1.08773151e-02 -1.16565439e+02] [-1.19798753e-02 -9.35072613e-05 -9.99928234e-01 2.86005931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.11, Y:-116.58, Z:2.86 [[ 3.38660213e-01 9.40900166e-01 -4.01721523e-03 5.51071846e+01] [ 9.40837394e-01 -3.38684024e-01 -1.08687617e-02 -1.16575512e+02] [-1.15869863e-02 -9.87291497e-05 -9.99932864e-01 2.86008072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.11, Y:-116.58, Z:2.86 [[ 2.63814405e-01 9.64568502e-01 -3.09270569e-03 5.51099654e+01] [ 9.64506519e-01 -2.63832514e-01 -1.09351887e-02 -1.16584118e+02] [-1.13636949e-02 -9.80744905e-05 -9.99935426e-01 2.85984368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.11, Y:-116.59, Z:2.86 [[ 1.87477829e-01 9.82267149e-01 -1.82001896e-03 5.51106715e+01] [ 9.82224909e-01 -1.87486646e-01 -9.10961683e-03 -1.16593434e+02] [-9.28930660e-03 -7.98167737e-05 -9.99956850e-01 2.85849548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.11, Y:-116.60, Z:2.86 [[ 1.10069786e-01 9.93923409e-01 -9.48291200e-04 5.51115758e+01] [ 9.93891637e-01 -1.10073850e-01 -7.94744410e-03 -1.16601161e+02] [-8.00353280e-03 -6.77252240e-05 -9.99967969e-01 2.85742000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.11, Y:-116.61, Z:2.86 [[ 3.21347296e-02 9.99483506e-01 -2.83395108e-04 5.51142733e+01] [ 9.99458818e-01 -3.21359278e-02 -7.02521233e-03 -1.16609582e+02] [-7.03069102e-03 -5.74884407e-05 -9.99975283e-01 2.85667039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.12, Y:-116.62, Z:2.86 [[-4.63991589e-02 9.98922948e-01 2.50023270e-04 5.51174572e+01] [ 9.98901377e-01 4.63998001e-02 -6.56492482e-03 -1.16618752e+02] [-6.56945508e-03 -5.48584012e-05 -9.99978419e-01 2.85705404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.12, Y:-116.63, Z:2.86 [[-1.24848756e-01 9.92175532e-01 7.09004408e-04 5.51233599e+01] [ 9.92157038e-01 1.24850758e-01 -6.05805219e-03 -1.16626048e+02] [-6.09917089e-03 -5.28965658e-05 -9.99981398e-01 2.85679456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.13, Y:-116.63, Z:2.86 [[-2.02419979e-01 9.79297867e-01 1.35635869e-03 5.51315661e+01] [ 9.79273760e-01 2.02424513e-01 -6.87166087e-03 -1.16633403e+02] [-7.00396308e-03 -6.27149701e-05 -9.99975470e-01 2.85725654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.14, Y:-116.64, Z:2.86 [[-2.78720388e-01 9.60369772e-01 2.20152644e-03 5.51401999e+01] [ 9.60337662e-01 2.78729073e-01 -7.85354872e-03 -1.16641454e+02] [-8.15594022e-03 -7.47353911e-05 -9.99966737e-01 2.85828042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.15, Y:-116.65, Z:2.86 [[-3.53364234e-01 9.35480406e-01 3.18259187e-03 5.51495952e+01] [ 9.35440208e-01 3.53378555e-01 -8.67266840e-03 -1.16646832e+02] [-9.23777107e-03 -8.74864300e-05 -9.99957327e-01 2.85922797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.16, Y:-116.65, Z:2.86 [[-4.27317410e-01 9.04091243e-01 4.34227566e-03 5.51623033e+01] [ 9.04041699e-01 4.27339455e-01 -9.46550456e-03 -1.16651626e+02] [-1.04133055e-02 -1.19176628e-04 -9.99945773e-01 2.86157485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.17, Y:-116.66, Z:2.86 [[-4.97912362e-01 8.67209488e-01 5.56621515e-03 5.51728730e+01] [ 8.67151999e-01 4.97943453e-01 -9.98638718e-03 -1.16655130e+02] [-1.14319501e-02 -1.45591034e-04 -9.99934643e-01 2.86171387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.19, Y:-116.66, Z:2.86 [[-5.64965697e-01 8.25087850e-01 6.61827012e-03 5.51856217e+01] [ 8.25027860e-01 5.65004437e-01 -9.95073687e-03 -1.16657324e+02] [-1.19495841e-02 -1.61567752e-04 -9.99928588e-01 2.86298063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.20, Y:-116.66, Z:2.86 [[-6.28099628e-01 7.78093435e-01 7.83985213e-03 5.51951501e+01] [ 7.78029305e-01 6.28148529e-01 -9.99129377e-03 -1.16659823e+02] [-1.26987517e-02 -1.75893194e-04 -9.99919352e-01 2.86279313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.77762800000002 meters Centerline goodness [0,1] 0.9998189676630989 Centerline is valid? [True, True] Translation: X:55.21, Y:-116.66, Z:2.87 [[-6.85947554e-01 7.27597159e-01 8.85023329e-03 5.52052065e+01] [ 7.27533565e-01 6.86004627e-01 -9.62102651e-03 -1.16662813e+02] [-1.30715325e-02 -1.60677836e-04 -9.99914551e-01 2.86627170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.21, Y:-116.66, Z:2.86 [[-7.39801343e-01 6.72769343e-01 8.68241151e-03 5.52146197e+01] [ 6.72720993e-01 7.39852279e-01 -8.06668713e-03 -1.16664117e+02] [-1.18507217e-02 -1.26905481e-04 -9.99929770e-01 2.86241435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.24, Y:-116.65, Z:2.86 [[-7.83669258e-01 6.21104663e-01 9.56511801e-03 5.52392999e+01] [ 6.21056920e-01 7.83727624e-01 -7.70155874e-03 -1.16652041e+02] [-1.22799213e-02 -9.49920915e-05 -9.99924594e-01 2.86217769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.26, Y:-116.64, Z:2.86 [[-8.23438803e-01 5.67323695e-01 9.61059912e-03 5.52602329e+01] [ 5.67284423e-01 8.23494884e-01 -6.67535574e-03 -1.16637764e+02] [-1.17013667e-02 -4.48037632e-05 -9.99931536e-01 2.86141889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.89762800000003 meters Centerline goodness [0,1] 0.9998866881203825 Centerline is valid? [True, True] Translation: X:55.77, Y:-115.94, Z:1.99 [[-7.85044256e-01 -6.19383568e-01 8.33732342e-03 5.57709074e+01] [ 6.19348484e-01 -7.85088527e-01 -6.59239625e-03 -1.15944938e+02] [ 1.06287589e-02 -1.16141833e-05 9.99943513e-01 1.99370026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.92762800000003 meters Centerline goodness [0,1] 0.9998638622285754 Centerline is valid? [True, True] Translation: X:55.23, Y:-116.64, Z:2.86 [[-8.16053266e-01 5.77926209e-01 7.63964013e-03 5.52343717e+01] [ 5.77902221e-01 8.16089017e-01 -5.26682925e-03 -1.16635474e+02] [-9.27846507e-03 1.16951793e-04 -9.99956947e-01 2.86114497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.95762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.26, Y:-116.62, Z:2.86 [[-8.52441933e-01 5.22781981e-01 6.46153385e-03 5.52567083e+01] [ 5.22768115e-01 8.52466412e-01 -3.80981345e-03 -1.16620251e+02] [-7.49994240e-03 1.30239134e-04 -9.99971867e-01 2.85714033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.98762800000003 meters Centerline goodness [0,1] 0.9998865003518489 Centerline is valid? [True, True] Translation: X:55.28, Y:-116.61, Z:2.86 [[-8.84725473e-01 4.66081211e-01 5.39830592e-03 5.52816010e+01] [ 4.66073477e-01 8.84741932e-01 -2.68853172e-03 -1.16605049e+02] [-6.02918172e-03 1.37394711e-04 -9.99981815e-01 2.85832673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.01762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.29, Y:-116.58, Z:2.85 [[-9.12175562e-01 4.09781783e-01 3.82555249e-03 5.52949149e+01] [ 4.09778766e-01 9.12183574e-01 -1.57777325e-03 -1.16581874e+02] [-4.13614888e-03 1.28423980e-04 -9.99991438e-01 2.85451932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.32, Y:-116.57, Z:2.85 [[-9.37514790e-01 3.47924435e-01 3.82174989e-03 5.53222104e+01] [ 3.47922154e-01 9.37522569e-01 -1.26767821e-03 -1.16566287e+02] [-4.02403300e-03 1.41204389e-04 -9.99991894e-01 2.85464547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.07762800000003 meters Centerline goodness [0,1] 0.9997957562691479 Centerline is valid? [True, True] Translation: X:55.35, Y:-116.54, Z:2.86 [[-9.57619384e-01 2.88006587e-01 4.16181119e-03 5.53466145e+01] [ 2.88004476e-01 9.57628418e-01 -1.11091395e-03 -1.16539637e+02] [-4.30541920e-03 1.34787517e-04 -9.99990723e-01 2.85724961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.36, Y:-116.52, Z:2.85 [[-9.74811663e-01 2.22982414e-01 4.58971745e-03 5.53597688e+01] [ 2.22980906e-01 9.74822447e-01 -8.44288911e-04 -1.16515198e+02] [-4.66242117e-03 2.00396677e-04 -9.99989111e-01 2.85410692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.137628 meters Centerline goodness [0,1] 0.9997961033076574 Centerline is valid? [True, True] Translation: X:55.37, Y:-116.49, Z:2.86 [[-9.87910868e-01 1.54929039e-01 5.39539478e-03 5.53700097e+01] [ 1.54928063e-01 9.87925571e-01 -6.00873249e-04 -1.16488243e+02] [-5.42334118e-03 2.42288851e-04 -9.99985264e-01 2.85841129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.167628 meters Centerline goodness [0,1] 0.9998193437662308 Centerline is valid? [True, True] Translation: X:55.37, Y:-116.46, Z:2.86 [[-9.96435589e-01 8.41739755e-02 5.55499690e-03 5.53727991e+01] [ 8.41740485e-02 9.96451043e-01 -2.21066350e-04 -1.16457572e+02] [-5.55389049e-03 2.47308200e-04 -9.99984546e-01 2.85951988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.197628 meters Centerline goodness [0,1] 0.9999549062049062 Centerline is valid? [True, True] Translation: X:55.42, Y:-115.57, Z:2.00 [[-9.97880406e-01 -6.47858080e-02 6.12325326e-03 5.54186654e+01] [ 6.47831514e-02 -9.97899166e-01 -6.31420484e-04 -1.15569691e+02] [ 6.15129640e-03 -2.33398486e-04 9.99981053e-01 1.99743791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.27, Y:-116.45, Z:2.86 [[-9.97245768e-01 7.39237458e-02 6.01314726e-03 5.52731501e+01] [ 7.39238693e-02 9.97263867e-01 -2.02023863e-04 -1.16446848e+02] [-6.01162885e-03 2.43047670e-04 -9.99981900e-01 2.85803918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.257628 meters Centerline goodness [0,1] 0.9998431337396917 Centerline is valid? [True, True] Translation: X:55.27, Y:-116.41, Z:2.86 [[-9.99984400e-01 -1.25245369e-03 5.44336312e-03 5.52703411e+01] [-1.25135518e-03 9.99999196e-01 2.05207855e-04 -1.16412821e+02] [-5.44361576e-03 1.98393074e-04 -9.99985164e-01 2.85973929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.287628 meters Centerline goodness [0,1] 0.9998660146044082 Centerline is valid? [True, True] Translation: X:55.27, Y:-116.38, Z:2.86 [[-9.97150471e-01 -7.53132619e-02 4.34182749e-03 5.52676325e+01] [-7.53119044e-02 9.97159912e-01 4.75541052e-04 -1.16381957e+02] [-4.36531087e-03 1.47194687e-04 -9.99990461e-01 2.85785032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.317628 meters Centerline goodness [0,1] 0.9999776501352167 Centerline is valid? [True, True] Translation: X:55.25, Y:-116.35, Z:2.85 [[-9.88679660e-01 -1.50005130e-01 3.31536176e-03 5.52501680e+01] [-1.50003938e-01 9.88685213e-01 6.06645151e-04 -1.16353448e+02] [-3.36884903e-03 1.02460400e-04 -9.99994320e-01 2.85468514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.22, Y:-116.33, Z:2.85 [[-9.73859555e-01 -2.27148246e-01 1.11425433e-03 5.52169794e+01] [-2.27148064e-01 9.73860192e-01 2.89021445e-04 -1.16326470e+02] [-1.15077865e-03 2.83655817e-05 -9.99999337e-01 2.85271847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.16, Y:-116.31, Z:2.85 [[-9.53532288e-01 -3.01290849e-01 -6.18675038e-06 5.51593072e+01] [-3.01290849e-01 9.53532288e-01 -1.00986355e-06 -1.16308428e+02] [ 6.20352899e-06 9.01073766e-07 -1.00000000e+00 2.85301131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.40762800000002 meters Centerline goodness [0,1] 0.9998228873785118 Centerline is valid? [True, True] Translation: X:55.09, Y:-116.30, Z:2.86 [[-9.27865525e-01 -3.72914840e-01 3.00535421e-04 5.50909536e+01] [-3.72914818e-01 9.27865573e-01 1.28347201e-04 -1.16301273e+02] [-3.26719047e-04 7.01483119e-06 -9.99999947e-01 2.85641992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.43762800000002 meters Centerline goodness [0,1] 0.9998228873785118 Centerline is valid? [True, True] Translation: X:55.02, Y:-116.31, Z:2.86 [[-8.97452811e-01 -4.41110382e-01 2.90151530e-04 5.50155468e+01] [-4.41110356e-01 8.97452857e-01 1.50439276e-04 -1.16305736e+02] [-3.26757646e-04 7.02330667e-06 -9.99999947e-01 2.85642135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.93, Y:-116.32, Z:2.85 [[-8.60055566e-01 -5.10199605e-01 -8.86825028e-04 5.49330227e+01] [-5.10199317e-01 8.60056023e-01 -5.42758099e-04 -1.16315420e+02] [ 1.03963417e-03 -1.43446007e-05 -9.99999459e-01 2.85359742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.84, Y:-116.33, Z:2.85 [[-8.17070023e-01 -5.76537433e-01 -1.07929766e-03 5.48431925e+01] [-5.76536908e-01 8.17070736e-01 -7.78355713e-04 -1.16334276e+02] [ 1.33061374e-03 -1.37161820e-05 -9.99999115e-01 2.85376991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.75, Y:-116.37, Z:2.85 [[-7.70309223e-01 -6.37668869e-01 -1.45432191e-03 5.47491909e+01] [-6.37667689e-01 7.70310596e-01 -1.22676068e-03 -1.16370262e+02] [ 1.90254667e-03 -1.76109768e-05 -9.99998190e-01 2.85367571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.66, Y:-116.41, Z:2.85 [[-7.18812894e-01 -6.95202367e-01 -1.30070898e-03 5.46576998e+01] [-6.95201192e-01 7.18814071e-01 -1.27846145e-03 -1.16413833e+02] [ 1.82375735e-03 -1.47201415e-05 -9.99998337e-01 2.85345866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.57, Y:-116.47, Z:2.85 [[-6.63100135e-01 -7.48529371e-01 -1.41117668e-03 5.45686062e+01] [-7.48527625e-01 6.63101637e-01 -1.61671641e-03 -1.16465198e+02] [ 2.14591328e-03 -1.57401443e-05 -9.99997697e-01 2.85357935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.48, Y:-116.53, Z:2.86 [[-6.03598282e-01 -7.97288073e-01 -9.18517054e-04 5.44793862e+01] [-7.97287123e-01 6.03598980e-01 -1.23040322e-03 -1.16525627e+02] [ 1.53540177e-03 -1.03474514e-05 -9.99998821e-01 2.85541357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.40, Y:-116.60, Z:2.86 [[-5.40890253e-01 -8.41093006e-01 -5.37967555e-04 5.43956503e+01] [-8.41092578e-01 5.40890521e-01 -8.48813475e-04 -1.16595519e+02] [ 1.00491263e-03 -6.63441797e-06 -9.99999495e-01 2.85648813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.32, Y:-116.68, Z:2.86 [[-4.75504935e-01 -8.79713040e-01 -1.53410278e-04 5.43158271e+01] [-8.79712993e-01 4.75504960e-01 -2.87488753e-04 -1.16678323e+02] [ 3.25854953e-04 -1.74530629e-06 -9.99999947e-01 2.85754119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.70762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.24, Y:-116.77, Z:2.86 [[-4.07891840e-01 -9.13030235e-01 1.92216738e-04 5.42426932e+01] [-9.13030127e-01 4.07891885e-01 4.44922655e-04 -1.16766473e+02] [-4.84631484e-04 5.98064790e-06 -9.99999883e-01 2.85818680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.18, Y:-116.86, Z:2.86 [[-3.41574241e-01 -9.39854541e-01 6.93381761e-04 5.41773359e+01] [-9.39852393e-01 3.41574943e-01 2.00929001e-03 -1.16864815e+02] [-2.12528217e-03 3.46452023e-05 -9.99997741e-01 2.85840289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.76762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.12, Y:-116.96, Z:2.86 [[-2.71409951e-01 -9.62463626e-01 6.38421763e-04 5.41209181e+01] [-9.62460512e-01 2.71410697e-01 2.44863901e-03 -1.16964085e+02] [-2.53000047e-03 5.01292561e-05 -9.99996798e-01 2.85906247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.07, Y:-117.08, Z:2.86 [[-2.00048774e-01 -9.79785831e-01 4.62968810e-04 5.40697083e+01] [-9.79782442e-01 2.00049300e-01 2.57779181e-03 -1.17075394e+02] [-2.61830048e-03 6.20753787e-05 -9.99996570e-01 2.85940636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.82762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.03, Y:-117.19, Z:2.86 [[-1.27456098e-01 -9.91844180e-01 2.57965221e-04 5.40282261e+01] [-9.91840875e-01 1.27456339e-01 2.56123656e-03 -1.17186365e+02] [-2.57322688e-03 7.05847666e-05 -9.99996687e-01 2.85958046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.00, Y:-117.30, Z:2.86 [[-5.70209814e-02 -9.98372979e-01 4.46742256e-05 5.39977648e+01] [-9.98371059e-01 5.70209594e-02 1.95915723e-03 -1.17298340e+02] [-1.95851700e-03 6.71116138e-05 -9.99998080e-01 2.86021942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.97, Y:-117.42, Z:2.86 [[ 1.78834130e-02 -9.99840069e-01 -1.44380283e-04 5.39727561e+01] [-9.99836580e-01 -1.78837322e-02 2.64293481e-03 -1.17419307e+02] [-2.64509418e-03 9.70919941e-05 -9.99996497e-01 2.86066914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.96, Y:-117.54, Z:2.86 [[ 9.33164040e-02 -9.95636403e-01 -4.50045888e-04 5.39572719e+01] [-9.95630637e-01 -9.33173964e-02 3.39092177e-03 -1.17541037e+02] [-3.41812227e-03 1.31650848e-04 -9.99994150e-01 2.86095000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.947628 meters Centerline goodness [0,1] 0.9998234034568774 Centerline is valid? [True, True] Translation: X:53.95, Y:-117.66, Z:2.86 [[ 1.67344889e-01 -9.85897740e-01 -1.15528420e-03 5.39481460e+01] [-9.85882745e-01 -1.67348721e-01 5.44229910e-03 -1.17662264e+02] [-5.55888572e-03 2.28233821e-04 -9.99984523e-01 2.86440885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.95, Y:-117.79, Z:2.86 [[ 2.43398588e-01 -9.69925632e-01 -1.18146156e-03 5.39531894e+01] [-9.69917366e-01 -2.43401396e-01 4.00789577e-03 -1.17788917e+02] [-4.17493023e-03 1.70403913e-04 -9.99991270e-01 2.86202714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.96, Y:-117.91, Z:2.86 [[ 3.18346877e-01 -9.47973080e-01 -1.51816894e-03 5.39616593e+01] [-9.47964723e-01 -3.18350451e-01 3.98428309e-03 -1.17909248e+02] [-4.26030288e-03 1.70786516e-04 -9.99990910e-01 2.86134833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.037628 meters Centerline goodness [0,1] 0.999845699422475 Centerline is valid? [True, True] Translation: X:53.98, Y:-118.03, Z:2.86 [[ 3.91404760e-01 -9.20215753e-01 -2.29821364e-03 5.39821940e+01] [-9.20202915e-01 -3.91411451e-01 4.86531230e-03 -1.18032246e+02] [-5.37668415e-03 2.10516503e-04 -9.99985523e-01 2.86328112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.01, Y:-118.15, Z:2.86 [[ 4.66294352e-01 -8.84627451e-01 -1.96243611e-03 5.40085117e+01] [-8.84620775e-01 -4.66298462e-01 3.43926871e-03 -1.18151363e+02] [-3.95755245e-03 1.32300176e-04 -9.99992160e-01 2.86073546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.09762800000001 meters Centerline goodness [0,1] 0.9999560226922908 Centerline is valid? [True, True] Translation: X:54.04, Y:-118.27, Z:2.86 [[ 5.35844399e-01 -8.44313493e-01 -2.34640883e-03 5.40442237e+01] [-8.44306400e-01 -5.35849522e-01 3.46305633e-03 -1.18267887e+02] [-4.18122724e-03 1.25428653e-04 -9.99991251e-01 2.86176595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.12762800000002 meters Centerline goodness [0,1] 0.9998465955162061 Centerline is valid? [True, True] Translation: X:54.08, Y:-118.38, Z:2.86 [[ 6.05516675e-01 -7.95825254e-01 -3.42365126e-03 5.40830477e+01] [-7.95813640e-01 -6.05526342e-01 4.30113950e-03 -1.18380516e+02] [-5.49606646e-03 1.20176684e-04 -9.99984889e-01 2.86335529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.13, Y:-118.49, Z:2.86 [[ 6.68674214e-01 -7.43549079e-01 -3.09227254e-03 5.41325557e+01] [-7.43541645e-01 -6.68681360e-01 3.32575528e-03 -1.18485987e+02] [-4.54060729e-03 7.53866133e-05 -9.99989689e-01 2.86169164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.19, Y:-118.58, Z:2.86 [[ 7.26716398e-01 -6.86928001e-01 -3.63286803e-03 5.41860979e+01] [-6.86919821e-01 -7.26725476e-01 3.35280558e-03 -1.18583307e+02] [-4.94323379e-03 5.89502619e-05 -9.99987780e-01 2.86222190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.18, Y:-118.59, Z:2.86 [[ 7.80855741e-01 -6.24698771e-01 -3.96954415e-03 5.41792130e+01] [-6.24690950e-01 -7.80865830e-01 3.12624510e-03 -1.18593343e+02] [-5.05264286e-03 3.85918698e-05 -9.99987235e-01 2.86252306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.17, Y:-118.60, Z:2.86 [[ 8.29536844e-01 -5.58437477e-01 -4.02604580e-03 5.41731897e+01] [-5.58431004e-01 -8.29546613e-01 2.68888856e-03 -1.18602885e+02] [-4.84136880e-03 1.77366652e-05 -9.99988280e-01 2.86236608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.17, Y:-118.61, Z:2.86 [[ 8.74026592e-01 -4.85868558e-01 -3.04322524e-03 5.41670969e+01] [-4.85865569e-01 -8.74031890e-01 1.70440688e-03 -1.18613925e+02] [-3.48799362e-03 -1.10985782e-05 -9.99993917e-01 2.86101676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.16, Y:-118.62, Z:2.86 [[ 9.10490962e-01 -4.13519286e-01 -2.82991279e-03 5.41626790e+01] [-4.13517225e-01 -9.10495360e-01 1.30566102e-03 -1.18622207e+02] [-3.11653848e-03 -1.85748748e-05 -9.99995143e-01 2.86025679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.16, Y:-118.63, Z:2.86 [[ 9.40873173e-01 -3.38749202e-01 -2.57894848e-03 5.41602123e+01] [-3.38747862e-01 -9.40876707e-01 9.53027710e-04 -1.18631329e+02] [-2.74930993e-03 -2.30649204e-05 -9.99996220e-01 2.85982225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.16, Y:-118.64, Z:2.86 [[ 9.65587731e-01 -2.60066077e-01 -2.44339580e-03 5.41570402e+01] [-2.60065160e-01 -9.65590822e-01 6.91288668e-04 -1.18640184e+02] [-2.53910129e-03 -3.20577366e-05 -9.99996776e-01 2.86018478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.16, Y:-118.65, Z:2.86 [[ 9.83327179e-01 -1.81820968e-01 -2.96561690e-03 5.41554888e+01] [-1.81820005e-01 -9.83331650e-01 5.93569817e-04 -1.18649471e+02] [-3.02410840e-03 -4.44648552e-05 -9.99995426e-01 2.86030429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.42762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.15, Y:-118.66, Z:2.86 [[ 9.94706226e-01 -1.02713268e-01 -3.08361004e-03 5.41500189e+01] [-1.02712616e-01 -9.94711004e-01 3.69316230e-04 -1.18657805e+02] [-3.10523452e-03 -5.06354989e-05 -9.99995177e-01 2.86067923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.45762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.15, Y:-118.66, Z:2.86 [[ 9.99725203e-01 -2.31747129e-02 -3.52870541e-03 5.41455530e+01] [-2.31743473e-02 -9.99731428e-01 1.44461807e-04 -1.18664589e+02] [-3.53110556e-03 -6.26466645e-05 -9.99993764e-01 2.86114130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.48762800000003 meters Centerline goodness [0,1] 0.9998245383164451 Centerline is valid? [True, True] Translation: X:54.14, Y:-118.67, Z:2.86 [[ 9.98421216e-01 5.59400640e-02 -5.07795742e-03 5.41426298e+01] [ 5.59398218e-02 -9.98434124e-01 -1.89813401e-04 -1.18668888e+02] [-5.08062414e-03 -9.45463071e-05 -9.99987089e-01 2.86397110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.51762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.14, Y:-118.68, Z:2.86 [[ 9.90836345e-01 1.35005642e-01 -4.10037220e-03 5.41389512e+01] [ 1.35004824e-01 -9.90844826e-01 -4.77056122e-04 -1.18675796e+02] [-4.12723785e-03 -8.08854805e-05 -9.99991480e-01 2.86134195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.14, Y:-118.68, Z:2.86 [[ 9.77242649e-01 2.12084891e-01 -4.09930204e-03 5.41365641e+01] [ 2.12083374e-01 -9.77251243e-01 -8.06266154e-04 -1.18681543e+02] [-4.17704489e-03 -8.14761360e-05 -9.99991273e-01 2.86158126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.57762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.14, Y:-118.69, Z:2.86 [[ 9.57719283e-01 2.87677608e-01 -3.92020989e-03 5.41356083e+01] [ 2.87675531e-01 -9.57727303e-01 -1.09596876e-03 -1.18689172e+02] [-4.06977771e-03 -7.81180505e-05 -9.99991715e-01 2.86127672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.607628 meters Centerline goodness [0,1] 0.9998895832873264 Centerline is valid? [True, True] Translation: X:54.13, Y:-118.70, Z:2.86 [[ 9.32837068e-01 3.60274869e-01 -4.12580712e-03 5.41342458e+01] [ 3.60271711e-01 -9.32846189e-01 -1.51054010e-03 -1.18695564e+02] [-4.39295308e-03 -7.73237934e-05 -9.99990348e-01 2.86349427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.13, Y:-118.70, Z:2.86 [[ 9.01926078e-01 4.31875746e-01 -3.56216891e-03 5.41333635e+01] [ 4.31872673e-01 -9.01933110e-01 -1.63077543e-03 -1.18704623e+02] [-3.91713044e-03 -6.75645210e-05 -9.99992326e-01 2.86162170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.13, Y:-118.71, Z:2.86 [[ 8.66051394e-01 4.99939725e-01 -3.90555181e-03 5.41319154e+01] [ 4.99935009e-01 -8.66060198e-01 -2.17260797e-03 -1.18711305e+02] [-4.46861601e-03 -7.09319219e-05 -9.99990013e-01 2.86195513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.13, Y:-118.72, Z:2.86 [[ 8.25745643e-01 5.64019237e-01 -5.14127399e-03 5.41294227e+01] [ 5.64008921e-01 -8.25761644e-01 -3.41230746e-03 -1.18715342e+02] [-6.17007392e-03 -8.20263758e-05 -9.99980962e-01 2.86330592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.13, Y:-118.72, Z:2.86 [[ 7.79744031e-01 6.26077479e-01 -5.12219167e-03 5.41292260e+01] [ 6.26064637e-01 -7.79760850e-01 -4.01082873e-03 -1.18722878e+02] [-6.50517407e-03 -7.94033094e-05 -9.99978838e-01 2.86347745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.13, Y:-118.73, Z:2.86 [[ 7.28787862e-01 6.84721081e-01 -5.02922314e-03 5.41283451e+01] [ 6.84705518e-01 -7.28805211e-01 -4.61715312e-03 -1.18732077e+02] [-6.82678610e-03 -7.86116818e-05 -9.99976694e-01 2.86412263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.13, Y:-118.74, Z:2.86 [[ 6.73392837e-01 7.39268987e-01 -4.84272722e-03 5.41283326e+01] [ 7.39250696e-01 -6.73410246e-01 -5.20093746e-03 -1.18739695e+02] [-7.10603389e-03 -7.77154350e-05 -9.99974749e-01 2.86434315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.13, Y:-118.75, Z:2.87 [[ 6.14404418e-01 7.88971278e-01 -5.61556120e-03 5.41279582e+01] [ 7.88939619e-01 -6.14430074e-01 -7.06836115e-03 -1.18746907e+02] [-9.02710361e-03 -8.75063958e-05 -9.99959251e-01 2.86582735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.13, Y:-118.76, Z:2.87 [[ 5.51502048e-01 8.34155752e-01 -5.44730472e-03 5.41290432e+01] [ 8.34116586e-01 -5.51528943e-01 -8.08372323e-03 -1.18756037e+02] [-9.74743044e-03 -8.54972990e-05 -9.99952489e-01 2.86645634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.87762800000002 meters Centerline goodness [0,1] 0.9997969268259663 Centerline is valid? [True, True] Translation: X:54.13, Y:-118.76, Z:2.87 [[ 4.85863458e-01 8.74018133e-01 -5.38555626e-03 5.41305490e+01] [ 8.73966223e-01 -4.85893299e-01 -9.52588590e-03 -1.18764868e+02] [-1.09426027e-02 -7.85144064e-05 -9.99940125e-01 2.86971923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.13, Y:-118.77, Z:2.87 [[ 4.16889546e-01 9.08946847e-01 -4.32834189e-03 5.41318039e+01] [ 9.08899402e-01 -4.16912011e-01 -9.28725122e-03 -1.18773362e+02] [-1.02461554e-02 -6.22694049e-05 -9.99947505e-01 2.86601758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.13, Y:-118.78, Z:2.86 [[ 3.47189385e-01 9.37790564e-01 -2.89632890e-03 5.41317722e+01] [ 9.37758547e-01 -3.47201465e-01 -7.74916538e-03 -1.18781334e+02] [-8.27270381e-03 -2.56292170e-05 -9.99965780e-01 2.86416479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.14, Y:-118.79, Z:2.86 [[ 2.73562667e-01 9.61852660e-01 -1.71103960e-03 5.41360848e+01] [ 9.61834145e-01 -2.73568018e-01 -5.96802837e-03 -1.18790868e+02] [-6.20844968e-03 -1.31065497e-05 -9.99980727e-01 2.86252923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.14, Y:-118.80, Z:2.86 [[ 1.98662077e-01 9.80067564e-01 -9.74107509e-04 5.41424273e+01] [ 9.80055875e-01 -1.98664465e-01 -4.78674802e-03 -1.18800963e+02] [-4.88485702e-03 -3.73448418e-06 -9.99988069e-01 2.86111479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.15, Y:-118.81, Z:2.86 [[ 1.24975172e-01 9.92159767e-01 -4.50090533e-04 5.41482590e+01] [ 9.92153011e-01 -1.24975982e-01 -3.66150894e-03 -1.18810209e+02] [-3.68905236e-03 1.10390315e-05 -9.99993195e-01 2.85899696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.16, Y:-118.82, Z:2.86 [[ 4.87689258e-02 9.98810076e-01 -1.54242116e-04 5.41550577e+01] [ 9.98803902e-01 -4.87691667e-02 -3.51204606e-03 -1.18820251e+02] [-3.51538925e-03 1.72210864e-05 -9.99993821e-01 2.85858335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.16, Y:-118.83, Z:2.86 [[-2.77701239e-02 9.99614328e-01 1.26067070e-04 5.41649882e+01] [ 9.99607648e-01 2.77703992e-02 -3.65446196e-03 -1.18828479e+02] [-3.65655347e-03 2.45327464e-05 -9.99993314e-01 2.85811741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.17, Y:-118.84, Z:2.86 [[-1.04417151e-01 9.94533515e-01 3.83100207e-04 5.41743962e+01] [ 9.94527778e-01 1.04417850e-01 -3.37820573e-03 -1.18837327e+02] [-3.39974131e-03 2.82611795e-05 -9.99994220e-01 2.85809289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.18, Y:-118.85, Z:2.86 [[-1.79458812e-01 9.83765356e-01 5.08503406e-04 5.41830690e+01] [ 9.83761857e-01 1.79459530e-01 -2.62416891e-03 -1.18845927e+02] [-2.67282224e-03 2.93160212e-05 -9.99996428e-01 2.85786796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.17762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.19, Y:-118.85, Z:2.86 [[-2.54788971e-01 9.66996404e-01 7.30977704e-04 5.41943159e+01] [ 9.66992792e-01 2.54790017e-01 -2.64339045e-03 -1.18851963e+02] [-2.74239489e-03 3.33434374e-05 -9.99996239e-01 2.85795091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.20762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.21, Y:-118.86, Z:2.86 [[-3.29075503e-01 9.44303127e-01 9.58206259e-04 5.42056890e+01] [ 9.44299437e-01 3.29076896e-01 -2.63984750e-03 -1.18857958e+02] [-2.80813979e-03 3.61244864e-05 -9.99996057e-01 2.85854641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.22, Y:-118.86, Z:2.86 [[-4.01366354e-01 9.15916788e-01 1.21975727e-03 5.42172200e+01] [ 9.15912857e-01 4.01368205e-01 -2.68370169e-03 -1.18862524e+02] [-2.94761922e-03 4.00438021e-05 -9.99995655e-01 2.85956538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.26762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.23, Y:-118.87, Z:2.86 [[-4.71058551e-01 8.82100227e-01 1.74093822e-03 5.42297452e+01] [ 8.82094606e-01 4.71061765e-01 -3.14948292e-03 -1.18865890e+02] [-3.59824903e-03 5.20813547e-05 -9.99993525e-01 2.86087367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.29762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.24, Y:-118.87, Z:2.86 [[-5.37968860e-01 8.42961587e-01 2.29530435e-03 5.42424196e+01] [ 8.42954415e-01 5.37973753e-01 -3.47781517e-03 -1.18868509e+02] [-4.16647809e-03 6.38806789e-05 -9.99991318e-01 2.86144965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.32762800000003 meters Centerline goodness [0,1] 0.9997980976310122 Centerline is valid? [True, True] Translation: X:54.26, Y:-118.87, Z:2.86 [[-6.01340445e-01 7.98986625e-01 3.16883952e-03 5.42571687e+01] [ 7.98976271e-01 6.01348789e-01 -4.06851393e-03 -1.18867651e+02] [-5.15626602e-03 8.52656082e-05 -9.99986703e-01 2.86484635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.357628 meters Centerline goodness [0,1] 0.9997980976310122 Centerline is valid? [True, True] Translation: X:54.27, Y:-118.87, Z:2.86 [[-6.62058852e-01 7.49443782e-01 3.47772112e-03 5.42709467e+01] [ 7.49434113e-01 6.62067980e-01 -3.80790862e-03 -1.18866689e+02] [-5.15630124e-03 8.52632359e-05 -9.99986703e-01 2.86484666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.28, Y:-118.87, Z:2.86 [[-7.18424998e-01 6.95596824e-01 3.25276799e-03 5.42840719e+01] [ 6.95590168e-01 7.18432358e-01 -3.04403216e-03 -1.18866040e+02] [-4.45431288e-03 7.56846302e-05 -9.99990077e-01 2.86240990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.31, Y:-118.85, Z:2.86 [[-7.64737526e-01 6.44335424e-01 2.89444355e-03 5.43098681e+01] [ 6.44331151e-01 7.64743001e-01 -2.34757722e-03 -1.18850032e+02] [-3.72613261e-03 6.96997501e-05 -9.99993056e-01 2.86185651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.33, Y:-118.83, Z:2.86 [[-8.07848093e-01 5.89383914e-01 2.83901371e-03 5.43326678e+01] [ 5.89380569e-01 8.07853079e-01 -1.98705943e-03 -1.18832773e+02] [-3.46464684e-03 6.80173450e-05 -9.99993996e-01 2.86208340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.35, Y:-118.81, Z:2.86 [[-8.47181410e-01 5.31296363e-01 2.79880541e-03 5.43537293e+01] [ 5.31293719e-01 8.47186031e-01 -1.67721432e-03 -1.18813150e+02] [-3.26220671e-03 6.60829401e-05 -9.99994677e-01 2.86244938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.37, Y:-118.79, Z:2.86 [[-8.82589550e-01 4.70134058e-01 3.10709057e-03 5.43742646e+01] [ 4.70131426e-01 8.82595016e-01 -1.57463782e-03 -1.18792301e+02] [-3.48259352e-03 7.09820327e-05 -9.99993933e-01 2.86271490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.39, Y:-118.77, Z:2.86 [[-9.13624459e-01 4.06544151e-01 3.49308718e-03 5.43936776e+01] [ 4.06541501e-01 9.13631133e-01 -1.46999355e-03 -1.18770056e+02] [-3.78901048e-03 7.70628410e-05 -9.99992819e-01 2.86358031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.40, Y:-118.74, Z:2.86 [[-9.40275595e-01 3.40396109e-01 3.50617383e-03 5.44027511e+01] [ 3.40394034e-01 9.40282130e-01 -1.19102186e-03 -1.18742470e+02] [-3.70221181e-03 7.35918627e-05 -9.99993144e-01 2.86376229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.59762800000001 meters Centerline goodness [0,1] 0.9999552862795948 Centerline is valid? [True, True] Translation: X:54.42, Y:-118.72, Z:2.86 [[-9.62267505e-01 2.72076422e-01 3.95843532e-03 5.44165080e+01] [ 2.72074452e-01 9.62275644e-01 -1.03831709e-03 -1.18716750e+02] [-4.09160749e-03 7.78503177e-05 -9.99991626e-01 2.86450208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.43, Y:-118.69, Z:2.86 [[-9.79879302e-01 1.99568614e-01 2.98706626e-03 5.44276330e+01] [ 1.99567833e-01 9.79883853e-01 -5.60443676e-04 -1.18690030e+02] [-3.03882497e-03 4.69551827e-05 -9.99995382e-01 2.86287665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.59, Y:-117.86, Z:1.99 [[-9.71345844e-01 -2.37654408e-01 2.76298201e-03 5.45947416e+01] [ 2.37653282e-01 -9.71349772e-01 -7.33712997e-04 -1.17861129e+02] [ 2.85819207e-03 -5.60573257e-05 9.99995914e-01 1.99399210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.38, Y:-118.68, Z:2.86 [[-9.81591170e-01 1.90978454e-01 2.45044448e-03 5.43765960e+01] [ 1.90977929e-01 9.81594228e-01 -4.48820419e-04 -1.18678303e+02] [-2.49105719e-03 2.74226518e-05 -9.99996897e-01 2.86244970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.53, Y:-117.85, Z:1.99 [[-9.71145840e-01 -2.38473273e-01 2.50094332e-03 5.45346937e+01] [ 2.38472423e-01 -9.71149060e-01 -6.37253422e-04 -1.17854425e+02] [ 2.58075666e-03 -2.24599983e-05 9.99996670e-01 1.99334134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.32, Y:-118.66, Z:2.86 [[-9.83806781e-01 1.79213326e-01 2.60791719e-03 5.43180100e+01] [ 1.79212719e-01 9.83810238e-01 -4.66615586e-04 -1.18662096e+02] [-2.64931936e-03 8.31235285e-06 -9.99996491e-01 2.86495790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.33, Y:-118.63, Z:2.87 [[-9.94298562e-01 1.06586313e-01 3.11904472e-03 5.43277806e+01] [ 1.06585796e-01 9.94303454e-01 -3.32006552e-04 -1.18634135e+02] [-3.13666430e-03 2.33222602e-06 -9.99995081e-01 2.86596274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.33, Y:-118.61, Z:2.87 [[-9.99439030e-01 3.32741405e-02 3.80231815e-03 5.43282034e+01] [ 3.32738740e-02 9.99446262e-01 -1.33363562e-04 -1.18605785e+02] [-3.80465022e-03 -6.77089418e-06 -9.99992762e-01 2.86671990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.37, Y:-117.78, Z:1.99 [[-9.94280490e-01 -1.06687936e-01 4.89811677e-03 5.43662478e+01] [ 1.06687058e-01 -9.94292551e-01 -4.40928321e-04 -1.17781816e+02] [ 4.91720275e-03 8.41592409e-05 9.99987907e-01 1.98882432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.25, Y:-118.60, Z:2.87 [[-9.99711969e-01 2.31065874e-02 6.48574440e-03 5.42453610e+01] [ 2.31058165e-02 9.99733006e-01 -1.93779585e-04 -1.18602876e+02] [-6.48849033e-03 -4.38653502e-05 -9.99978949e-01 2.86959021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.28, Y:-117.78, Z:1.99 [[-9.94485913e-01 -1.04622096e-01 7.21014876e-03 5.42797175e+01] [ 1.04620065e-01 -9.94512045e-01 -6.59326537e-04 -1.17776960e+02] [ 7.23955991e-03 9.86352771e-05 9.99973789e-01 1.98588311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.92762800000003 meters Centerline goodness [0,1] 0.9998652563497945 Centerline is valid? [True, True] Translation: X:54.16, Y:-118.60, Z:2.87 [[-9.99807908e-01 1.76237241e-02 8.57619550e-03 5.41588972e+01] [ 1.76225830e-02 9.99844688e-01 -2.08609244e-04 -1.18602940e+02] [-8.57853999e-03 -5.74344551e-05 -9.99963202e-01 2.87290805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.95762800000003 meters Centerline goodness [0,1] 0.9999324035060049 Centerline is valid? [True, True] Translation: X:54.17, Y:-118.58, Z:2.87 [[-9.98646877e-01 -5.13778358e-02 8.04563999e-03 5.41654463e+01] [-5.13764609e-02 9.98679286e-01 3.77610849e-04 -1.18579053e+02] [-8.05441483e-03 -3.62566129e-05 -9.99967562e-01 2.87280382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.14, Y:-117.74, Z:1.99 [[-9.99687920e-01 -2.38471320e-02 7.44158368e-03 5.41368805e+01] [ 2.38464234e-02 -9.99715617e-01 -1.83941663e-04 -1.17737796e+02] [ 7.44385390e-03 -6.42910270e-06 9.99972294e-01 1.98581007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.01762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.06, Y:-118.59, Z:2.87 [[-9.98485122e-01 -5.47424797e-02 5.54282045e-03 5.40560044e+01] [-5.47416835e-02 9.98500506e-01 2.95369944e-04 -1.18588311e+02] [-5.55067831e-03 -8.50082849e-06 -9.99984595e-01 2.86766931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.06, Y:-118.56, Z:2.87 [[-9.92118666e-01 -1.25220055e-01 4.52665856e-03 5.40582385e+01] [-1.25218772e-01 9.92128993e-01 5.66875383e-04 -1.18560734e+02] [-4.56201336e-03 -4.41497690e-06 -9.99989594e-01 2.86666406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.07762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.04, Y:-118.54, Z:2.87 [[-9.80993859e-01 -1.94009180e-01 3.38911395e-03 5.40448536e+01] [-1.94008007e-01 9.80999714e-01 6.74762175e-04 -1.18535555e+02] [-3.45562987e-03 4.42230801e-06 -9.99994029e-01 2.86620750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.86, Y:-117.70, Z:1.99 [[-9.91247828e-01 1.31974723e-01 3.22731742e-03 5.38624542e+01] [-1.31974080e-01 -9.91253082e-01 4.12330024e-04 -1.17704361e+02] [ 3.25350548e-03 -1.72010050e-05 9.99994707e-01 1.98997964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.90, Y:-118.56, Z:2.87 [[-9.80008392e-01 -1.98930879e-01 3.17125013e-03 5.38953500e+01] [-1.98929797e-01 9.80013523e-01 6.56298051e-04 -1.18564514e+02] [-3.23842596e-03 1.23214533e-05 -9.99994756e-01 2.86639424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.86, Y:-118.55, Z:2.87 [[-9.62950383e-01 -2.69660631e-01 3.11516178e-03 5.38577663e+01] [-2.69659178e-01 9.62955422e-01 8.85127551e-04 -1.18545123e+02] [-3.23844598e-03 1.23019477e-05 -9.99994756e-01 2.86639474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.80, Y:-118.53, Z:2.87 [[-9.41154348e-01 -3.37966118e-01 2.71967586e-03 5.38029203e+01] [-3.37964656e-01 9.41158277e-01 9.94486468e-04 -1.18534692e+02] [-2.89574818e-03 1.68109460e-05 -9.99995807e-01 2.86620006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.74, Y:-118.53, Z:2.87 [[-9.13604661e-01 -4.06594781e-01 2.68460527e-03 5.37376417e+01] [-4.06592967e-01 9.13608605e-01 1.21453821e-03 -1.18531223e+02] [-2.94650337e-03 1.80661442e-05 -9.99995659e-01 2.86615810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.66, Y:-118.54, Z:2.87 [[-8.80180224e-01 -4.74627928e-01 3.33220582e-03 5.36595983e+01] [-4.74624444e-01 8.80186531e-01 1.81870604e-03 -1.18537248e+02] [-3.79617137e-03 1.92427534e-05 -9.99992794e-01 2.86688068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.57, Y:-118.56, Z:2.87 [[-8.41467198e-01 -5.40295407e-01 3.71856493e-03 5.35716005e+01] [-5.40290037e-01 8.41475414e-01 2.40902167e-03 -1.18555978e+02] [-4.43066431e-03 1.80091341e-05 -9.99990184e-01 2.86786945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.317628 meters Centerline goodness [0,1] 0.9998648405118039 Centerline is valid? [True, True] Translation: X:53.49, Y:-118.58, Z:2.87 [[-7.97758555e-01 -6.02955527e-01 5.09113195e-03 5.34851736e+01] [-6.02943076e-01 7.97774800e-01 3.87492435e-03 -1.18580879e+02] [-6.39798383e-03 2.15912953e-05 -9.99979532e-01 2.87113027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.39, Y:-118.62, Z:2.87 [[-7.48409424e-01 -6.63217721e-01 5.05846461e-03 5.33929065e+01] [-6.63202480e-01 7.48426519e-01 4.49627244e-03 -1.18618234e+02] [-6.76789662e-03 1.02663959e-05 -9.99977097e-01 2.86970116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.37762800000002 meters Centerline goodness [0,1] 0.9998652835780681 Centerline is valid? [True, True] Translation: X:53.30, Y:-118.67, Z:2.87 [[-6.94790015e-01 -7.19190262e-01 5.67471000e-03 5.33016650e+01] [-7.19166245e-01 6.94813189e-01 5.87741013e-03 -1.18665060e+02] [-8.16983948e-03 2.50598495e-06 -9.99966626e-01 2.87322431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.21, Y:-118.72, Z:2.87 [[-6.34815279e-01 -7.72645801e-01 5.29413722e-03 5.32079706e+01] [-7.72619327e-01 6.34837353e-01 6.39610831e-03 -1.18723144e+02] [-8.30284229e-03 -3.00054558e-05 -9.99965530e-01 2.87142679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.12, Y:-118.79, Z:2.87 [[-5.72530722e-01 -8.19869194e-01 4.80385124e-03 5.31222069e+01] [-8.19840948e-01 5.72550873e-01 6.80563701e-03 -1.18788565e+02] [-8.33018135e-03 -4.19576931e-05 -9.99965303e-01 2.87115232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.04, Y:-118.87, Z:2.87 [[-5.07011392e-01 -8.61929505e-01 4.12021576e-03 5.30382288e+01] [-8.61901825e-01 5.07028131e-01 6.90793283e-03 -1.18865925e+02] [-8.04321642e-03 -4.88208401e-05 -9.99967652e-01 2.87077293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.96, Y:-118.96, Z:2.87 [[-4.38869092e-01 -8.98545068e-01 3.26813192e-03 5.29579118e+01] [-8.98520950e-01 4.38881257e-01 6.58364976e-03 -1.18955916e+02] [-7.35002786e-03 -4.71246049e-05 -9.99972987e-01 2.87054325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.89, Y:-119.04, Z:2.87 [[-3.68967398e-01 -9.29440248e-01 1.97098514e-03 5.28917010e+01] [-9.29427408e-01 3.68972661e-01 4.88562217e-03 -1.19039582e+02] [-5.26813351e-03 -2.92523101e-05 -9.99986123e-01 2.86927043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.83, Y:-119.14, Z:2.87 [[-2.97264802e-01 -9.54794123e-01 1.34941624e-03 5.28268842e+01] [-9.54784579e-01 2.97267864e-01 4.26897672e-03 -1.19142047e+02] [-4.47713197e-03 -1.93853021e-05 -9.99989977e-01 2.86889865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.77, Y:-119.25, Z:2.87 [[-2.25611453e-01 -9.74217190e-01 5.82713280e-04 5.27733278e+01] [-9.74213971e-01 2.25612206e-01 2.50415118e-03 -1.19245436e+02] [-2.57105435e-03 -2.72223083e-06 -9.99996695e-01 2.86812241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.73, Y:-119.35, Z:2.87 [[-1.51258138e-01 -9.88494239e-01 3.38250743e-04 5.27267731e+01] [-9.88491741e-01 1.51258516e-01 2.22247310e-03 -1.19353066e+02] [-2.24806516e-03 1.80907764e-06 -9.99997473e-01 2.86751874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.69, Y:-119.47, Z:2.87 [[-7.55335103e-02 -9.97143256e-01 1.27320087e-04 5.26882294e+01] [-9.97141752e-01 7.55336175e-02 1.73192488e-03 -1.19466438e+02] [-1.73659416e-03 3.86219163e-06 -9.99998492e-01 2.86689553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.66, Y:-119.58, Z:2.87 [[ 7.19561380e-05 -9.99999997e-01 -5.76660033e-06 5.26579537e+01] [-9.99998970e-01 -7.19643293e-05 1.43338732e-03 -1.19582717e+02] [-1.43338773e-03 5.66345337e-06 -9.99998973e-01 2.86669526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.70762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.64, Y:-119.71, Z:2.87 [[ 7.71743539e-02 -9.97017612e-01 1.47994834e-05 5.26357772e+01] [-9.97017594e-01 -7.71743553e-02 -1.88447683e-04 -1.19705161e+02] [ 1.89027800e-04 -2.12017131e-07 -9.99999982e-01 2.86554324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.62, Y:-119.84, Z:2.87 [[ 1.54438119e-01 -9.88002459e-01 9.20565403e-05 5.26233444e+01] [-9.88002290e-01 -1.54438146e-01 -5.78091721e-04 -1.19835783e+02] [ 5.85373084e-04 -1.67267464e-06 -9.99999829e-01 2.86522343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.76762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.62, Y:-119.95, Z:2.86 [[ 2.30793063e-01 -9.73002852e-01 1.10670840e-04 5.26174888e+01] [-9.73002743e-01 -2.30793089e-01 -4.61586159e-04 -1.19949371e+02] [ 4.74666715e-04 -1.15214745e-06 -9.99999887e-01 2.86459800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.62, Y:-120.07, Z:2.87 [[ 3.05872440e-01 -9.52072496e-01 -1.15403989e-04 5.26228368e+01] [-9.52072430e-01 -3.05872462e-01 3.53582310e-04 -1.20073660e+02] [-3.71934895e-04 1.72187239e-06 -9.99999931e-01 2.86517041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.82762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.64, Y:-120.19, Z:2.87 [[ 3.79128869e-01 -9.25342945e-01 -1.31736559e-03 5.26350481e+01] [-9.25337447e-01 -3.79131157e-01 3.18986785e-03 -1.20194774e+02] [-3.45117606e-03 9.63672001e-06 -9.99994045e-01 2.86855526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.66, Y:-120.31, Z:2.87 [[ 4.49695574e-01 -8.93179352e-01 -2.12971863e-03 5.26557814e+01] [-8.93169464e-01 -4.49700617e-01 4.20283628e-03 -1.20308989e+02] [-4.71162237e-03 1.22027734e-05 -9.99988900e-01 2.87028808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.887628 meters Centerline goodness [0,1] 0.9999550884757029 Centerline is valid? [True, True] Translation: X:52.69, Y:-120.43, Z:2.87 [[ 5.17205282e-01 -8.55855523e-01 -3.16548267e-03 5.26931932e+01] [-8.55839692e-01 -5.17214969e-01 5.20561794e-03 -1.20434019e+02] [-6.09249188e-03 1.67726136e-05 -9.99981440e-01 2.87251892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.917628 meters Centerline goodness [0,1] 0.9998430000448572 Centerline is valid? [True, True] Translation: X:52.73, Y:-120.54, Z:2.87 [[ 5.81201600e-01 -8.13749217e-01 -4.11258172e-03 5.27288588e+01] [-8.13729131e-01 -5.81216149e-01 5.71745674e-03 -1.20538152e+02] [-7.04287486e-03 2.35325432e-05 -9.99975198e-01 2.87465529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.78, Y:-120.64, Z:2.87 [[ 6.41718264e-01 -7.66929560e-01 -4.08906813e-03 5.27755239e+01] [-7.66914233e-01 -6.41731291e-01 4.84862359e-03 -1.20642195e+02] [-6.34263573e-03 2.45142347e-05 -9.99979885e-01 2.87161615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.977628 meters Centerline goodness [0,1] 0.9998204788726073 Centerline is valid? [True, True] Translation: X:52.83, Y:-120.74, Z:2.87 [[ 6.97990896e-01 -7.16090474e-01 -4.81064441e-03 5.28260077e+01] [-7.16073802e-01 -6.98007473e-01 4.88655062e-03 -1.20738722e+02] [-6.85707810e-03 3.40085895e-05 -9.99976489e-01 2.87379819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.88, Y:-120.82, Z:2.87 [[ 7.50800957e-01 -6.60514617e-01 -4.28540581e-03 5.28763805e+01] [-6.60504073e-01 -7.50813186e-01 3.73221162e-03 -1.20824860e+02] [-5.68271952e-03 2.83799350e-05 -9.99983853e-01 2.87082620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.87, Y:-120.83, Z:2.87 [[ 7.99973834e-01 -6.00015485e-01 -4.82524590e-03 5.28707397e+01] [-6.00004806e-01 -7.99988385e-01 3.58004143e-03 -1.20831076e+02] [-6.00822097e-03 3.12312622e-05 -9.99981950e-01 2.87085118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.067628 meters Centerline goodness [0,1] 0.9998202327985259 Centerline is valid? [True, True] Translation: X:52.86, Y:-120.84, Z:2.87 [[ 8.44024050e-01 -5.36274966e-01 -5.70647212e-03 5.28647402e+01] [-5.36263027e-01 -8.44043339e-01 3.57866750e-03 -1.20836860e+02] [-6.73565958e-03 3.96885801e-05 -9.99977314e-01 2.87354012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.86, Y:-120.84, Z:2.87 [[ 8.83747064e-01 -4.67936736e-01 -5.13200916e-03 5.28592574e+01] [-4.67929041e-01 -8.83761965e-01 2.68368915e-03 -1.20842428e+02] [-5.79127124e-03 2.97137215e-05 -9.99983230e-01 2.87060924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.85, Y:-120.85, Z:2.87 [[ 9.17597858e-01 -3.97482984e-01 -4.63120793e-03 5.28538215e+01] [-3.97478067e-01 -9.17609545e-01 1.97738469e-03 -1.20846674e+02] [-5.03561736e-03 2.63596204e-05 -9.99987321e-01 2.87026810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.15762800000002 meters Centerline goodness [0,1] 0.9998426152843043 Centerline is valid? [True, True] Translation: X:52.85, Y:-120.85, Z:2.87 [[ 9.45603803e-01 -3.25290338e-01 -4.43213481e-03 5.28489804e+01] [-3.25286905e-01 -9.45614189e-01 1.49472059e-03 -1.20853266e+02] [-4.67730773e-03 2.83019451e-05 -9.99989061e-01 2.87198987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.84, Y:-120.86, Z:2.87 [[ 9.68282527e-01 -2.49849290e-01 -2.06905407e-03 5.28441053e+01] [-2.49848747e-01 -9.68284737e-01 5.21424439e-04 -1.20860694e+02] [-2.13371100e-03 1.20643937e-05 -9.99997724e-01 2.86840870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.84, Y:-120.87, Z:2.87 [[ 9.84912109e-01 -1.73050456e-01 -1.29538338e-03 5.28352166e+01] [-1.73050316e-01 -9.84912960e-01 2.20182180e-04 -1.20866666e+02] [-1.31394250e-03 7.30640798e-06 -9.99999137e-01 2.86809994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.83, Y:-120.87, Z:2.87 [[ 9.95437043e-01 -9.54116437e-02 -1.30866586e-03 5.28280600e+01] [-9.54115709e-02 -9.95437903e-01 1.18095720e-04 -1.20871270e+02] [-1.31396331e-03 7.30501147e-06 -9.99999137e-01 2.86810013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.82, Y:-120.88, Z:2.87 [[ 9.99861619e-01 -1.66293083e-02 -4.56225886e-04 5.28218935e+01] [-1.66293078e-02 -9.99861724e-01 4.93850079e-06 -1.20879995e+02] [-4.56244924e-04 2.64890327e-06 -9.99999896e-01 2.86810359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.82, Y:-120.89, Z:2.87 [[ 9.97977942e-01 6.35611969e-02 4.05603090e-05 5.28160964e+01] [ 6.35611968e-02 -9.97977943e-01 2.16691933e-06 -1.20890104e+02] [ 4.06160258e-05 4.15524088e-07 -9.99999999e-01 2.86776092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.81, Y:-120.90, Z:2.87 [[ 9.89798140e-01 1.42476562e-01 -2.68144385e-04 5.28110776e+01] [ 1.42476557e-01 -9.89798176e-01 -3.96106636e-05 -1.20899380e+02] [-2.71052414e-04 1.00227239e-06 -9.99999963e-01 2.86756727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.81, Y:-120.91, Z:2.87 [[ 9.75391367e-01 2.20480012e-01 -4.95849432e-04 5.28063090e+01] [ 2.20479983e-01 -9.75391493e-01 -1.13038175e-04 -1.20908186e+02] [-5.08569976e-04 9.31585437e-07 -9.99999871e-01 2.86781942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.80, Y:-120.92, Z:2.87 [[ 9.54990274e-01 2.96636321e-01 -6.85285175e-04 5.28025343e+01] [ 2.96636244e-01 -9.54990520e-01 -2.13616330e-04 -1.20917618e+02] [-7.17807207e-04 7.21097337e-07 -9.99999742e-01 2.86834685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.42762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.80, Y:-120.93, Z:2.87 [[ 9.28564188e-01 3.71167570e-01 -1.78431125e-03 5.27993028e+01] [ 3.71166886e-01 -9.28565902e-01 -7.12890057e-04 -1.20926442e+02] [-1.92145226e-03 -3.13072607e-07 -9.99998154e-01 2.86975690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.45762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.80, Y:-120.94, Z:2.87 [[ 8.96654708e-01 4.42726882e-01 -1.80099388e-03 5.27967637e+01] [ 4.42725990e-01 -8.96656516e-01 -8.88844107e-04 -1.20935919e+02] [-2.00838808e-03 -3.60544113e-07 -9.99997983e-01 2.87020707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.80, Y:-120.95, Z:2.87 [[ 8.59247090e-01 5.11557723e-01 -1.77040339e-03 5.27955781e+01] [ 5.11556638e-01 -8.59248914e-01 -1.05348001e-03 -1.20945308e+02] [-2.06013303e-03 -4.61974597e-07 -9.99997878e-01 2.87068246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.51762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.79, Y:-120.96, Z:2.87 [[ 8.16752010e-01 5.76986035e-01 -1.80798859e-03 5.27942746e+01] [ 5.76984621e-01 -8.16754011e-01 -1.27754281e-03 -1.20955061e+02] [-2.21380630e-03 2.54050337e-07 -9.99997550e-01 2.87075687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.79, Y:-120.97, Z:2.87 [[ 7.69640018e-01 6.38475760e-01 -1.71664213e-03 5.27930468e+01] [ 6.38474166e-01 -7.69641932e-01 -1.42698610e-03 -1.20965115e+02] [-2.23229580e-03 2.23395877e-06 -9.99997508e-01 2.87111951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.57762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.79, Y:-120.97, Z:2.87 [[ 7.17815847e-01 6.96231148e-01 -1.61217782e-03 5.27911573e+01] [ 6.96229380e-01 -7.17817657e-01 -1.56923531e-03 -1.20973769e+02] [-2.24980020e-03 3.97640748e-06 -9.99997469e-01 2.87148130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.79, Y:-120.98, Z:2.87 [[ 6.62033377e-01 7.49472456e-01 -1.68672885e-03 5.27929982e+01] [ 7.49469994e-01 -6.62035526e-01 -1.92118485e-03 -1.20984523e+02] [-2.55654955e-03 7.73583170e-06 -9.99996732e-01 2.87237556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.80, Y:-120.99, Z:2.87 [[ 6.01876782e-01 7.98587535e-01 -1.51241282e-03 5.27956331e+01] [ 7.98584975e-01 -6.01878682e-01 -2.02226102e-03 -1.20994904e+02] [-2.52524148e-03 9.36180345e-06 -9.99996812e-01 2.87295873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.80, Y:-121.00, Z:2.87 [[ 5.38299553e-01 8.42752218e-01 -1.51358607e-03 5.27980948e+01] [ 8.42748816e-01 -5.38301681e-01 -2.39429021e-03 -1.21004509e+02] [-2.83255931e-03 1.32724830e-05 -9.99995988e-01 2.87348182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.80, Y:-121.01, Z:2.87 [[ 4.71566670e-01 8.81829334e-01 -1.37917791e-03 5.28003756e+01] [ 8.81825457e-01 -4.71568687e-01 -2.61476326e-03 -1.21014495e+02] [-2.95615206e-03 1.68410090e-05 -9.99995630e-01 2.87387132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.727628 meters Centerline goodness [0,1] 0.9998647887323944 Centerline is valid? [True, True] Translation: X:52.80, Y:-121.02, Z:2.88 [[ 4.03218035e-01 9.15102085e-01 -1.84154620e-03 5.28008618e+01] [ 9.15092116e-01 -4.03222238e-01 -4.27143897e-03 -1.21023878e+02] [-4.65135509e-03 3.71368219e-05 -9.99989182e-01 2.87706523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.757628 meters Centerline goodness [0,1] 0.9998645353562721 Centerline is valid? [True, True] Translation: X:52.80, Y:-121.03, Z:2.88 [[ 3.31226501e-01 9.43549904e-01 -1.60740823e-03 5.28035950e+01] [ 9.43538130e-01 -3.31230398e-01 -4.71380078e-03 -1.21033269e+02] [-4.98012874e-03 4.46847856e-05 -9.99987598e-01 2.87748529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.81, Y:-121.04, Z:2.88 [[ 2.56958677e-01 9.66421680e-01 -1.17211339e-03 5.28113650e+01] [ 9.66410798e-01 -2.56961346e-01 -4.58639984e-03 -1.21043612e+02] [-4.73358407e-03 4.57721983e-05 -9.99988795e-01 2.87532631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.82, Y:-121.05, Z:2.88 [[ 1.81148451e-01 9.83455305e-01 -9.49753032e-04 5.28198074e+01] [ 9.83440070e-01 -1.81150932e-01 -5.47434107e-03 -1.21053479e+02] [-5.55581842e-03 5.76432197e-05 -9.99984565e-01 2.87614437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.84762800000001 meters Centerline goodness [0,1] 0.9999774881249859 Centerline is valid? [True, True] Translation: X:52.83, Y:-121.06, Z:2.88 [[ 1.05013369e-01 9.94470658e-01 -5.49394437e-04 5.28274091e+01] [ 9.94453351e-01 -1.05014783e-01 -5.86750119e-03 -1.21062790e+02] [-5.89275231e-03 6.98189264e-05 -9.99982635e-01 2.87760495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.87762800000002 meters Centerline goodness [0,1] 0.999887600035968 Centerline is valid? [True, True] Translation: X:52.84, Y:-121.07, Z:2.88 [[ 2.74304621e-02 9.99623710e-01 -9.33869067e-05 5.28367543e+01] [ 9.99604222e-01 -2.74305105e-02 -6.24232353e-03 -1.21070934e+02] [-6.24253625e-03 7.78798730e-05 -9.99980512e-01 2.87864574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.85, Y:-121.08, Z:2.88 [[-5.08376541e-02 9.98706881e-01 3.14343976e-04 5.28459001e+01] [ 9.98694623e-01 5.08385876e-02 -4.94853023e-03 -1.21079067e+02] [-4.95811200e-03 6.23619702e-05 -9.99987707e-01 2.87606773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.86, Y:-121.09, Z:2.88 [[-1.28963331e-01 9.91649193e-01 5.81148006e-04 5.28560632e+01] [ 9.91640851e-01 1.28964630e-01 -4.06771051e-03 -1.21085993e+02] [-4.10868938e-03 5.17046077e-05 -9.99991558e-01 2.87595967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.96762800000002 meters Centerline goodness [0,1] 0.9998203821370035 Centerline is valid? [True, True] Translation: X:52.87, Y:-121.09, Z:2.88 [[-2.07449144e-01 9.78245217e-01 1.07140727e-03 5.28667437e+01] [ 9.78233517e-01 2.07451903e-01 -4.78476965e-03 -1.21092245e+02] [-4.90294351e-03 5.54901341e-05 -9.99987979e-01 2.87808973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.99762800000002 meters Centerline goodness [0,1] 0.9998879978495587 Centerline is valid? [True, True] Translation: X:52.88, Y:-121.10, Z:2.88 [[-2.84758810e-01 9.58598407e-01 1.23023281e-03 5.28783236e+01] [ 9.58590082e-01 2.84761465e-01 -3.99543426e-03 -1.21097058e+02] [-4.18033981e-03 4.15538623e-05 -9.99991261e-01 2.87779265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.02762800000002 meters Centerline goodness [0,1] 0.9998209649986572 Centerline is valid? [True, True] Translation: X:52.89, Y:-121.10, Z:2.88 [[-3.60720280e-01 9.32672783e-01 1.53614622e-03 5.28895332e+01] [ 9.32664718e-01 3.60723549e-01 -3.87875869e-03 -1.21102085e+02] [-4.17173677e-03 3.35624600e-05 -9.99991298e-01 2.87903116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.90, Y:-121.10, Z:2.88 [[-4.36075048e-01 8.99909241e-01 1.38208119e-03 5.29044954e+01] [ 8.99904819e-01 4.36077238e-01 -2.82124504e-03 -1.21103357e+02] [-3.14155863e-03 1.34669553e-05 -9.99995065e-01 2.87637478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.92, Y:-121.10, Z:2.88 [[-5.06680338e-01 8.62132605e-01 1.55098098e-03 5.29168417e+01] [ 8.62128614e-01 5.06682712e-01 -2.62330594e-03 -1.21104599e+02] [-3.04749284e-03 7.96754249e-06 -9.99995356e-01 2.87646280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.93, Y:-121.11, Z:2.88 [[-5.73863791e-01 8.18949020e-01 1.68867944e-03 5.29286512e+01] [ 8.18945492e-01 5.73866275e-01 -2.40394162e-03 -1.21106485e+02] [-2.93778181e-03 3.40136322e-06 -9.99995685e-01 2.87689801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.94, Y:-121.11, Z:2.88 [[-6.38162399e-01 7.69898524e-01 2.23964398e-03 5.29391466e+01] [ 7.69893756e-01 6.38166329e-01 -2.70956874e-03 -1.21106685e+02] [-3.51535835e-03 -4.85697220e-06 -9.99993821e-01 2.87751044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.17762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.95, Y:-121.11, Z:2.88 [[-6.97479050e-01 7.16600657e-01 2.54438361e-03 5.29507537e+01] [ 7.16595836e-01 6.97483690e-01 -2.62854685e-03 -1.21105200e+02] [-3.65828447e-03 -1.00616575e-05 -9.99993308e-01 2.87803928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.20762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.96, Y:-121.10, Z:2.88 [[-7.52085284e-01 6.59059438e-01 2.89533714e-03 5.29625075e+01] [ 6.59054481e-01 7.52090857e-01 -2.55617763e-03 -1.21101879e+02] [-3.86222959e-03 -1.42786631e-05 -9.99992541e-01 2.87810832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.99, Y:-121.09, Z:2.88 [[-7.97477254e-01 6.03342800e-01 2.73757127e-03 5.29870933e+01] [ 6.03339174e-01 7.97481953e-01 -2.09182107e-03 -1.21085786e+02] [-3.44524886e-03 -1.64957397e-05 -9.99994065e-01 2.87816021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.26762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.50, Y:-120.44, Z:1.98 [[-7.48236973e-01 -6.63427692e-01 2.26487563e-03 5.34951137e+01] [ 6.63424614e-01 -7.48240401e-01 -2.02111313e-03 -1.20438079e+02] [ 3.03553386e-03 -9.69732889e-06 9.99995393e-01 1.97890521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.29762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.96, Y:-121.07, Z:2.88 [[-8.00153280e-01 5.99790714e-01 2.41407442e-03 5.29581232e+01] [ 5.99787909e-01 8.00156921e-01 -1.83446108e-03 -1.21066676e+02] [-3.03193108e-03 -1.99174011e-05 -9.99995404e-01 2.87740924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.32762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.98, Y:-121.05, Z:2.88 [[-8.40733630e-01 5.41444635e-01 2.16101037e-03 5.29777260e+01] [ 5.41442792e-01 8.40736408e-01 -1.41261347e-03 -1.21046520e+02] [-2.58169208e-03 -1.75681614e-05 -9.99996667e-01 2.87745908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.00, Y:-121.03, Z:2.88 [[-8.77182192e-01 4.80153210e-01 2.07285580e-03 5.29999512e+01] [ 4.80151822e-01 8.77184641e-01 -1.15443043e-03 -1.21028171e+02] [-2.37258075e-03 -1.73603238e-05 -9.99997185e-01 2.87691096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.01, Y:-121.00, Z:2.88 [[-9.09026808e-01 4.16733930e-01 1.75873607e-03 5.30127838e+01] [ 4.16733119e-01 9.09028510e-01 -8.22086043e-04 -1.21003419e+02] [-1.94133237e-03 -1.43746849e-05 -9.99998116e-01 2.87667423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.03, Y:-120.98, Z:2.88 [[-9.36063659e-01 3.51828938e-01 1.10712643e-03 5.30302794e+01] [ 3.51828682e-01 9.36064313e-01 -4.24572371e-04 -1.20981751e+02] [-1.18571838e-03 -7.90793610e-06 -9.99999297e-01 2.87639568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.04, Y:-120.96, Z:2.88 [[-9.58336018e-01 2.85641568e-01 9.85524162e-04 5.30435199e+01] [ 2.85641411e-01 9.58336525e-01 -2.99743644e-04 -1.20957675e+02] [-1.03008304e-03 -5.74861753e-06 -9.99999469e-01 2.87629458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.06, Y:-120.93, Z:2.88 [[-9.75804162e-01 2.18644138e-01 9.89690960e-04 5.30594461e+01] [ 2.18644021e-01 9.75804663e-01 -2.25779318e-04 -1.20934455e+02] [-1.01511038e-03 -3.92638737e-06 -9.99999485e-01 2.87649578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.07, Y:-120.91, Z:2.88 [[-9.88119710e-01 1.53672415e-01 2.05599299e-03 5.30658765e+01] [ 1.53672086e-01 9.88121849e-01 -3.18297400e-04 -1.20911549e+02] [-2.08048513e-03 1.43279641e-06 -9.99997836e-01 2.87727874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.08, Y:-120.89, Z:2.88 [[-9.96302081e-01 8.58818462e-02 2.54414660e-03 5.30784347e+01] [ 8.58815885e-02 9.96305329e-01 -2.10569368e-04 -1.20888057e+02] [-2.55283090e-03 8.70465227e-06 -9.99996741e-01 2.87751104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.567628 meters Centerline goodness [0,1] 0.9999101446670859 Centerline is valid? [True, True] Translation: X:53.09, Y:-120.86, Z:2.88 [[-9.99829148e-01 1.81201666e-02 3.65175845e-03 5.30861988e+01] [ 1.81201343e-02 9.99835816e-01 -4.19478648e-05 -1.20862746e+02] [-3.65191899e-03 2.42296555e-05 -9.99993331e-01 2.87859456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.11, Y:-120.02, Z:1.98 [[-9.97543272e-01 -6.99856143e-02 3.07153746e-03 5.31073029e+01] [ 6.99851078e-02 -9.97547999e-01 -2.72202735e-04 -1.20016374e+02] [ 3.08305633e-03 -5.65721262e-05 9.99995246e-01 1.97981064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.99, Y:-120.86, Z:2.88 [[-9.99778856e-01 2.06045324e-02 4.20627713e-03 5.29917943e+01] [ 2.06046222e-02 9.99787702e-01 -2.19722774e-05 -1.20864774e+02] [-4.20583688e-03 6.47013330e-05 -9.99991153e-01 2.87698617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.00, Y:-120.84, Z:2.88 [[-9.98867854e-01 -4.72776150e-02 5.27607133e-03 5.29958712e+01] [-4.72764328e-02 9.98881783e-01 3.48637008e-04 -1.20837344e+02] [-5.28665427e-03 9.88084687e-05 -9.99986021e-01 2.87727771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.68762800000002 meters Centerline goodness [0,1] 0.9998200670250331 Centerline is valid? [True, True] Translation: X:52.99, Y:-120.81, Z:2.88 [[-9.93324656e-01 -1.15117076e-01 7.36110838e-03 5.29865408e+01] [-1.15112689e-01 9.93351917e-01 1.01835867e-03 -1.20810649e+02] [-7.42940159e-03 1.64203800e-04 -9.99972388e-01 2.88023126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.96, Y:-120.79, Z:2.88 [[-9.83362237e-01 -1.81448091e-01 8.67762525e-03 5.29624233e+01] [-1.81438827e-01 9.83400494e-01 1.84967602e-03 -1.20787173e+02] [-8.86920113e-03 2.44443399e-04 -9.99960638e-01 2.87914303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.91, Y:-120.77, Z:2.88 [[-9.68008795e-01 -2.50740798e-01 9.38220624e-03 5.29106251e+01] [-2.50726052e-01 9.68054216e-01 2.73531326e-03 -1.20773607e+02] [-9.76833894e-03 2.95443767e-04 -9.99952245e-01 2.88018077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.85, Y:-120.77, Z:2.88 [[-9.47559824e-01 -3.19431100e-01 9.70319923e-03 5.28462193e+01] [-3.19410684e-01 9.47609444e-01 3.62713015e-03 -1.20765241e+02] [-1.03534614e-02 3.37617300e-04 -9.99946345e-01 2.88023288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.77, Y:-120.76, Z:2.88 [[-9.23053469e-01 -3.84573387e-01 8.69499266e-03 5.27742135e+01] [-3.84552611e-01 9.23094350e-01 4.01361627e-03 -1.20764031e+02] [-9.56982860e-03 3.61100293e-04 -9.99954143e-01 2.87951154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.83762800000002 meters Centerline goodness [0,1] 0.9998434459776798 Centerline is valid? [True, True] Translation: X:52.69, Y:-120.77, Z:2.88 [[-8.92478252e-01 -4.51011063e-01 8.46117176e-03 5.26911696e+01] [-4.50986667e-01 8.92518276e-01 4.70673075e-03 -1.20771909e+02] [-9.67453807e-03 3.84779176e-04 -9.99953127e-01 2.87983694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.60, Y:-120.79, Z:2.88 [[-8.56181072e-01 -5.16632599e-01 6.68800572e-03 5.26007528e+01] [-5.16613861e-01 8.56207133e-01 4.41187163e-03 -1.20793146e+02] [-8.00563491e-03 3.22244518e-04 -9.99967902e-01 2.87697823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.51, Y:-120.82, Z:2.87 [[-8.13517748e-01 -5.81514698e-01 5.43411717e-03 5.25070446e+01] [-5.81499527e-01 8.13535854e-01 4.20888544e-03 -1.20817289e+02] [-6.86837790e-03 2.64066441e-04 -9.99976378e-01 2.87391561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.41, Y:-120.86, Z:2.87 [[-7.65274444e-01 -6.43687212e-01 4.66891771e-03 5.24135946e+01] [-6.43673407e-01 7.65288653e-01 4.22157853e-03 -1.20860375e+02] [-6.29044586e-03 2.25407992e-04 -9.99980190e-01 2.87296072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.95762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.31, Y:-120.91, Z:2.87 [[-7.11345531e-01 -7.02833962e-01 3.45787788e-03 5.23143444e+01] [-7.02824537e-01 7.11353917e-01 3.64344587e-03 -1.20906585e+02] [-5.02051247e-03 1.61467517e-04 -9.99987384e-01 2.87072614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.22, Y:-120.96, Z:2.87 [[-6.47656174e-01 -7.61929240e-01 2.30520178e-03 5.22150855e+01] [-7.61923972e-01 6.47660272e-01 2.83430293e-03 -1.20962098e+02] [-3.65252589e-03 7.92652957e-05 -9.99993326e-01 2.86985882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.01762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.12, Y:-121.03, Z:2.87 [[-5.82818717e-01 -8.12600426e-01 1.70028830e-03 5.21219367e+01] [-8.12596727e-01 5.82821195e-01 2.45242678e-03 -1.21030855e+02] [-2.98380710e-03 4.76715191e-05 -9.99995547e-01 2.87049919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.03, Y:-121.11, Z:2.87 [[-5.13676088e-01 -8.57982703e-01 1.59963745e-03 5.20324215e+01] [-8.57978350e-01 5.13678578e-01 2.73323260e-03 -1.21110131e+02] [-3.16676578e-03 3.15419298e-05 -9.99994985e-01 2.87097460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.07762800000003 meters Centerline goodness [0,1] 0.9998687606631961 Centerline is valid? [True, True] Translation: X:51.95, Y:-121.20, Z:2.87 [[-4.37970088e-01 -8.98987231e-01 2.03969817e-03 5.19453448e+01] [-8.98977452e-01 4.37974837e-01 4.19313301e-03 -1.21197447e+02] [-4.66290951e-03 2.82416519e-06 -9.99989129e-01 2.87420909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.87, Y:-121.28, Z:2.87 [[-3.63741236e-01 -9.31498636e-01 1.61375502e-03 5.18735892e+01] [-9.31489660e-01 3.63744816e-01 4.08929817e-03 -1.21284978e+02] [-4.39617069e-03 -1.57497468e-05 -9.99990337e-01 2.87240314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.81, Y:-121.38, Z:2.87 [[-2.88031543e-01 -9.57620025e-01 1.31092221e-03 5.18078088e+01] [-9.57610566e-01 2.88034525e-01 4.25639426e-03 -1.21384181e+02] [-4.45359923e-03 -2.93771564e-05 -9.99990082e-01 2.87246324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.75, Y:-121.49, Z:2.87 [[-2.13380658e-01 -9.76968647e-01 9.79029935e-04 5.17515597e+01] [-9.76958986e-01 2.13382902e-01 4.34478456e-03 -1.21488232e+02] [-4.45362654e-03 -2.93791040e-05 -9.99990082e-01 2.87246459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.70, Y:-121.60, Z:2.87 [[-1.35087734e-01 -9.90833395e-01 6.97576847e-04 5.17023803e+01] [-9.90821775e-01 1.35089529e-01 4.79894713e-03 -1.21596915e+02] [-4.84919240e-03 -4.28954348e-05 -9.99988242e-01 2.87290740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.66, Y:-121.71, Z:2.87 [[-5.66043772e-02 -9.98396598e-01 4.20941088e-04 5.16635650e+01] [-9.98376950e-01 5.66059043e-02 6.26395645e-03 -1.21709377e+02] [-6.27774056e-03 -6.56905256e-05 -9.99980293e-01 2.87353431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.63, Y:-121.83, Z:2.87 [[ 2.08049945e-02 -9.99783550e-01 -7.19022776e-05 5.16336082e+01] [-9.99759065e-01 -2.08049882e-02 6.99744567e-03 -1.21826335e+02] [-6.99742700e-03 -7.36968647e-05 -9.99975515e-01 2.87391893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.61, Y:-121.95, Z:2.87 [[ 9.76595010e-02 -9.95219667e-01 -6.59867497e-04 5.16135199e+01] [-9.95191319e-01 -9.76617000e-02 7.51201262e-03 -1.21947024e+02] [-7.54054649e-03 -7.69249996e-05 -9.99971567e-01 2.87440311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.60, Y:-122.07, Z:2.88 [[ 1.73581973e-01 -9.84818528e-01 -1.32903251e-03 5.16028691e+01] [-9.84786187e-01 -1.73587043e-01 7.98147434e-03 -1.22068439e+02] [-8.09100663e-03 -7.66271993e-05 -9.99967264e-01 2.87548045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.60, Y:-122.18, Z:2.88 [[ 2.47161630e-01 -9.68971146e-01 -2.45895323e-03 5.16040625e+01] [-9.68920119e-01 -2.47173850e-01 9.94439973e-03 -1.22183464e+02] [-1.02436253e-02 -7.53447925e-05 -9.99947530e-01 2.87717700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.61, Y:-122.30, Z:2.88 [[ 3.19998547e-01 -9.47412108e-01 -3.35083505e-03 5.16135018e+01] [-9.47358066e-01 -3.20016084e-01 1.01192726e-02 -1.22304768e+02] [-1.06594425e-02 -6.37119188e-05 -9.99943185e-01 2.87849682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.63, Y:-122.42, Z:2.88 [[ 3.90889240e-01 -9.20426885e-01 -4.46672567e-03 5.16310492e+01] [-9.20365255e-01 -3.90914757e-01 1.06513455e-02 -1.22420421e+02] [-1.15498937e-02 -5.24772246e-05 -9.99933296e-01 2.87827822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.66, Y:-122.53, Z:2.88 [[ 4.57259060e-01 -8.89317173e-01 -5.39606289e-03 5.16607680e+01] [-8.89255060e-01 -4.57290898e-01 1.05106284e-02 -1.22533172e+02] [-1.18148528e-02 -7.60385016e-06 -9.99930202e-01 2.87860251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.70, Y:-122.64, Z:2.88 [[ 5.22308496e-01 -8.52734614e-01 -6.12478571e-03 5.16953089e+01] [-8.52676501e-01 -5.22344405e-01 9.95529004e-03 -1.22642326e+02] [-1.16884680e-02 2.27282785e-05 -9.99931687e-01 2.87898705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.74, Y:-122.75, Z:2.88 [[ 5.84239302e-01 -8.11554353e-01 -6.63103967e-03 5.17375445e+01] [-8.11503116e-01 -5.84276929e-01 9.11940052e-03 -1.22747259e+02] [-1.12752527e-02 5.31971609e-05 -9.99936431e-01 2.87815294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.79, Y:-122.85, Z:2.88 [[ 6.42553823e-01 -7.66207520e-01 -7.11485501e-03 5.17875672e+01] [-7.66162027e-01 -6.42593207e-01 8.34979699e-03 -1.22848655e+02] [-1.09696347e-02 8.59377588e-05 -9.99939828e-01 2.87720611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.84, Y:-122.94, Z:2.88 [[ 6.94954949e-01 -7.19014292e-01 -7.48779786e-03 5.18425809e+01] [-7.18974884e-01 -6.94995270e-01 7.52937629e-03 -1.22936099e+02] [-1.06177133e-02 1.50961281e-04 -9.99943619e-01 2.87662255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.90, Y:-123.03, Z:2.88 [[ 7.46071789e-01 -6.65818520e-01 -7.91097142e-03 5.19029950e+01] [-6.65783612e-01 -7.46113709e-01 6.82027656e-03 -1.23025739e+02] [-1.04435507e-02 1.78579184e-04 -9.99945449e-01 2.87648562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.90, Y:-123.03, Z:2.88 [[ 7.95686673e-01 -6.05653497e-01 -8.15842954e-03 5.18959708e+01] [-6.05623902e-01 -7.95728478e-01 5.98994049e-03 -1.23033259e+02] [-1.01197231e-02 1.74824105e-04 -9.99948779e-01 2.87578422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.89, Y:-123.04, Z:2.88 [[ 8.40548107e-01 -5.41667821e-01 -8.65166661e-03 5.18888164e+01] [-5.41641279e-01 -8.40592613e-01 5.36503782e-03 -1.23039752e+02] [-1.01785954e-02 1.76527382e-04 -9.99948181e-01 2.87601933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.88, Y:-123.05, Z:2.88 [[ 8.80203609e-01 -4.74478636e-01 -1.05655740e-02 5.18815004e+01] [-4.74447283e-01 -8.80266994e-01 5.45842083e-03 -1.23046191e+02] [-1.18904301e-02 2.08286144e-04 -9.99929285e-01 2.87630960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.70762800000003 meters Centerline goodness [0,1] 0.9998873010864175 Centerline is valid? [True, True] Translation: X:51.87, Y:-123.05, Z:2.88 [[ 9.14119801e-01 -4.05270847e-01 -1.18545212e-02 5.18748941e+01] [-4.05240155e-01 -9.14196633e-01 4.99328398e-03 -1.23053731e+02] [-1.28609958e-02 2.39468273e-04 -9.99917265e-01 2.87870121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.73762800000003 meters Centerline goodness [0,1] 0.9999100031498898 Centerline is valid? [True, True] Translation: X:51.87, Y:-123.06, Z:2.88 [[ 9.42039867e-01 -3.35225407e-01 -1.35946667e-02 5.18695141e+01] [-3.35195187e-01 -9.42137905e-01 4.51155054e-03 -1.23060856e+02] [-1.43204372e-02 3.06806388e-04 -9.99897410e-01 2.88023081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.76762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.86, Y:-123.07, Z:2.88 [[ 9.65009590e-01 -2.61852823e-01 -1.37691763e-02 5.18631177e+01] [-2.61830945e-01 -9.65107763e-01 3.40028946e-03 -1.23067977e+02] [-1.41791143e-02 3.23884507e-04 -9.99899419e-01 2.87907293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.85, Y:-123.07, Z:2.88 [[ 9.82049877e-01 -1.88082503e-01 -1.42481742e-02 5.18547504e+01] [-1.88068126e-01 -9.82153164e-01 2.35429910e-03 -1.23074653e+02] [-1.44366918e-02 3.67588277e-04 -9.99895718e-01 2.87920297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.82762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.85, Y:-123.08, Z:2.88 [[ 9.93455878e-01 -1.13285075e-01 -1.45571245e-02 5.18469782e+01] [-1.13278969e-01 -9.93562440e-01 1.24598953e-03 -1.23083210e+02] [-1.46045642e-02 4.11180436e-04 -9.99893263e-01 2.87885917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.84, Y:-123.09, Z:2.88 [[ 9.99083944e-01 -4.07998987e-02 -1.29089598e-02 5.18394477e+01] [-4.08021290e-02 -9.99167242e-01 9.06530187e-05 -1.23090372e+02] [-1.29019084e-02 4.36143067e-04 -9.99916672e-01 2.87788079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.83, Y:-123.10, Z:2.88 [[ 9.99310288e-01 3.52676390e-02 -1.16250294e-02 5.18332920e+01] [ 3.52603561e-02 -9.99377815e-01 -8.30904757e-04 -1.23097807e+02] [-1.16471005e-02 4.20428996e-04 -9.99932082e-01 2.87616793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.917628 meters Centerline goodness [0,1] 0.9999775855112745 Centerline is valid? [True, True] Translation: X:51.83, Y:-123.11, Z:2.87 [[ 9.93722623e-01 1.11420850e-01 -1.00370261e-02 5.18275927e+01] [ 1.11411235e-01 -9.93773236e-01 -1.51386849e-03 -1.23105672e+02] [-1.01432044e-02 3.86127898e-04 -9.99948482e-01 2.87461261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.82, Y:-123.12, Z:2.87 [[ 9.82082492e-01 1.88282344e-01 -7.98356987e-03 5.18227890e+01] [ 1.88273492e-01 -9.82114891e-01 -1.85308731e-03 -1.23117575e+02] [-8.18968647e-03 3.16790028e-04 -9.99966414e-01 2.87211139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.82, Y:-123.13, Z:2.87 [[ 9.63847332e-01 2.66413060e-01 -4.73319976e-03 5.18199324e+01] [ 2.66408911e-01 -9.63858936e-01 -1.49802620e-03 -1.23133539e+02] [-4.96123063e-03 1.82901962e-04 -9.99987676e-01 2.86979763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.82, Y:-123.15, Z:2.87 [[ 9.39269415e-01 3.43165598e-01 -3.21545767e-03 5.18164759e+01] [ 3.43163146e-01 -9.39274911e-01 -1.30261963e-03 -1.23145382e+02] [-3.46721296e-03 1.20084211e-04 -9.99993982e-01 2.86938568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.81, Y:-123.16, Z:2.87 [[ 9.08299765e-01 4.18314564e-01 -2.11233706e-03 5.18143059e+01] [ 4.18313239e-01 -9.08302218e-01 -1.05538759e-03 -1.23156450e+02] [-2.36012444e-03 7.49897413e-05 -9.99997212e-01 2.86896619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.82, Y:-123.17, Z:2.87 [[ 8.69258890e-01 4.94356067e-01 -1.03058090e-03 5.18170937e+01] [ 4.94355678e-01 -8.69259500e-01 -6.20577027e-04 -1.23173932e+02] [-1.20262826e-03 2.99685784e-05 -9.99999276e-01 2.86827301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.82, Y:-123.19, Z:2.87 [[ 8.25471269e-01 5.64443429e-01 -8.94316764e-04 5.18170635e+01] [ 5.64443068e-01 -8.25471753e-01 -6.39006087e-04 -1.23186456e+02] [-1.09891601e-03 2.26902674e-05 -9.99999396e-01 2.86850222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.82, Y:-123.20, Z:2.87 [[ 7.76037009e-01 6.30686977e-01 -7.06124417e-04 5.18198083e+01] [ 6.30686698e-01 -7.76037330e-01 -5.93375480e-04 -1.23197782e+02] [-9.22213095e-04 1.51380557e-05 -9.99999575e-01 2.86914937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.82, Y:-123.21, Z:2.87 [[ 7.21161452e-01 6.92765871e-01 -1.26781986e-03 5.18230014e+01] [ 6.92764750e-01 -7.21162566e-01 -1.24638069e-03 -1.23209027e+02] [-1.77775423e-03 2.05408014e-05 -9.99998420e-01 2.86998739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.83, Y:-123.22, Z:2.87 [[ 6.58571545e-01 7.52515006e-01 -2.16448130e-03 5.18308854e+01] [ 7.52510889e-01 -6.58575102e-01 -2.48926401e-03 -1.23222587e+02] [-3.29868202e-03 1.05626959e-05 -9.99994559e-01 2.87154476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.83, Y:-123.23, Z:2.87 [[ 5.94959644e-01 8.03752769e-01 -2.12323110e-03 5.18347343e+01] [ 8.03747654e-01 -5.94963432e-01 -2.86748190e-03 -1.23232761e+02] [-3.56799138e-03 -5.06009676e-07 -9.99993635e-01 2.87212282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.84, Y:-123.24, Z:2.87 [[ 5.27851053e-01 8.49334420e-01 -2.07583725e-03 5.18405275e+01] [ 8.49327937e-01 -5.27855135e-01 -3.31861748e-03 -1.23242184e+02] [-3.91435741e-03 -1.13308402e-05 -9.99992339e-01 2.87210204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.85, Y:-123.25, Z:2.87 [[ 4.58099738e-01 8.88898680e-01 -1.94078510e-03 5.18479054e+01] [ 8.88890887e-01 -4.58103849e-01 -3.72227550e-03 -1.23251054e+02] [-4.19780690e-03 -1.99727531e-05 -9.99991189e-01 2.87258704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.85, Y:-123.26, Z:2.87 [[ 3.85654721e-01 9.22640773e-01 -2.10720283e-03 5.18540697e+01] [ 9.22627478e-01 -3.85660476e-01 -4.95322587e-03 -1.23260183e+02] [-5.38271300e-03 -3.39282909e-05 -9.99985513e-01 2.87407193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.86, Y:-123.27, Z:2.87 [[ 3.12476492e-01 9.49924000e-01 -1.68409937e-03 5.18571348e+01] [ 9.49910749e-01 -3.12481028e-01 -5.01758050e-03 -1.23266859e+02] [-5.29256924e-03 -3.18681449e-05 -9.99985994e-01 2.87444006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.86, Y:-123.27, Z:2.87 [[ 2.38896147e-01 9.71044221e-01 -1.32378747e-03 5.18594141e+01] [ 9.71029839e-01 -2.38899813e-01 -5.28499698e-03 -1.23272973e+02] [-5.44821836e-03 -2.28717147e-05 -9.99985158e-01 2.87472121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.86, Y:-123.28, Z:2.88 [[ 1.63272693e-01 9.86580601e-01 -8.63636927e-04 5.18637419e+01] [ 9.86567302e-01 -1.63274976e-01 -5.12259774e-03 -1.23279198e+02] [-5.19486586e-03 -1.56556253e-05 -9.99986506e-01 2.87512946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.42762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.87, Y:-123.29, Z:2.88 [[ 8.65672464e-02 9.96245917e-01 -4.29686126e-04 5.18678942e+01] [ 9.96234178e-01 -8.65683123e-02 -4.83641466e-03 -1.23285809e+02] [-4.85545556e-03 -9.39290511e-06 -9.99988212e-01 2.87519765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.45762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.87, Y:-123.29, Z:2.88 [[ 9.45108103e-03 9.99955336e-01 -4.85422028e-05 5.18715155e+01] [ 9.99943988e-01 -9.45120504e-03 -4.76393034e-03 -1.23291904e+02] [-4.76417635e-03 -3.51519212e-06 -9.99988651e-01 2.87522899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.87, Y:-123.30, Z:2.87 [[-6.64915551e-02 9.97786941e-01 3.06742308e-04 5.18718228e+01] [ 9.97776843e-01 6.64922622e-02 -4.48887045e-03 -1.23299063e+02] [-4.49933231e-03 7.58839443e-06 -9.99989878e-01 2.87451198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.51762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.88, Y:-123.31, Z:2.87 [[-1.43502454e-01 9.89649743e-01 6.57316589e-04 5.18755422e+01] [ 9.89639742e-01 1.43503959e-01 -4.44922015e-03 -1.23305496e+02] [-4.49749711e-03 1.20326103e-05 -9.99989886e-01 2.87435004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.88, Y:-123.31, Z:2.87 [[-2.19603955e-01 9.75588578e-01 1.01421396e-03 5.18807051e+01] [ 9.75578523e-01 2.19606296e-01 -4.42944115e-03 -1.23311802e+02] [-4.54403997e-03 1.67225599e-05 -9.99989676e-01 2.87471452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.57762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.89, Y:-123.32, Z:2.88 [[-2.94067709e-01 9.55783548e-01 1.41122109e-03 5.18871750e+01] [ 9.55772925e-01 2.94071094e-01 -4.50630019e-03 -1.23318248e+02] [-4.72204691e-03 2.36495331e-05 -9.99988851e-01 2.87528821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.90, Y:-123.33, Z:2.88 [[-3.67633093e-01 9.29969040e-01 1.86887928e-03 5.18953248e+01] [ 9.29957400e-01 3.67637842e-01 -4.65310903e-03 -1.23325077e+02] [-5.01431809e-03 2.73412490e-05 -9.99987428e-01 2.87568953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.91, Y:-123.33, Z:2.88 [[-4.41367977e-01 8.97324195e-01 1.89656388e-03 5.19072394e+01] [ 8.97316045e-01 4.41372052e-01 -3.82449569e-03 -1.23328624e+02] [-4.26890281e-03 1.38072750e-05 -9.99990888e-01 2.87515002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.92, Y:-123.33, Z:2.88 [[-5.11262231e-01 8.59421320e-01 2.43453418e-03 5.19186484e+01] [ 8.59411669e-01 5.11268027e-01 -4.07279880e-03 -1.23331431e+02] [-4.74494960e-03 9.99888593e-06 -9.99988743e-01 2.87535043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.93, Y:-123.33, Z:2.88 [[-5.77485296e-01 8.16395180e-01 3.10535417e-03 5.19311607e+01] [ 8.16383450e-01 5.77493645e-01 -4.37636361e-03 -1.23332063e+02] [-5.36616445e-03 7.87411460e-06 -9.99985602e-01 2.87597243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.94, Y:-123.33, Z:2.88 [[-6.38662374e-01 7.69472831e-01 4.68348313e-03 5.19435489e+01] [ 7.69452371e-01 6.38679546e-01 -5.61129612e-03 -1.23331028e+02] [-7.30898479e-03 1.99935001e-05 -9.99973289e-01 2.87816715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.95, Y:-123.33, Z:2.88 [[-6.95568422e-01 7.18440332e-01 5.29714851e-03 5.19544430e+01] [ 7.18419886e-01 6.95588592e-01 -5.42027017e-03 -1.23330413e+02] [-7.57877677e-03 3.54080538e-05 -9.99971280e-01 2.87867409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.97, Y:-123.33, Z:2.88 [[-7.48089351e-01 6.63575389e-01 5.47960084e-03 5.19654599e+01] [ 6.63558095e-01 7.48109418e-01 -4.79105015e-03 -1.23331060e+02] [-7.27856396e-03 5.18998924e-05 -9.99973510e-01 2.87875488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.99, Y:-123.32, Z:2.88 [[-7.91207572e-01 6.11523619e-01 5.42595473e-03 5.19882628e+01] [ 6.11509844e-01 7.91226174e-01 -4.10516714e-03 -1.23315198e+02] [-6.80356407e-03 6.99853963e-05 -9.99976853e-01 2.87800634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.84762800000001 meters Centerline goodness [0,1] 0.9997973109925005 Centerline is valid? [True, True] Translation: X:52.01, Y:-123.30, Z:2.88 [[-8.30019934e-01 5.57701251e-01 6.01864889e-03 5.20136636e+01] [ 5.57687507e-01 8.30041748e-01 -3.91675944e-03 -1.23300804e+02] [-7.18011149e-03 1.05536879e-04 -9.99974217e-01 2.88049217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.87762800000002 meters Centerline goodness [0,1] 0.9998647856853112 Centerline is valid? [True, True] Translation: X:52.03, Y:-123.28, Z:2.88 [[-8.63332385e-01 5.04612823e-01 4.80541283e-03 5.20293725e+01] [ 5.04605812e-01 8.63345749e-01 -2.66307741e-03 -1.23284106e+02] [-5.49255575e-03 1.25718267e-04 -9.99984908e-01 2.87959687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.05, Y:-123.27, Z:2.88 [[-8.95110236e-01 4.45828056e-01 3.87416373e-03 5.20461733e+01] [ 4.45824433e-01 8.95118613e-01 -1.80091980e-03 -1.23267299e+02] [-4.27073664e-03 1.15175102e-04 -9.99990874e-01 2.87691850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.08, Y:-123.25, Z:2.88 [[-9.23095495e-01 3.84555619e-01 3.41812544e-03 5.20753137e+01] [ 3.84553424e-01 9.23101817e-01 -1.30404705e-03 -1.23247716e+02] [-3.65675643e-03 1.10691888e-04 -9.99993308e-01 2.87562564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.09, Y:-123.22, Z:2.87 [[-9.46320911e-01 3.23219089e-01 2.48088707e-03 5.20930277e+01] [ 3.23218232e-01 9.46324158e-01 -7.49674847e-04 -1.23223129e+02] [-2.59003258e-03 9.24349478e-05 -9.99996642e-01 2.87493018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.10, Y:-123.20, Z:2.87 [[-9.66450477e-01 2.56844570e-01 2.08398725e-03 5.21049782e+01] [ 2.56844150e-01 9.66452720e-01 -4.71331639e-04 -1.23198034e+02] [-2.13513412e-03 7.97412470e-05 -9.99997717e-01 2.87483345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.31, Y:-122.36, Z:1.98 [[-9.68338645e-01 -2.49637390e-01 1.20129619e-03 5.23075997e+01] [ 2.49637066e-01 -9.68339384e-01 -4.15010415e-04 -1.22360156e+02] [ 1.26686453e-03 -1.01982568e-04 9.99999192e-01 1.98195360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.05, Y:-123.19, Z:2.87 [[-9.67345302e-01 2.53459234e-01 1.21775299e-03 5.20548349e+01] [ 2.53459095e-01 9.67346068e-01 -2.69584641e-04 -1.23187546e+02] [-1.24631728e-03 4.78691341e-05 -9.99999222e-01 2.87461098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.25, Y:-122.35, Z:1.98 [[-9.69060933e-01 -2.46821610e-01 3.66720077e-06 5.22467839e+01] [ 2.46821609e-01 -9.69060930e-01 -8.39734091e-05 -1.22349193e+02] [ 2.42801929e-05 -8.04702058e-05 9.99999996e-01 1.98251537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.00, Y:-123.17, Z:2.87 [[-9.69189390e-01 2.46315442e-01 -7.93663090e-04 5.20013942e+01] [ 2.46315382e-01 9.69189714e-01 1.73987787e-04 -1.23170536e+02] [ 8.12065982e-04 -2.68643104e-05 -9.99999670e-01 2.87379465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.19, Y:-122.34, Z:1.98 [[-9.68918625e-01 -2.47378337e-01 -8.09708982e-04 5.21901506e+01] [ 2.47378228e-01 -9.68918963e-01 2.33471793e-04 -1.22342463e+02] [-8.42298251e-04 2.59107953e-05 9.99999645e-01 1.98288880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.17762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.94, Y:-123.15, Z:2.87 [[-9.71656643e-01 2.36393879e-01 -1.14065350e-03 5.19440927e+01] [ 2.36393755e-01 9.71657312e-01 2.44753352e-04 -1.23154218e+02] [ 1.16618251e-03 -3.18271430e-05 -9.99999320e-01 2.87398599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.20762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.96, Y:-123.12, Z:2.87 [[-9.86574356e-01 1.63311299e-01 -6.77446427e-04 5.19563828e+01] [ 1.63311271e-01 9.86574589e-01 9.62274615e-05 -1.23123744e+02] [ 6.84066462e-04 -1.56990912e-05 -9.99999766e-01 2.87460349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.96, Y:-123.09, Z:2.88 [[-9.96396930e-01 8.48120440e-02 2.72768147e-04 5.19580735e+01] [ 8.48120424e-02 9.96396968e-01 -1.74796023e-05 -1.23087828e+02] [-2.73267835e-04 5.71740149e-06 -9.99999963e-01 2.87622990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.26762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.02, Y:-122.27, Z:1.98 [[-9.92470763e-01 -1.22479747e-01 7.03859143e-04 5.20174046e+01] [ 1.22479728e-01 -9.92471013e-01 -6.99110535e-05 -1.22274165e+02] [ 7.07122484e-04 1.68237998e-05 9.99999750e-01 1.97980126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.29762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.88, Y:-123.08, Z:2.88 [[-9.97326114e-01 7.30702648e-02 1.16575126e-03 5.18803834e+01] [ 7.30702296e-02 9.97326795e-01 -7.27859379e-05 -1.23078473e+02] [-1.16795346e-03 1.25903960e-05 -9.99999318e-01 2.87744651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.32762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.88, Y:-123.05, Z:2.88 [[-9.99994538e-01 -2.58556633e-03 2.05873737e-03 5.18793985e+01] [-2.58553635e-03 9.99996657e-01 1.72236663e-05 -1.23047744e+02] [-2.05877502e-03 1.19006319e-05 -9.99997881e-01 2.87783126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.88, Y:-123.02, Z:2.88 [[-9.97167372e-01 -7.51816612e-02 2.22486492e-03 5.18785590e+01] [-7.51814523e-02 9.97169854e-01 1.77472905e-04 -1.23020112e+02] [-2.23191094e-03 9.70161419e-06 -9.99997509e-01 2.87811708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.82, Y:-122.22, Z:1.98 [[-9.99890895e-01 1.45750338e-02 2.40139507e-03 5.18162027e+01] [-1.45749890e-02 -9.99893779e-01 3.61352494e-05 -1.22217991e+02] [ 2.40166666e-03 1.13100012e-06 9.99997116e-01 1.97833915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.77, Y:-123.03, Z:2.88 [[-9.96534713e-01 -8.31525936e-02 2.05232388e-03 5.17692652e+01] [-8.31524049e-02 9.96536826e-01 1.77253101e-04 -1.23027679e+02] [-2.05995538e-03 5.98320191e-06 -9.99997878e-01 2.87932330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.71, Y:-122.22, Z:1.98 [[-9.99768798e-01 2.13774581e-02 2.31405019e-03 5.17091577e+01] [-2.13773772e-02 -9.99771476e-01 5.96978513e-05 -1.22223426e+02] [ 2.31479756e-03 1.02157254e-05 9.99997321e-01 1.97702556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.67, Y:-123.04, Z:2.88 [[-9.96136539e-01 -8.77870755e-02 2.32932763e-03 5.16671754e+01] [-8.77868089e-02 9.96139262e-01 2.16678715e-04 -1.23039658e+02] [-2.33935630e-03 1.13573462e-05 -9.99997264e-01 2.87930824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.66, Y:-123.02, Z:2.88 [[-9.87649273e-01 -1.56669733e-01 1.87316110e-03 5.16596560e+01] [-1.56669426e-01 9.87651049e-01 3.10695213e-04 -1.23015555e+02] [-1.89870606e-03 1.33908281e-05 -9.99998197e-01 2.87855511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.64, Y:-123.00, Z:2.88 [[-9.74808409e-01 -2.23041535e-01 1.01925102e-03 5.16374841e+01] [-2.23041400e-01 9.74808942e-01 2.46130745e-04 -1.22997777e+02] [-1.04847239e-03 1.25951460e-05 -9.99999450e-01 2.87808316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.58, Y:-122.99, Z:2.88 [[-9.56555814e-01 -2.91547081e-01 1.12852629e-03 5.15849932e+01] [-2.91546857e-01 9.56556480e-01 3.61908709e-04 -1.22986683e+02] [-1.18501256e-03 1.71675880e-05 -9.99999298e-01 2.87823545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.53, Y:-122.98, Z:2.88 [[-9.33309530e-01 -3.59071876e-01 8.42145199e-04 5.15253246e+01] [-3.59071715e-01 9.33309910e-01 3.40900319e-04 -1.22981993e+02] [-9.08390177e-04 1.57749956e-05 -9.99999587e-01 2.87824739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.45, Y:-122.99, Z:2.88 [[-9.04843677e-01 -4.25743426e-01 6.75650394e-04 5.14537671e+01] [-4.25743294e-01 9.04843929e-01 3.34402919e-04 -1.22987091e+02] [-7.53728001e-04 1.49287416e-05 -9.99999716e-01 2.87789809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.37, Y:-123.00, Z:2.88 [[-8.72168769e-01 -4.89203911e-01 1.08263936e-03 5.13730823e+01] [-4.89203492e-01 8.72169440e-01 6.40615996e-04 -1.23004445e+02] [-1.25763681e-03 2.90943094e-05 -9.99999209e-01 2.87848405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.29, Y:-123.03, Z:2.88 [[-8.32895563e-01 -5.53429217e-01 1.04090477e-03 5.12878766e+01] [-5.53428740e-01 8.32896213e-01 7.27450072e-04 -1.23026131e+02] [-1.26955777e-03 2.98233201e-05 -9.99999194e-01 2.87851342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.19, Y:-123.06, Z:2.88 [[-7.88384643e-01 -6.15181206e-01 1.31823808e-03 5.11927462e+01] [-6.15180262e-01 7.88385744e-01 1.07838268e-03 -1.23062022e+02] [-1.70268087e-03 3.92262910e-05 -9.99998550e-01 2.87920356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.10, Y:-123.10, Z:2.88 [[-7.38959913e-01 -6.73742333e-01 3.08458705e-03 5.11033332e+01] [-6.73735918e-01 7.38966345e-01 2.94167833e-03 -1.23103672e+02] [-4.26133924e-03 9.55852709e-05 -9.99990916e-01 2.88060262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.01, Y:-123.16, Z:2.88 [[-6.85436845e-01 -7.28123173e-01 3.60221510e-03 5.10111487e+01] [-7.28112172e-01 6.85446300e-01 4.00429661e-03 -1.23157897e+02] [-5.38474616e-03 1.21875774e-04 -9.99985495e-01 2.88176147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.92, Y:-123.22, Z:2.88 [[-6.27388931e-01 -7.78697314e-01 3.69089249e-03 5.09171535e+01] [-7.78682556e-01 6.27399773e-01 4.79595765e-03 -1.23219824e+02] [-6.05026445e-03 1.34897145e-04 -9.99981688e-01 2.88191669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.83, Y:-123.29, Z:2.88 [[-5.64971354e-01 -8.25099374e-01 4.28856837e-03 5.08298185e+01] [-8.25073317e-01 5.64987606e-01 6.55951133e-03 -1.23291522e+02] [-7.83523667e-03 1.67552672e-04 -9.99969290e-01 2.88310941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.75, Y:-123.37, Z:2.88 [[-4.99374662e-01 -8.66376053e-01 4.18103117e-03 5.07477257e+01] [-8.66342575e-01 4.99392132e-01 7.61848820e-03 -1.23371694e+02] [-8.68844980e-03 1.82274665e-04 -9.99962238e-01 2.88417361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.89762800000003 meters Centerline goodness [0,1] 0.9998657928288635 Centerline is valid? [True, True] Translation: X:50.67, Y:-123.46, Z:2.89 [[-4.30982170e-01 -9.02350269e-01 4.28500057e-03 5.06687223e+01] [-9.02300568e-01 4.31003417e-01 9.47313599e-03 -1.23464419e+02] [-1.03949367e-02 2.16394264e-04 -9.99945948e-01 2.88688163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.60, Y:-123.56, Z:2.89 [[-3.59152625e-01 -9.33273286e-01 3.21943651e-03 5.06024416e+01] [-9.33230959e-01 3.59167005e-01 8.89044743e-03 -1.23560926e+02] [-9.45353246e-03 1.88549711e-04 -9.99955297e-01 2.88712880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.95762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.53, Y:-123.66, Z:2.88 [[-2.84444820e-01 -9.58689576e-01 2.33263481e-03 5.05329486e+01] [-9.58652547e-01 2.84454338e-01 8.42749384e-03 -1.23664271e+02] [-8.74287859e-03 1.60970664e-04 -9.99961767e-01 2.88353269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.48, Y:-123.77, Z:2.88 [[-2.08212918e-01 -9.78082373e-01 1.50086237e-03 5.04771428e+01] [-9.78052120e-01 2.08218284e-01 7.69393429e-03 -1.23772071e+02] [-7.83780849e-03 1.34054880e-04 -9.99969275e-01 2.88230482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.01762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.43, Y:-123.89, Z:2.88 [[-1.30137142e-01 -9.91495695e-01 7.81148443e-04 5.04308762e+01] [-9.91472695e-01 1.30139445e-01 6.75426793e-03 -1.23889311e+02] [-6.79848580e-03 1.04493773e-04 -9.99976885e-01 2.88136095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.39, Y:-124.00, Z:2.88 [[-5.07932205e-02 -9.98709170e-01 2.05831581e-04 5.03920271e+01] [-9.98694195e-01 5.07935861e-02 5.46956470e-03 -1.24002446e+02] [-5.47295934e-03 7.22540005e-05 -9.99985021e-01 2.88040948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.07762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.36, Y:-124.12, Z:2.88 [[ 3.15545368e-02 -9.99502019e-01 -1.60861750e-04 5.03619110e+01] [-9.99493928e-01 -3.15549287e-02 4.02183942e-03 -1.24124859e+02] [-4.02491260e-03 3.38730623e-05 -9.99991899e-01 2.87927052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.34, Y:-124.25, Z:2.88 [[ 1.11292081e-01 -9.93787620e-01 -4.89150313e-04 5.03420815e+01] [-9.93778970e-01 -1.11293153e-01 4.14635409e-03 -1.24250129e+02] [-4.17503444e-03 2.46509211e-05 -9.99991284e-01 2.87945212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.33, Y:-124.37, Z:2.88 [[ 1.89989738e-01 -9.81785861e-01 -6.49564226e-04 5.03317933e+01] [-9.81780354e-01 -1.89990848e-01 3.28838513e-03 -1.24372774e+02] [-3.35190129e-03 1.29699656e-05 -9.99994382e-01 2.87970959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.33, Y:-124.50, Z:2.88 [[ 2.68985370e-01 -9.63144033e-01 -6.65454966e-04 5.03315994e+01] [-9.63141091e-01 -2.68986193e-01 2.38066294e-03 -1.24496762e+02] [-2.47191950e-03 5.63520502e-07 -9.99996945e-01 2.87956514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.34, Y:-124.62, Z:2.88 [[ 3.44145836e-01 -9.38915760e-01 -9.16545783e-04 5.03415448e+01] [-9.38912402e-01 -3.44147056e-01 2.51098244e-03 -1.24618482e+02] [-2.67302752e-03 -3.58794848e-06 -9.99996427e-01 2.87948377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.36, Y:-124.74, Z:2.88 [[ 4.16997816e-01 -9.08906723e-01 -1.17919947e-03 5.03609816e+01] [-9.08903035e-01 -4.16999483e-01 2.58930628e-03 -1.24739078e+02] [-2.84516346e-03 -7.95708640e-06 -9.99995952e-01 2.87966963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.39, Y:-124.86, Z:2.88 [[ 4.86672957e-01 -8.73582376e-01 -1.80687750e-03 5.03901502e+01] [-8.73576250e-01 -4.86676311e-01 3.27179313e-03 -1.24857913e+02] [-3.73754529e-03 -1.38479685e-05 -9.99993015e-01 2.88022563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.43, Y:-124.97, Z:2.88 [[ 5.53568167e-01 -8.32797811e-01 -3.17641278e-03 5.04250211e+01] [-8.32783801e-01 -5.53577280e-01 4.83075854e-03 -1.24966787e+02] [-5.78143509e-03 -2.88890456e-05 -9.99983287e-01 2.88223261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.47, Y:-125.07, Z:2.88 [[ 6.16375193e-01 -7.87441596e-01 -4.16574354e-03 5.04673247e+01] [-7.87423204e-01 -6.16389269e-01 5.38206253e-03 -1.25072160e+02] [-6.80577953e-03 -3.71667035e-05 -9.99976840e-01 2.88285300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.52, Y:-125.18, Z:2.88 [[ 6.75265914e-01 -7.37557714e-01 -4.95629088e-03 5.05218649e+01] [-7.37537385e-01 -6.75284101e-01 5.47619148e-03 -1.25178929e+02] [-7.38591170e-03 -4.24356308e-05 -9.99972723e-01 2.88333285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.58, Y:-125.27, Z:2.88 [[ 7.29720838e-01 -6.83723772e-01 -5.41321919e-03 5.05750205e+01] [-6.83704536e-01 -7.29740915e-01 5.12891411e-03 -1.25269410e+02] [-7.45700802e-03 -4.16329862e-05 -9.99972195e-01 2.88430024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.57, Y:-125.27, Z:2.88 [[ 7.80329539e-01 -6.25339461e-01 -6.03064346e-03 5.05710947e+01] [-6.25320426e-01 -7.80352841e-01 4.87932007e-03 -1.25273716e+02] [-7.75726114e-03 -3.63930420e-05 -9.99969911e-01 2.88493778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.57, Y:-125.28, Z:2.88 [[ 8.26357522e-01 -5.63107415e-01 -6.57910652e-03 5.05663570e+01] [-5.63089262e-01 -8.26383711e-01 4.52161680e-03 -1.25281591e+02] [-7.98302241e-03 -3.18478162e-05 -9.99968135e-01 2.88385604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.56, Y:-125.29, Z:2.88 [[ 8.67838963e-01 -4.96810857e-01 -5.87423288e-03 5.05584974e+01] [-4.96799269e-01 -8.67858843e-01 3.39336763e-03 -1.25290484e+02] [-6.78386683e-03 -2.65820447e-05 -9.99976989e-01 2.88370223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.55, Y:-125.30, Z:2.88 [[ 9.04194888e-01 -4.27079526e-01 -5.88921486e-03 5.05515415e+01] [-4.27070267e-01 -9.04214066e-01 2.81244865e-03 -1.25297204e+02] [-6.52625015e-03 -2.78931303e-05 -9.99978703e-01 2.88412741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.55, Y:-125.31, Z:2.88 [[ 9.35007856e-01 -3.54580103e-01 -5.76714085e-03 5.05458822e+01] [-3.54573161e-01 -9.35025641e-01 2.21894820e-03 -1.25305469e+02] [-6.17921945e-03 -2.98606366e-05 -9.99980908e-01 2.88365473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.54, Y:-125.31, Z:2.88 [[ 9.59884393e-01 -2.80331591e-01 -6.01261061e-03 5.05405488e+01] [-2.80325890e-01 -9.59903223e-01 1.78801808e-03 -1.25313471e+02] [-6.27276225e-03 -3.08002246e-05 -9.99980326e-01 2.88407294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.54, Y:-125.32, Z:2.88 [[ 9.78868911e-01 -2.04396123e-01 -6.15475342e-03 5.05371073e+01] [-2.04391881e-01 -9.78888259e-01 1.31713303e-03 -1.25320762e+02] [-6.29403274e-03 -3.13189407e-05 -9.99980192e-01 2.88445695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.53, Y:-125.33, Z:2.89 [[ 9.91705729e-01 -1.28353000e-01 -6.72713311e-03 5.05306043e+01] [-1.28349871e-01 -9.91728545e-01 8.96523406e-04 -1.25329621e+02] [-6.78656140e-03 -2.56607292e-05 -9.99976971e-01 2.88583888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.53, Y:-125.34, Z:2.89 [[ 9.98672397e-01 -5.09850652e-02 -7.34614114e-03 5.05253672e+01] [-5.09835171e-02 -9.98699416e-01 3.97974312e-04 -1.25337749e+02] [-7.35687761e-03 -2.29138470e-05 -9.99972938e-01 2.88677959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.52, Y:-125.35, Z:2.89 [[ 9.99609328e-01 2.67105655e-02 -8.23026075e-03 5.05206300e+01] [ 2.67098266e-02 -9.99643209e-01 -1.99693424e-04 -1.25345409e+02] [-8.23265819e-03 -2.02134282e-05 -9.99966111e-01 2.88727892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.70762800000003 meters Centerline goodness [0,1] 0.9998882656595678 Centerline is valid? [True, True] Translation: X:50.51, Y:-125.35, Z:2.89 [[ 9.94603621e-01 1.03282446e-01 -9.81704421e-03 5.05149275e+01] [ 1.03277505e-01 -9.94652068e-01 -1.01037571e-03 -1.25352738e+02] [-9.86889740e-03 -8.95648842e-06 -9.99951301e-01 2.89070506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.73762800000003 meters Centerline goodness [0,1] 0.9998882656595678 Centerline is valid? [True, True] Translation: X:50.51, Y:-125.36, Z:2.89 [[ 9.83727851e-01 1.79340811e-01 -1.07883206e-02 5.05107252e+01] [ 1.79329956e-01 -9.83787006e-01 -1.97318158e-03 -1.25362913e+02] [-1.09672816e-02 6.40462542e-06 -9.99939858e-01 2.89206047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.76762800000003 meters Centerline goodness [0,1] 0.9998882656595678 Centerline is valid? [True, True] Translation: X:50.51, Y:-125.37, Z:2.89 [[ 9.66663342e-01 2.55831211e-01 -1.06007028e-02 5.05072504e+01] [ 2.55815757e-01 -9.66721465e-01 -2.81197087e-03 -1.25373498e+02] [-1.09673169e-02 6.40234112e-06 -9.99939857e-01 2.89206079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.50, Y:-125.38, Z:2.89 [[ 9.44095835e-01 3.29506833e-01 -1.04068175e-02 5.05040161e+01] [ 3.29486571e-01 -9.44153190e-01 -3.65412833e-03 -1.25383388e+02] [-1.10296902e-02 2.09406999e-05 -9.99939171e-01 2.89126831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.82762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.50, Y:-125.39, Z:2.89 [[ 9.15823612e-01 4.01480988e-01 -8.95146919e-03 5.05018302e+01] [ 4.01461505e-01 -9.15867357e-01 -3.95528221e-03 -1.25392535e+02] [-9.78632904e-03 2.86705355e-05 -9.99952112e-01 2.89042678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.50, Y:-125.40, Z:2.89 [[ 8.82055818e-01 4.71085171e-01 -7.50305916e-03 5.05001367e+01] [ 4.71067808e-01 -8.82087728e-01 -4.04468186e-03 -1.25401015e+02] [-8.52374606e-03 3.31855272e-05 -9.99963672e-01 2.88874650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.50, Y:-125.41, Z:2.89 [[ 8.43024139e-01 5.37841862e-01 -6.03584308e-03 5.04988395e+01] [ 5.37827778e-01 -8.43045746e-01 -3.89244916e-03 -1.25408649e+02] [-7.18201394e-03 3.51845349e-05 -9.99974208e-01 2.88703984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.917628 meters Centerline goodness [0,1] 0.9998210691120555 Centerline is valid? [True, True] Translation: X:50.50, Y:-125.42, Z:2.89 [[ 7.99944554e-01 6.00059527e-01 -4.15629074e-03 5.04987122e+01] [ 6.00051168e-01 -7.99955351e-01 -3.16746865e-03 -1.25418459e+02] [-5.22551675e-03 3.98121803e-05 -9.99986346e-01 2.88811834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.50, Y:-125.43, Z:2.89 [[ 7.50569994e-01 6.60784745e-01 -2.86455163e-03 5.04997002e+01] [ 6.60779780e-01 -7.50575459e-01 -2.56171795e-03 -1.25429264e+02] [-3.84280630e-03 2.99108305e-05 -9.99992616e-01 2.88580640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.50, Y:-125.44, Z:2.89 [[ 6.96515233e-01 7.17537094e-01 -2.65515643e-03 5.05016687e+01] [ 7.17531716e-01 -6.96520293e-01 -2.77821255e-03 -1.25440709e+02] [-3.84284089e-03 2.99084134e-05 -9.99992616e-01 2.88580671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.50, Y:-125.45, Z:2.89 [[ 6.38465766e-01 7.69647977e-01 -1.85940249e-03 5.05041117e+01] [ 7.69644603e-01 -6.38468473e-01 -2.27913888e-03 -1.25451394e+02] [-2.94130450e-03 2.40730626e-05 -9.99995674e-01 2.88593401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.50, Y:-125.46, Z:2.89 [[ 5.76566739e-01 8.17049833e-01 -6.04404594e-04 5.05047952e+01] [ 8.17049366e-01 -5.76567056e-01 -8.73326435e-04 -1.25461651e+02] [-1.06203099e-03 9.70258441e-06 -9.99999436e-01 2.88586536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.51, Y:-125.47, Z:2.88 [[ 5.10875718e-01 8.59654571e-01 -1.40634786e-04 5.05085706e+01] [ 8.59654537e-01 -5.10875737e-01 -2.42974639e-04 -1.25471317e+02] [-2.80721158e-04 3.23251105e-06 -9.99999961e-01 2.88483071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.51, Y:-125.48, Z:2.88 [[ 4.41965535e-01 8.97032018e-01 1.56177919e-04 5.05114239e+01] [ 8.97031960e-01 -4.41965563e-01 3.21806078e-04 -1.25481535e+02] [ 3.57695618e-04 -2.13061095e-06 -9.99999936e-01 2.88411576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.52, Y:-125.49, Z:2.88 [[ 3.70072803e-01 9.29002744e-01 1.50194801e-04 5.05169245e+01] [ 9.29002665e-01 -3.70072833e-01 3.83645965e-04 -1.25491223e+02] [ 4.11991170e-04 -2.44556746e-06 -9.99999915e-01 2.88405012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.53, Y:-125.50, Z:2.89 [[ 2.94135198e-01 9.55763800e-01 -2.11139150e-04 5.05257806e+01] [ 9.55763541e-01 -2.94135274e-01 -7.03781803e-04 -1.25501454e+02] [-7.34752641e-04 5.20789885e-06 -9.99999730e-01 2.88560981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.53, Y:-125.51, Z:2.89 [[ 2.16889408e-01 9.76196140e-01 -2.83732534e-04 5.05337221e+01] [ 9.76195264e-01 -2.16889594e-01 -1.30806062e-03 -1.25511224e+02] [-1.33846236e-03 6.72613701e-06 -9.99999104e-01 2.88645588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.54, Y:-125.52, Z:2.89 [[ 1.38182587e-01 9.90406717e-01 -3.29213344e-04 5.05420052e+01] [ 9.90403771e-01 -1.38182979e-01 -2.41553509e-03 -1.25520467e+02] [-2.43785385e-03 7.73074999e-06 -9.99997028e-01 2.88770591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.55, Y:-125.53, Z:2.89 [[ 5.74746982e-02 9.98346917e-01 -3.02909169e-04 5.05541414e+01] [ 9.98332920e-01 -5.74754964e-02 -5.28662367e-03 -1.25528220e+02] [-5.29529430e-03 1.44290477e-06 -9.99985980e-01 2.89063593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.56, Y:-125.53, Z:2.89 [[-2.15051131e-02 9.99768730e-01 1.31456879e-04 5.05635959e+01] [ 9.99749399e-01 2.15055148e-02 -6.21701562e-03 -1.25534895e+02] [-6.21840486e-03 -2.27368838e-06 -9.99980666e-01 2.89169010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.58, Y:-125.54, Z:2.89 [[-1.00071025e-01 9.94980084e-01 6.50156013e-04 5.05758857e+01] [ 9.94958789e-01 1.00073137e-01 -6.50969616e-03 -1.25540133e+02] [-6.54208118e-03 -4.55352977e-06 -9.99978600e-01 2.89270251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.59, Y:-125.55, Z:2.89 [[-1.77321363e-01 9.84152183e-01 1.27067038e-03 5.05868378e+01] [ 9.84126828e-01 1.77325916e-01 -7.06440785e-03 -1.25545120e+02] [-7.17777520e-03 -2.16961667e-06 -9.99974239e-01 2.89319770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.59, Y:-125.55, Z:2.89 [[-2.51690286e-01 9.67806570e-01 1.56318332e-03 5.05943788e+01] [ 9.67788204e-01 2.51695140e-01 -5.96220187e-03 -1.25549310e+02] [-6.16370378e-03 1.22020858e-05 -9.99981004e-01 2.89194519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.60, Y:-125.55, Z:2.89 [[-3.25331054e-01 9.45598684e-01 1.68366257e-03 5.06027127e+01] [ 9.45586304e-01 3.25335411e-01 -4.83858037e-03 -1.25553061e+02] [-5.12311029e-03 1.79078147e-05 -9.99986877e-01 2.89096558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.42762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.61, Y:-125.56, Z:2.89 [[-3.97034094e-01 9.17802346e-01 1.66770809e-03 5.06120291e+01] [ 9.17794468e-01 3.97037596e-01 -3.80291064e-03 -1.25555951e+02] [-4.15246312e-03 2.07280820e-05 -9.99991378e-01 2.89046996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.45762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.62, Y:-125.56, Z:2.89 [[-4.66204153e-01 8.84675657e-01 1.63407077e-03 5.06218400e+01] [ 8.84670398e-01 4.66207016e-01 -3.05056346e-03 -1.25557952e+02] [-3.46057449e-03 2.34286848e-05 -9.99994012e-01 2.88991045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.63, Y:-125.56, Z:2.89 [[-5.32331472e-01 8.46534528e-01 1.57985185e-03 5.06300604e+01] [ 8.46530944e-01 5.32333816e-01 -2.46348923e-03 -1.25561408e+02] [-2.92643726e-03 2.60006240e-05 -9.99995718e-01 2.88935966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.51762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.64, Y:-125.56, Z:2.89 [[-5.96504807e-01 8.02607917e-01 1.59576219e-03 5.06401131e+01] [ 8.02605157e-01 5.96506941e-01 -2.10499768e-03 -1.25562621e+02] [-2.64137103e-03 2.51257224e-05 -9.99996511e-01 2.88948238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.65, Y:-125.56, Z:2.89 [[-6.57575028e-01 7.53384030e-01 2.75412415e-03 5.06504467e+01] [ 7.53377668e-01 6.57580795e-01 -3.09627864e-03 -1.25562397e+02] [-4.14374603e-03 3.88601106e-05 -9.99991414e-01 2.89114529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.57762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.66, Y:-125.56, Z:2.89 [[-7.15139544e-01 6.98970897e-01 3.88808929e-03 5.06619673e+01] [ 6.98960913e-01 7.15150112e-01 -3.73621928e-03 -1.25559981e+02] [-5.39207603e-03 4.57042797e-05 -9.99985462e-01 2.89162098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.607628 meters Centerline goodness [0,1] 0.9999777188565317 Centerline is valid? [True, True] Translation: X:50.68, Y:-125.54, Z:2.89 [[-7.63582785e-01 6.45686845e-01 5.46161953e-03 5.06841758e+01] [ 6.45670805e-01 7.63602315e-01 -4.55142424e-03 -1.25543288e+02] [-7.10930008e-03 5.10190828e-05 -9.99974727e-01 2.89321997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.71, Y:-125.52, Z:2.89 [[-8.08300468e-01 5.88734689e-01 6.46681219e-03 5.07050472e+01] [ 5.88716281e-01 8.08326335e-01 -4.65581971e-03 -1.25523059e+02] [-7.96833717e-03 4.38163677e-05 -9.99968251e-01 2.89364727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.72, Y:-125.50, Z:2.90 [[-8.49753204e-01 5.27116004e-01 8.25898438e-03 5.07241818e+01] [ 5.27091333e-01 8.49793339e-01 -5.09982162e-03 -1.25498783e+02] [-9.70662750e-03 1.96493270e-05 -9.99952889e-01 2.89505571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.74, Y:-125.48, Z:2.90 [[-8.85555827e-01 4.64440460e-01 9.27018294e-03 5.07436659e+01] [ 4.64415094e-01 8.85604347e-01 -4.85406456e-03 -1.25476229e+02] [-1.04641383e-02 6.66772249e-06 -9.99945249e-01 2.89509691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.727628 meters Centerline goodness [0,1] 0.999844437530557 Centerline is valid? [True, True] Translation: X:50.76, Y:-125.45, Z:2.90 [[-9.16534806e-01 3.99816017e-01 1.05405000e-02 5.07596438e+01] [ 3.99789549e-01 9.16595414e-01 -4.60042738e-03 -1.25451676e+02] [-1.15006985e-02 -2.47007106e-06 -9.99933865e-01 2.89758164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.77, Y:-125.43, Z:2.90 [[-9.42989788e-01 3.32663586e-01 1.02565826e-02 5.07719158e+01] [ 3.32643727e-01 9.43045565e-01 -3.63492494e-03 -1.25425523e+02] [-1.08816319e-02 -1.59092378e-05 -9.99940793e-01 2.89547982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.05, Y:-124.68, Z:1.96 [[-9.17244277e-01 -3.98184655e-01 1.05791011e-02 5.10496173e+01] [ 3.98158874e-01 -9.17305280e-01 -4.53144723e-03 -1.24679432e+02] [ 1.15086180e-02 5.57189277e-05 9.99933772e-01 1.96144721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.73, Y:-125.41, Z:2.89 [[-9.44111729e-01 3.29454821e-01 1.06096124e-02 5.07306578e+01] [ 3.29433865e-01 9.44171341e-01 -3.71589433e-03 -1.25413490e+02] [-1.12415112e-02 -1.30538088e-05 -9.99936812e-01 2.89481969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.74, Y:-125.39, Z:2.89 [[-9.64903965e-01 2.62388951e-01 1.06008202e-02 5.07432497e+01] [ 2.62373056e-01 9.64962195e-01 -2.88804177e-03 -1.25389917e+02] [-1.09871810e-02 -5.31335515e-06 -9.99939639e-01 2.89424616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.95, Y:-124.61, Z:1.96 [[-9.44849601e-01 -3.27347576e-01 1.01388663e-02 5.09517211e+01] [ 3.27328612e-01 -9.44903997e-01 -3.52358465e-03 -1.24614810e+02] [ 1.07336922e-02 -1.05165004e-05 9.99942392e-01 1.96300937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.69, Y:-125.38, Z:2.89 [[-9.65784001e-01 2.59137963e-01 1.04297546e-02 5.06913381e+01] [ 2.59122863e-01 9.65840316e-01 -2.79745350e-03 -1.25378075e+02] [-1.07984039e-02 8.52047282e-07 -9.99941696e-01 2.89351747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.70, Y:-125.35, Z:2.89 [[-9.81792248e-01 1.89694788e-01 9.99344397e-03 5.07029897e+01] [ 1.89684942e-01 9.81843107e-01 -1.93265267e-03 -1.25352470e+02] [-1.01786082e-02 -1.85757374e-06 -9.99948197e-01 2.89324356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.96762800000002 meters Centerline goodness [0,1] 0.9998660684390277 Centerline is valid? [True, True] Translation: X:50.86, Y:-124.56, Z:1.96 [[-9.66637191e-01 -2.55932982e-01 1.05284910e-02 5.08640253e+01] [ 2.55918326e-01 -9.66694526e-01 -2.73922952e-03 -1.24564299e+02] [ 1.08788938e-02 4.65926822e-05 9.99940822e-01 1.96223573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.65, Y:-125.34, Z:2.89 [[-9.82742129e-01 1.84707067e-01 1.00601879e-02 5.06544129e+01] [ 1.84697269e-01 9.82793620e-01 -1.90258117e-03 -1.25343402e+02] [-1.02385087e-02 -1.16574467e-05 -9.99947585e-01 2.89287503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.80, Y:-124.55, Z:1.96 [[-9.67110405e-01 -2.54129709e-01 1.07496914e-02 5.08044844e+01] [ 2.54114795e-01 -9.67170143e-01 -2.75396710e-03 -1.24554597e+02] [ 1.10966455e-02 6.82654037e-05 9.99938428e-01 1.96322527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.60, Y:-125.33, Z:2.89 [[-9.83880171e-01 1.78502341e-01 1.08038630e-02 5.05990568e+01] [ 1.78491169e-01 9.83939486e-01 -1.99740203e-03 -1.25331678e+02] [-1.09868884e-02 -3.68101061e-05 -9.99939642e-01 2.89395222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.60, Y:-125.30, Z:2.89 [[-9.94139226e-01 1.07555384e-01 1.09104878e-02 5.06037048e+01] [ 1.07548420e-01 9.94199093e-01 -1.22470529e-03 -1.25303905e+02] [-1.09789208e-02 -4.41218359e-05 -9.99939729e-01 2.89364125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.60, Y:-125.28, Z:2.89 [[-9.99298123e-01 3.58084692e-02 1.10006912e-02 5.06039321e+01] [ 3.58057017e-02 9.99358670e-01 -4.48484710e-04 -1.25275730e+02] [-1.10096957e-02 -5.42824593e-05 -9.99939390e-01 2.89280037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.65, Y:-124.48, Z:1.96 [[-9.93405088e-01 -1.14167004e-01 1.05936548e-02 5.06485729e+01] [ 1.14160826e-01 -9.93461572e-01 -1.18803308e-03 -1.24481595e+02] [ 1.06600232e-02 2.91822810e-05 9.99943180e-01 1.96341830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.17762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.53, Y:-125.27, Z:2.89 [[-9.99517342e-01 2.90604957e-02 1.09805121e-02 5.05287305e+01] [ 2.90579675e-02 9.99577652e-01 -3.89748232e-04 -1.25269947e+02] [-1.09872008e-02 -7.04887527e-05 -9.99939636e-01 2.89331935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.20762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.56, Y:-124.48, Z:1.96 [[-9.93977832e-01 -1.09011311e-01 1.11626400e-02 5.05644461e+01] [ 1.09005422e-01 -9.94040505e-01 -1.13643429e-03 -1.24478078e+02] [ 1.12200005e-02 8.71977883e-05 9.99937050e-01 1.96317177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.45, Y:-125.27, Z:2.89 [[-9.99634192e-01 2.42918903e-02 1.18905673e-02 5.04473842e+01] [ 2.42893699e-02 9.99704906e-01 -3.56346614e-04 -1.25267889e+02] [-1.18957148e-02 -6.74018701e-05 -9.99929241e-01 2.89304742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.26762800000003 meters Centerline goodness [0,1] 0.9999330491642304 Centerline is valid? [True, True] Translation: X:50.45, Y:-125.24, Z:2.89 [[-9.98986068e-01 -4.35137683e-02 1.15493334e-02 5.04517865e+01] [-4.35111670e-02 9.99052827e-01 4.76535526e-04 -1.25243177e+02] [-1.15591301e-02 -2.64726233e-05 -9.99933191e-01 2.89347141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.29762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.43, Y:-124.44, Z:1.96 [[-9.99580169e-01 -2.67472605e-02 1.11386830e-02 5.04269906e+01] [ 2.67455835e-02 -9.99642228e-01 -2.99513332e-04 -1.24441794e+02] [ 1.11427090e-02 -1.47701199e-06 9.99937918e-01 1.96430964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.32762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.35, Y:-125.25, Z:2.89 [[-9.98876659e-01 -4.60000974e-02 1.13758721e-02 5.03524951e+01] [-4.59969203e-02 9.98941435e-01 5.40901070e-04 -1.25248837e+02] [-1.13887115e-02 1.70383729e-05 -9.99935146e-01 2.89306017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.357628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.35, Y:-125.22, Z:2.89 [[-9.93230321e-01 -1.15626651e-01 1.11358810e-02 5.03497261e+01] [-1.15619003e-01 9.93292745e-01 1.33030801e-03 -1.25222576e+02] [-1.12150089e-02 3.37827948e-05 -9.99937109e-01 2.89346537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.387628 meters Centerline goodness [0,1] 0.9998662535387085 Centerline is valid? [True, True] Translation: X:50.33, Y:-125.20, Z:2.90 [[-9.83078544e-01 -1.82775288e-01 1.22380853e-02 5.03330244e+01] [-1.82760006e-01 9.83154711e-01 2.36508950e-03 -1.25199705e+02] [-1.24642111e-02 8.84361998e-05 -9.99922315e-01 2.89524141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.30, Y:-125.18, Z:2.89 [[-9.67466743e-01 -2.52727559e-01 1.16996933e-02 5.02970947e+01] [-2.52707896e-01 9.67537478e-01 3.15391892e-03 -1.25180369e+02] [-1.21169740e-02 9.47067711e-05 -9.99926582e-01 2.89375896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.24, Y:-125.17, Z:2.89 [[-9.46452884e-01 -3.22622199e-01 1.19103227e-02 5.02429713e+01] [-3.22595233e-01 9.46527815e-01 4.17259059e-03 -1.25168046e+02] [-1.26196220e-02 1.06947080e-04 -9.99920364e-01 2.89423487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.18, Y:-125.16, Z:2.89 [[-9.19980556e-01 -3.91802643e-01 1.12456899e-02 5.01767770e+01] [-3.91771972e-01 9.20049280e-01 4.90350326e-03 -1.25162961e+02] [-1.22677945e-02 1.05381530e-04 -9.99924742e-01 2.89430669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.10, Y:-125.17, Z:2.89 [[-8.87823639e-01 -4.60065992e-01 1.04148395e-02 5.01016577e+01] [-4.60033135e-01 8.87884719e-01 5.49909405e-03 -1.25166411e+02] [-1.17771230e-02 9.10544064e-05 -9.99930643e-01 2.89340896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.02, Y:-125.18, Z:2.89 [[-8.50540089e-01 -5.25824133e-01 9.51515730e-03 5.00191699e+01] [-5.25790165e-01 8.50593308e-01 5.97722198e-03 -1.25181037e+02] [-1.12364967e-02 8.08907804e-05 -9.99936865e-01 2.89268510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.93, Y:-125.20, Z:2.89 [[-8.08026784e-01 -5.89092837e-01 7.89591565e-03 4.99328878e+01] [-5.89063943e-01 8.08065360e-01 5.83491322e-03 -1.25204987e+02] [-9.81772150e-03 6.35669604e-05 -9.99951803e-01 2.89155682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.84, Y:-125.24, Z:2.89 [[-7.60600511e-01 -6.49182595e-01 6.98720022e-03 4.98420383e+01] [-6.49154565e-01 7.60632602e-01 6.03283659e-03 -1.25240657e+02] [-9.23110480e-03 5.28056643e-05 -9.99957391e-01 2.89030875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.75, Y:-125.28, Z:2.89 [[-7.07455671e-01 -7.06738316e-01 5.23704193e-03 4.97511803e+01] [-7.06718689e-01 7.07475054e-01 5.26711266e-03 -1.25283004e+02] [-7.42754685e-03 2.51333158e-05 -9.99972415e-01 2.88891217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.66, Y:-125.34, Z:2.89 [[-6.50483388e-01 -7.59506637e-01 4.58580275e-03 4.96602304e+01] [-7.59487603e-01 6.50499552e-01 5.37716428e-03 -1.25337598e+02] [-7.06705460e-03 1.48957045e-05 -9.99975028e-01 2.88873267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.57, Y:-125.40, Z:2.89 [[-5.89636803e-01 -8.07658419e-01 4.03974428e-03 4.95722251e+01] [-8.07639384e-01 5.89650641e-01 5.54497233e-03 -1.25401167e+02] [-6.86048139e-03 6.86317395e-06 -9.99976467e-01 2.88909991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.49, Y:-125.48, Z:2.89 [[-5.25014862e-01 -8.51085270e-01 3.64118855e-03 4.94870598e+01] [-8.51064817e-01 5.25027488e-01 5.90036297e-03 -1.25475567e+02] [-6.93343609e-03 -1.10921452e-06 -9.99975963e-01 2.89001346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.41, Y:-125.56, Z:2.89 [[-4.56465407e-01 -8.89735162e-01 3.26701597e-03 4.94068020e+01] [-8.89712601e-01 4.56477098e-01 6.33609161e-03 -1.25557906e+02] [-7.12876147e-03 -1.44986390e-05 -9.99974590e-01 2.89025301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.33, Y:-125.65, Z:2.89 [[-3.86371472e-01 -9.22339244e-01 2.72104473e-03 4.93328620e+01] [-9.22316668e-01 3.86381053e-01 6.45344109e-03 -1.25649605e+02] [-7.00362211e-03 -1.62393727e-05 -9.99975474e-01 2.89046319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.27, Y:-125.75, Z:2.89 [[-3.14292318e-01 -9.49324085e-01 2.02983976e-03 4.92670572e+01] [-9.49304577e-01 3.14298873e-01 6.08601146e-03 -1.25745974e+02] [-6.41557361e-03 -1.41495268e-05 -9.99979420e-01 2.89007304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.21, Y:-125.85, Z:2.89 [[-2.42173896e-01 -9.70231908e-01 1.35957069e-03 4.92104233e+01] [-9.70216630e-01 2.42177713e-01 5.44482803e-03 -1.25846057e+02] [-5.61200361e-03 -4.82869854e-07 -9.99984253e-01 2.88950103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.16, Y:-125.95, Z:2.89 [[-1.66543584e-01 -9.86033651e-01 9.35137112e-04 4.91593435e+01] [-9.86018124e-01 1.66546209e-01 5.53355749e-03 -1.25954895e+02] [-5.61201743e-03 -4.83643646e-07 -9.99984253e-01 2.88950173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.12, Y:-126.07, Z:2.89 [[-9.11156995e-02 -9.95840178e-01 5.18803406e-04 4.91174503e+01] [-9.95823590e-01 9.11171763e-02 5.74780135e-03 -1.26070927e+02] [-5.77116342e-03 7.07827018e-06 -9.99983347e-01 2.88942666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.09, Y:-126.19, Z:2.89 [[-1.49954435e-02 -9.99887559e-01 7.57200433e-05 4.90851588e+01] [-9.99869469e-01 1.49956277e-02 6.01469901e-03 -1.26185355e+02] [-6.01515818e-03 1.44829199e-05 -9.99981909e-01 2.88918668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.95762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.06, Y:-126.31, Z:2.89 [[ 5.97626452e-02 -9.98212525e-01 -4.24590155e-04 4.90637620e+01] [-9.98191116e-01 -5.97641443e-02 6.53783081e-03 -1.26305872e+02] [-6.55151987e-03 3.31040577e-05 -9.99978538e-01 2.88953177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.28, Y:-126.47, Z:1.97 [[ 2.95046829e-03 9.99995647e-01 -3.69502496e-05 4.82760800e+01] [-9.99968802e-01 2.95065983e-03 7.32727192e-03 -1.26472293e+02] [ 7.32734905e-03 1.53302133e-05 9.99973155e-01 1.96645333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.01762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.08, Y:-126.60, Z:2.89 [[ 6.78063598e-02 -9.97698341e-01 -5.63994272e-04 4.90818535e+01] [-9.97670074e-01 -6.78086843e-02 7.51039167e-03 -1.26596876e+02] [-7.53134901e-03 5.34278877e-05 -9.99971638e-01 2.89072619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.07, Y:-126.72, Z:2.89 [[ 1.42879427e-01 -9.89739371e-01 -1.20314183e-03 4.90696690e+01] [-9.89708379e-01 -1.42884475e-01 7.83273797e-03 -1.26721007e+02] [-7.92427944e-03 7.16224346e-05 -9.99968600e-01 2.89141869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.07762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.07, Y:-126.84, Z:2.89 [[ 2.18261158e-01 -9.75888683e-01 -1.82880306e-03 4.90653717e+01] [-9.75857390e-01 -2.18268805e-01 7.81553744e-03 -1.26842447e+02] [-8.02626520e-03 7.88227304e-05 -9.99967786e-01 2.89132855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.107628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.07, Y:-126.96, Z:2.89 [[ 2.92736840e-01 -9.56190533e-01 -2.19243857e-03 4.90694690e+01] [-9.56165567e-01 -2.92745041e-01 6.91004213e-03 -1.26960378e+02] [-7.24914239e-03 7.35103694e-05 -9.99973722e-01 2.89096148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.08, Y:-127.08, Z:2.89 [[ 3.65777571e-01 -9.30699672e-01 -2.21122120e-03 4.90822299e+01] [-9.30683642e-01 -3.65784250e-01 5.46271710e-03 -1.27081419e+02] [-5.89297890e-03 5.98080058e-05 -9.99982634e-01 2.88808805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.10, Y:-127.20, Z:2.89 [[ 4.36968435e-01 -8.99473602e-01 -2.41373399e-03 4.91048659e+01] [-8.99460533e-01 -4.36975098e-01 4.84905164e-03 -1.27200322e+02] [-5.41633559e-03 5.21759600e-05 -9.99985330e-01 2.88741445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.13, Y:-127.31, Z:2.89 [[ 5.05203540e-01 -8.62995692e-01 -2.79624558e-03 4.91346729e+01] [-8.62983029e-01 -5.05211275e-01 4.67540090e-03 -1.27313924e+02] [-5.44754563e-03 5.10833897e-05 -9.99985161e-01 2.88732047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.17, Y:-127.43, Z:2.89 [[ 5.70267648e-01 -8.21454186e-01 -2.79829214e-03 4.91738357e+01] [-8.21444679e-01 -5.70274511e-01 3.95244688e-03 -1.27426440e+02] [-4.84254872e-03 4.46896005e-05 -9.99988274e-01 2.88731742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.22, Y:-127.53, Z:2.89 [[ 6.32215345e-01 -7.74786130e-01 -3.19538416e-03 4.92175469e+01] [-7.74776572e-01 -6.32223418e-01 3.84865731e-03 -1.27530671e+02] [-5.00208300e-03 4.25285805e-05 -9.99987489e-01 2.88797685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.27, Y:-127.63, Z:2.89 [[ 6.90094708e-01 -7.23710124e-01 -3.59853973e-03 4.92682239e+01] [-7.23700599e-01 -6.90104089e-01 3.71343019e-03 -1.27629100e+02] [-5.17081401e-03 4.16468268e-05 -9.99986630e-01 2.88772941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.32, Y:-127.72, Z:2.89 [[ 7.43584225e-01 -6.68630934e-01 -3.89542413e-03 4.93244389e+01] [-6.68622046e-01 -7.43594428e-01 3.44780549e-03 -1.27721703e+02] [-5.20192508e-03 4.08326697e-05 -9.99986469e-01 2.88737188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.32, Y:-127.73, Z:2.89 [[ 7.93529818e-01 -6.08520198e-01 -3.68732717e-03 4.93190412e+01] [-6.08513841e-01 -7.93538385e-01 2.78162913e-03 -1.27729540e+02] [-4.61871316e-03 3.64839599e-05 -9.99989333e-01 2.88708715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.31, Y:-127.74, Z:2.89 [[ 8.38516368e-01 -5.44862498e-01 -3.89352241e-03 4.93136166e+01] [-5.44856833e-01 -8.38525406e-01 2.48492400e-03 -1.27736533e+02] [-4.61875936e-03 3.77628401e-05 -9.99989333e-01 2.88671627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.31, Y:-127.74, Z:2.89 [[ 8.78232083e-01 -4.78214509e-01 -4.39219880e-03 4.93092085e+01] [-4.78208779e-01 -8.78243065e-01 2.34141448e-03 -1.27742962e+02] [-4.97711651e-03 4.40827047e-05 -9.99987613e-01 2.88666789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.31, Y:-127.75, Z:2.89 [[ 9.12263177e-01 -4.09579754e-01 -4.50794196e-03 4.93061655e+01] [-4.09575032e-01 -9.12274313e-01 1.96752048e-03 -1.27749326e+02] [-4.91833621e-03 5.14439855e-05 -9.99987904e-01 2.88670725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.30, Y:-127.76, Z:2.89 [[ 9.41232629e-01 -3.37730865e-01 -4.35899867e-03 4.93020992e+01] [-3.37727499e-01 -9.41242721e-01 1.50887921e-03 -1.27757299e+02] [-4.61247085e-03 5.19473687e-05 -9.99989361e-01 2.88639615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.30, Y:-127.77, Z:2.89 [[ 9.64597870e-01 -2.63698297e-01 -3.76268656e-03 4.92992126e+01] [-2.63696477e-01 -9.64605207e-01 9.80737299e-04 -1.27765567e+02] [-3.88812581e-03 4.61900819e-05 -9.99992440e-01 2.88593610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.29, Y:-127.77, Z:2.89 [[ 9.82202678e-01 -1.87791104e-01 -3.52150623e-03 4.92929416e+01] [-1.87790058e-01 -9.82208990e-01 6.28306919e-04 -1.27772974e+02] [-3.57684553e-03 4.41791219e-05 -9.99993602e-01 2.88594090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.29, Y:-127.78, Z:2.89 [[ 9.93803902e-01 -1.11081123e-01 -3.84569465e-03 4.92862048e+01] [-1.11080489e-01 -9.93811341e-01 3.78750340e-04 -1.27780083e+02] [-3.86396697e-03 5.07780753e-05 -9.99992534e-01 2.88594476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.28, Y:-127.79, Z:2.89 [[ 9.99442576e-01 -3.31515547e-02 -3.93840664e-03 4.92814785e+01] [-3.31515050e-02 -9.99450335e-01 7.79018853e-05 -1.27787281e+02] [-3.93882440e-03 5.27056465e-05 -9.99992241e-01 2.88561774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.28, Y:-127.80, Z:2.88 [[ 9.98978580e-01 4.50526175e-02 -3.47261959e-03 4.92770619e+01] [ 4.50521814e-02 -9.98984614e-01 -2.03742613e-04 -1.27797891e+02] [-3.47827267e-03 4.70854184e-05 -9.99993950e-01 2.88488817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.27, Y:-127.81, Z:2.88 [[ 9.92358918e-01 1.23359406e-01 -2.49712996e-03 4.92722048e+01] [ 1.23358930e-01 -9.92362059e-01 -3.44205005e-04 -1.27806438e+02] [-2.52051795e-03 3.35316249e-05 -9.99996823e-01 2.88416208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.27, Y:-127.81, Z:2.88 [[ 9.79357169e-01 2.02132699e-01 -1.38091890e-03 4.92687154e+01] [ 2.02132474e-01 -9.79358143e-01 -3.02083326e-04 -1.27813743e+02] [-1.41347509e-03 1.67189168e-05 -9.99999001e-01 2.88229666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.70762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.27, Y:-127.82, Z:2.88 [[ 9.60137861e-01 2.79525444e-01 -9.02431314e-04 4.92657419e+01] [ 2.79525311e-01 -9.60138285e-01 -2.72989621e-04 -1.27819917e+02] [-9.42766399e-04 9.85527667e-06 -9.99999556e-01 2.88161811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.27, Y:-127.83, Z:2.88 [[ 9.34810419e-01 3.55146541e-01 -6.44818948e-04 4.92657980e+01] [ 3.55146452e-01 -9.34810641e-01 -2.51686898e-04 -1.27831513e+02] [-6.92169345e-04 6.27437320e-06 -9.99999760e-01 2.88187519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.76762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.27, Y:-127.84, Z:2.88 [[ 9.03532945e-01 4.28517076e-01 -1.15430548e-03 4.92653716e+01] [ 4.28516712e-01 -9.03533683e-01 -5.58288688e-04 -1.27841603e+02] [-1.28219012e-03 9.79303443e-06 -9.99999178e-01 2.88276882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.27, Y:-127.85, Z:2.89 [[ 8.65843390e-01 5.00309068e-01 -2.46187796e-03 4.92691760e+01] [ 5.00307000e-01 -8.65846890e-01 -1.43864633e-03 -1.27854731e+02] [-2.85137718e-03 1.39476355e-05 -9.99995935e-01 2.88521214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.82762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.27, Y:-127.87, Z:2.89 [[ 8.23316494e-01 5.67574139e-01 -3.09001703e-03 4.92730416e+01] [ 5.67570078e-01 -8.23322292e-01 -2.14691463e-03 -1.27865757e+02] [-3.76261313e-03 1.37890163e-05 -9.99992921e-01 2.88587252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.857628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.28, Y:-127.88, Z:2.89 [[ 7.75717912e-01 6.31069668e-01 -3.57706250e-03 4.92775798e+01] [ 6.31062886e-01 -7.75726159e-01 -2.92579328e-03 -1.27876906e+02] [-4.62120035e-03 1.22388727e-05 -9.99989322e-01 2.88625377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.28, Y:-127.89, Z:2.89 [[ 7.22983558e-01 6.90854872e-01 -3.78431406e-03 4.92820370e+01] [ 6.90845359e-01 -7.22993462e-01 -3.62538785e-03 -1.27888112e+02] [-5.24065118e-03 6.71999644e-06 -9.99986268e-01 2.88675951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.29, Y:-127.90, Z:2.89 [[ 6.66255727e-01 7.45714534e-01 -3.62478716e-03 4.92858385e+01] [ 7.45703465e-01 -6.66265588e-01 -4.06313985e-03 -1.27896978e+02] [-5.44501339e-03 4.07385475e-06 -9.99985176e-01 2.88690956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.29, Y:-127.90, Z:2.89 [[ 6.05255521e-01 7.96023761e-01 -3.45343211e-03 4.92899308e+01] [ 7.96010800e-01 -6.05265373e-01 -4.54252151e-03 -1.27904341e+02] [-5.70619793e-03 4.16968287e-07 -9.99983720e-01 2.88695391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.30, Y:-127.91, Z:2.89 [[ 5.40482255e-01 8.41349646e-01 -3.11528404e-03 4.92953436e+01] [ 8.41335711e-01 -5.40491233e-01 -4.84239111e-03 -1.27911816e+02] [-5.75792776e-03 -3.77324382e-06 -9.99983423e-01 2.88660693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.30, Y:-127.92, Z:2.89 [[ 4.72559049e-01 8.81293867e-01 -3.01068480e-03 4.93001654e+01] [ 8.81276075e-01 -4.72568640e-01 -5.60004205e-03 -1.27919762e+02] [-6.35803794e-03 -6.89393572e-06 -9.99979787e-01 2.88606815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.31, Y:-127.93, Z:2.89 [[ 4.02326661e-01 9.15492327e-01 -2.65669983e-03 4.93062611e+01] [ 9.15472455e-01 -4.02335432e-01 -6.03192873e-03 -1.27926172e+02] [-6.59106894e-03 -5.32977395e-06 -9.99978279e-01 2.88624332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.31, Y:-127.93, Z:2.89 [[ 3.30031544e-01 9.43966961e-01 -2.35735124e-03 4.93138530e+01] [ 9.43942902e-01 -3.30039963e-01 -6.73947178e-03 -1.27933188e+02] [-7.13985881e-03 -9.66687085e-07 -9.99974511e-01 2.88639410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.32, Y:-127.94, Z:2.89 [[ 2.56948625e-01 9.66422977e-01 -2.00851805e-03 4.93205412e+01] [ 9.66393019e-01 -2.56956475e-01 -7.60942344e-03 -1.27939946e+02] [-7.87002337e-03 1.42130687e-05 -9.99969031e-01 2.88729298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.33, Y:-127.95, Z:2.89 [[ 1.81597563e-01 9.83371865e-01 -1.44898730e-03 4.93279275e+01] [ 9.83339512e-01 -1.81603343e-01 -7.97680718e-03 -1.27945357e+02] [-8.10730869e-03 2.37222814e-05 -9.99967135e-01 2.88680150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.33, Y:-127.95, Z:2.89 [[ 1.05383786e-01 9.94431269e-01 -8.42378678e-04 4.93348663e+01] [ 9.94396739e-01 -1.05387146e-01 -8.28699555e-03 -1.27950770e+02] [-8.32962338e-03 3.56563536e-05 -9.99965307e-01 2.88667299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.34, Y:-127.96, Z:2.89 [[ 3.00547227e-02 9.99548234e-01 -2.03949602e-04 4.93427023e+01] [ 9.99508515e-01 -3.00553466e-02 -8.91091570e-03 -1.27955139e+02] [-8.91301982e-03 6.39657366e-05 -9.99960276e-01 2.88629390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.35, Y:-127.96, Z:2.89 [[-4.69706880e-02 9.98896135e-01 5.15579393e-04 4.93505931e+01] [ 9.98853107e-01 4.69734503e-02 -9.27181070e-03 -1.27960387e+02] [-9.28579442e-03 7.94847502e-05 -9.99956883e-01 2.88696600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.24762800000002 meters Centerline goodness [0,1] 0.9998474047914896 Centerline is valid? [True, True] Translation: X:49.36, Y:-127.96, Z:2.89 [[-1.23395458e-01 9.92356506e-01 1.45815025e-03 4.93637943e+01] [ 9.92297570e-01 1.23404022e-01 -1.08157470e-02 -1.27963049e+02] [-1.09130185e-02 1.12304889e-04 -9.99940445e-01 2.88899211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.38, Y:-127.96, Z:2.89 [[-2.00524714e-01 9.79686283e-01 2.15078872e-03 4.93757658e+01] [ 9.79635531e-01 2.00536219e-01 -9.97252530e-03 -1.27964589e+02] [-1.02012573e-02 1.07251267e-04 -9.99947960e-01 2.88701189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.39, Y:-127.97, Z:2.89 [[-2.75910755e-01 9.61179198e-01 2.79356096e-03 4.93858793e+01] [ 9.61133888e-01 2.75924875e-01 -9.33343645e-03 -1.27967524e+02] [-9.74191793e-03 1.09790613e-04 -9.99952540e-01 2.88684799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.39, Y:-127.97, Z:2.89 [[-3.50145621e-01 9.36687897e-01 3.71845792e-03 4.93937554e+01] [ 9.36638626e-01 3.50165345e-01 -9.60809758e-03 -1.27969050e+02] [-1.03018638e-02 1.18618022e-04 -9.99946927e-01 2.88654156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.40, Y:-127.97, Z:2.89 [[-4.22516898e-01 9.06343715e-01 4.53219905e-03 4.94044547e+01] [ 9.06294586e-01 4.22541188e-01 -9.43760259e-03 -1.27968690e+02] [-1.04687526e-02 1.19960895e-04 -9.99945194e-01 2.88661264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.42, Y:-127.97, Z:2.89 [[-4.92218087e-01 8.70455527e-01 5.34133675e-03 4.94156327e+01] [ 8.70406931e-01 4.92247052e-01 -9.19863169e-03 -1.27967459e+02] [-1.06362571e-02 1.21403636e-04 -9.99943426e-01 2.88673020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.42762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.43, Y:-127.96, Z:2.89 [[-5.59075872e-01 8.29091118e-01 6.48748494e-03 4.94273665e+01] [ 8.29037928e-01 5.59113496e-01 -9.39214990e-03 -1.27963890e+02] [-1.14141884e-02 1.27446680e-04 -9.99934848e-01 2.88714649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.45762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.44, Y:-127.96, Z:2.89 [[-6.22418347e-01 7.82650500e-01 7.32100168e-03 4.94384579e+01] [ 7.82598761e-01 6.22461388e-01 -9.00005428e-03 -1.27959535e+02] [-1.16009378e-02 1.27607938e-04 -9.99932699e-01 2.88762848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.45, Y:-127.96, Z:2.89 [[-6.81722838e-01 7.31565642e-01 8.10454160e-03 4.94484729e+01] [ 7.31516220e-01 6.81770999e-01 -8.50441604e-03 -1.27955863e+02] [-1.17469800e-02 1.30948994e-04 -9.99930993e-01 2.88843585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.51762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.46, Y:-127.95, Z:2.89 [[-7.36895194e-01 6.75940125e-01 9.50901126e-03 4.94574383e+01] [ 6.75886343e-01 7.36956530e-01 -8.52780792e-03 -1.27953077e+02] [-1.27720155e-02 1.42910178e-04 -9.99918424e-01 2.88910191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.48, Y:-127.93, Z:2.89 [[-7.82855029e-01 6.22117216e-01 1.04006248e-02 4.94788915e+01] [ 6.22064820e-01 7.82924101e-01 -8.07537083e-03 -1.27934864e+02] [-1.31667270e-02 1.48018147e-04 -9.99913304e-01 2.88877348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.57762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.50, Y:-127.92, Z:2.89 [[-8.24733704e-01 5.65406880e-01 1.13744093e-02 4.94996724e+01] [ 5.65355721e-01 8.24812121e-01 -7.60743621e-03 -1.27915246e+02] [-1.36830474e-02 1.56478326e-04 -9.99906370e-01 2.88877518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.607628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.52, Y:-127.89, Z:2.89 [[-8.62516015e-01 5.05881547e-01 1.22467880e-02 4.95191605e+01] [ 5.05833269e-01 8.62602941e-01 -6.99079983e-03 -1.27893205e+02] [-1.41006320e-02 1.65155995e-04 -9.99900568e-01 2.88990659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.53, Y:-127.87, Z:2.89 [[-8.96120175e-01 4.43627082e-01 1.27923353e-02 4.95333957e+01] [ 4.43584547e-01 8.96211462e-01 -6.14539597e-03 -1.27869780e+02] [-1.41909016e-02 1.67468946e-04 -9.99899290e-01 2.88976586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.86, Y:-127.21, Z:1.97 [[-8.76290137e-01 -4.81653816e-01 1.11891753e-02 4.98613376e+01] [ 4.81611182e-01 -8.76361540e-01 -6.41259640e-03 -1.27207050e+02] [ 1.28944144e-02 -2.30463050e-04 9.99916837e-01 1.96877723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.49, Y:-127.85, Z:2.89 [[-8.97379265e-01 4.41124229e-01 1.09484570e-02 4.94946347e+01] [ 4.41093484e-01 8.97446038e-01 -5.21034021e-03 -1.27853184e+02] [-1.21240567e-02 1.53641761e-04 -9.99926489e-01 2.88623924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.51, Y:-127.83, Z:2.89 [[-9.26395041e-01 3.76419926e-01 1.00133616e-02 4.95068962e+01] [ 3.76399523e-01 9.26449146e-01 -3.92150957e-03 -1.27828393e+02] [-1.07530046e-02 1.36157501e-04 -9.99942176e-01 2.88517177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.52, Y:-127.80, Z:2.88 [[-9.50980787e-01 3.09134865e-01 8.43669217e-03 4.95176406e+01] [ 3.09123683e-01 9.51018204e-01 -2.63140092e-03 -1.27802875e+02] [-8.83690560e-03 1.05569635e-04 -9.99960948e-01 2.88386781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.53, Y:-127.78, Z:2.88 [[-9.70510758e-01 2.40904279e-01 8.60209206e-03 4.95261383e+01] [ 2.40895780e-01 9.70548874e-01 -2.02639533e-03 -1.27776398e+02] [-8.83691807e-03 1.05569207e-04 -9.99960948e-01 2.88386795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.70, Y:-127.06, Z:1.97 [[-9.58860454e-01 -2.83767971e-01 7.89743776e-03 4.96999954e+01] [ 2.83757185e-01 -9.58892966e-01 -2.47775167e-03 -1.27056255e+02] [ 8.27590408e-03 -1.34863381e-04 9.99965745e-01 1.97264992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.48, Y:-127.76, Z:2.88 [[-9.71926485e-01 2.35162327e-01 7.58860803e-03 4.94754861e+01] [ 2.35155787e-01 9.71956107e-01 -1.75565417e-03 -1.27764415e+02] [-7.78865764e-03 7.81383073e-05 -9.99969665e-01 2.88408573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.65, Y:-127.05, Z:1.97 [[-9.59277657e-01 -2.82364380e-01 7.53217914e-03 4.96464088e+01] [ 2.82355073e-01 -9.59307225e-01 -2.29365501e-03 -1.27045469e+02] [ 7.87332034e-03 -7.35030144e-05 9.99969002e-01 1.97244513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.42, Y:-127.75, Z:2.88 [[-9.73588897e-01 2.28175168e-01 7.79441919e-03 4.94245646e+01] [ 2.28168304e-01 9.73620095e-01 -1.77069222e-03 -1.27752734e+02] [-7.99283115e-03 5.45131182e-05 -9.99968055e-01 2.88434578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.43, Y:-127.73, Z:2.89 [[-9.87775764e-01 1.55613374e-01 9.13886823e-03 4.94302051e+01] [ 1.55607048e-01 9.87818038e-01 -1.40353761e-03 -1.27725567e+02] [-9.24594811e-03 3.56918794e-05 -9.99957255e-01 2.88610965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.43, Y:-127.70, Z:2.89 [[-9.96455490e-01 8.36037485e-02 9.32040336e-03 4.94300016e+01] [ 8.36002959e-02 9.96499078e-01 -7.60106128e-04 -1.27697358e+02] [-9.35132108e-03 2.17765544e-05 -9.99956275e-01 2.88682038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.43, Y:-127.67, Z:2.89 [[-9.99894361e-01 9.94072955e-03 1.06041836e-02 4.94287390e+01] [ 9.94012761e-03 9.99950590e-01 -1.09468823e-04 -1.27670983e+02] [-1.06047479e-02 -4.05032018e-06 -9.99943768e-01 2.88797810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.44, Y:-126.93, Z:1.97 [[-9.96776200e-01 -7.93752716e-02 1.16949863e-02 4.94441907e+01] [ 7.93707480e-02 -9.96844802e-01 -8.51160096e-04 -1.26930192e+02] [ 1.17256474e-02 7.98236846e-05 9.99931249e-01 1.96836742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.35, Y:-127.67, Z:2.89 [[-9.99915314e-01 2.01348131e-03 1.28573002e-02 4.93467263e+01] [ 2.01286032e-03 9.99997972e-01 -6.12387084e-05 -1.27671931e+02] [-1.28573974e-02 -3.53535730e-05 -9.99917340e-01 2.88837119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.35, Y:-126.93, Z:1.97 [[-9.97023894e-01 -7.59454113e-02 1.32532775e-02 4.93544499e+01] [ 7.59395723e-02 -9.97111975e-01 -9.43994404e-04 -1.26926835e+02] [ 1.32866937e-02 6.52632443e-05 9.99911726e-01 1.96645928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.26, Y:-127.67, Z:2.89 [[-9.99872771e-01 -6.00804005e-03 1.47764936e-02 4.92582696e+01] [-6.00847205e-03 9.99981949e-01 1.51586960e-05 -1.27674972e+02] [-1.47763179e-02 -7.36273815e-05 -9.99890822e-01 2.89157463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.25, Y:-127.65, Z:2.89 [[-9.96901152e-01 -7.72587523e-02 1.48046633e-02 4.92542948e+01] [-7.72513593e-02 9.97011073e-01 1.07144660e-03 -1.27649779e+02] [-1.48431919e-02 -7.55540203e-05 -9.99889831e-01 2.89203541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.17762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.25, Y:-127.63, Z:2.89 [[-9.88914330e-01 -1.47760082e-01 1.46767319e-02 4.92451161e+01] [-1.47744855e-01 9.89023232e-01 2.12237718e-03 -1.27625941e+02] [-1.48292315e-02 -6.95624244e-05 -9.99890038e-01 2.89107566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.20762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.22, Y:-127.60, Z:2.89 [[-9.75787883e-01 -2.18270644e-01 1.39976101e-02 4.92247824e+01] [-2.18249123e-01 9.75888273e-01 3.06567409e-03 -1.27604064e+02] [-1.43292502e-02 -6.35185133e-05 -9.99897329e-01 2.89126662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.19, Y:-127.59, Z:2.89 [[-9.57486218e-01 -2.88191550e-01 1.28752649e-02 4.91868528e+01] [-2.88166244e-01 9.57572779e-01 3.81940484e-03 -1.27591176e+02] [-1.34297234e-02 -5.31892257e-05 -9.99909816e-01 2.88987362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.26762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.13, Y:-127.58, Z:2.89 [[-9.33641692e-01 -3.58010578e-01 1.19002685e-02 4.91305771e+01] [-3.57982208e-01 9.33717529e-01 4.50724208e-03 -1.27584011e+02] [-1.27251297e-02 -5.19352758e-05 -9.99919031e-01 2.88817591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.29762800000003 meters Centerline goodness [0,1] 0.9998667229392034 Centerline is valid? [True, True] Translation: X:49.06, Y:-127.59, Z:2.89 [[-9.04650424e-01 -4.25998037e-01 1.15448024e-02 4.90631875e+01] [-4.25964032e-01 9.04724085e-01 5.38261249e-03 -1.27585011e+02] [-1.27378431e-02 -4.82878910e-05 -9.99918869e-01 2.88942853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.32762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.99, Y:-127.60, Z:2.89 [[-8.69739209e-01 -4.93442164e-01 8.27881388e-03 4.89885548e+01] [-4.93420341e-01 8.69778609e-01 4.64093409e-03 -1.27595827e+02] [-9.49076778e-03 -4.85328295e-05 -9.99954960e-01 2.88557989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.35762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.91, Y:-127.61, Z:2.89 [[-8.29818918e-01 -5.57984167e-01 7.36434139e-03 4.89085213e+01] [-5.57962745e-01 8.29851593e-01 4.88954942e-03 -1.27614207e+02] [-8.83960159e-03 -5.15875370e-05 -9.99960929e-01 2.88511955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.82, Y:-127.64, Z:2.89 [[-7.84709282e-01 -6.19825007e-01 6.95012463e-03 4.88238432e+01] [-6.19801370e-01 7.84740057e-01 5.41336720e-03 -1.27642915e+02] [-8.80938156e-03 -5.97772780e-05 -9.99961195e-01 2.88502020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.74, Y:-127.68, Z:2.88 [[-7.34878578e-01 -6.78166977e-01 6.55946492e-03 4.87359653e+01] [-6.78140781e-01 7.34907849e-01 5.96106256e-03 -1.27683083e+02] [-8.86319803e-03 -6.75834824e-05 -9.99960719e-01 2.88488939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.65, Y:-127.74, Z:2.89 [[-6.80414495e-01 -7.32800354e-01 6.30527241e-03 4.86489024e+01] [-7.32769954e-01 6.80443705e-01 6.67521349e-03 -1.27735577e+02] [-9.18198173e-03 -7.84021611e-05 -9.99957842e-01 2.88521029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.56, Y:-127.80, Z:2.89 [[-6.23263630e-01 -7.81986800e-01 6.25243185e-03 4.85621426e+01] [-7.81948638e-01 6.23294986e-01 7.72582483e-03 -1.27796190e+02] [-9.93860245e-03 -7.38549383e-05 -9.99950608e-01 2.88602397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.48, Y:-127.86, Z:2.89 [[-5.63676703e-01 -8.25969608e-01 6.54074034e-03 4.84797735e+01] [-8.25915113e-01 5.63714648e-01 9.48800958e-03 -1.27864416e+02] [-1.15239187e-02 -5.39263354e-05 -9.99933596e-01 2.88726729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.40, Y:-127.94, Z:2.89 [[-5.02622996e-01 -8.64479230e-01 6.76642660e-03 4.83991444e+01] [-8.64400873e-01 5.02668540e-01 1.16391945e-02 -1.27943555e+02] [-1.34631117e-02 1.22177751e-06 -9.99909368e-01 2.89047331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.567628 meters Centerline goodness [0,1] 0.9998208407049918 Centerline is valid? [True, True] Translation: X:48.32, Y:-128.03, Z:2.89 [[-4.36983929e-01 -8.99447633e-01 6.24514812e-03 4.83235230e+01] [-8.99354442e-01 4.37028551e-01 1.29473268e-02 -1.28027774e+02] [-1.43747505e-02 4.11720249e-05 -9.99896677e-01 2.89216171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.25, Y:-128.12, Z:2.89 [[-3.67769402e-01 -9.29904583e-01 4.80964098e-03 4.82529033e+01] [-9.29822994e-01 3.67800846e-01 1.23181829e-02 -1.28123100e+02] [-1.32237247e-02 5.81359752e-05 -9.99912561e-01 2.88943172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.19, Y:-128.22, Z:2.89 [[-2.99754354e-01 -9.54009642e-01 3.59583574e-03 4.81944520e+01] [-9.53936153e-01 2.99775897e-01 1.18417402e-02 -1.28218777e+02] [-1.23750792e-02 1.19415476e-04 -9.99923419e-01 2.88643778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.14, Y:-128.33, Z:2.89 [[-2.27737808e-01 -9.73719247e-01 2.51366815e-03 4.81404630e+01] [-9.73652702e-01 2.27751633e-01 1.13846361e-02 -1.28325178e+02] [-1.16579313e-02 1.45272281e-04 -9.99932033e-01 2.88580798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.09, Y:-128.44, Z:2.88 [[-1.54848008e-01 -9.87937113e-01 1.53468173e-03 4.80933563e+01] [-9.87876899e-01 1.54855516e-01 1.09088015e-02 -1.28437073e+02] [-1.10148638e-02 1.73129556e-04 -9.99939320e-01 2.88430894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.06, Y:-128.55, Z:2.88 [[-8.07296330e-02 -9.96735842e-01 6.22153234e-04 4.80554909e+01] [-9.96685689e-01 8.07318132e-02 1.00005804e-02 -1.28553483e+02] [-1.00181645e-02 1.87251964e-04 -9.99949799e-01 2.88381641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.03, Y:-128.67, Z:2.88 [[-9.17836858e-03 -9.99957869e-01 -1.31237013e-04 4.80255267e+01] [-9.99922062e-01 9.17692895e-03 8.46490601e-03 -1.28671499e+02] [-8.46334503e-03 2.08920812e-04 -9.99964163e-01 2.88297471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.01, Y:-128.79, Z:2.88 [[ 6.59551950e-02 -9.97822338e-01 -7.02204588e-04 4.80057199e+01] [-9.97794018e-01 -6.59586155e-02 7.52052406e-03 -1.28790418e+02] [-7.55046335e-03 2.04637906e-04 -9.99971474e-01 2.88281725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.99, Y:-128.91, Z:2.88 [[ 1.41464704e-01 -9.89942746e-01 -1.04759852e-03 4.79897901e+01] [-9.89924093e-01 -1.41468472e-01 6.07953440e-03 -1.28913281e+02] [-6.16659314e-03 1.77003486e-04 -9.99980971e-01 2.88119433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.99, Y:-129.04, Z:2.88 [[ 2.17233745e-01 -9.76119005e-01 -1.08966287e-03 4.79917695e+01] [-9.76109543e-01 -2.17236440e-01 4.29997125e-03 -1.29042087e+02] [-4.43399814e-03 1.29531470e-04 -9.99990161e-01 2.87859548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.99, Y:-129.16, Z:2.88 [[ 2.93314943e-01 -9.56015204e-01 -1.12890411e-03 4.79943623e+01] [-9.56009363e-01 -2.93317099e-01 3.34337380e-03 -1.29159370e+02] [-3.52744306e-03 9.85814040e-05 -9.99993774e-01 2.87664914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.01, Y:-129.28, Z:2.88 [[ 3.68585690e-01 -9.29593092e-01 -1.12824064e-03 4.80054665e+01] [-9.29589328e-01 -3.68587410e-01 2.64634245e-03 -1.29282554e+02] [-2.87587696e-03 7.33965005e-05 -9.99995862e-01 2.87569544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.02, Y:-129.41, Z:2.88 [[ 4.46769033e-01 -8.94648016e-01 -1.53570635e-03 4.80231926e+01] [-8.94643160e-01 -4.46771669e-01 2.94819618e-03 -1.29409334e+02] [-3.32370796e-03 5.67464274e-05 -9.99994475e-01 2.87710134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.95762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.05, Y:-129.53, Z:2.88 [[ 5.18549527e-01 -8.55044677e-01 -2.23330700e-03 4.80540682e+01] [-8.55037170e-01 -5.18554334e-01 3.58341603e-03 -1.29528399e+02] [-4.22207183e-03 5.13818034e-05 -9.99991086e-01 2.87892418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.10, Y:-129.65, Z:2.88 [[ 5.86600019e-01 -8.09870215e-01 -3.26400122e-03 4.80952514e+01] [-8.09858064e-01 -5.86609098e-01 4.43644549e-03 -1.29647009e+02] [-5.50763787e-03 4.09587049e-05 -9.99984832e-01 2.88026692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.01762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.13, Y:-129.75, Z:2.88 [[ 6.53092819e-01 -7.57257663e-01 -5.53188367e-03 4.81341514e+01] [-7.57230437e-01 -6.53116247e-01 6.42129302e-03 -1.29750947e+02] [-8.47553645e-03 -4.78967419e-06 -9.99964082e-01 2.88267183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.19, Y:-129.85, Z:2.88 [[ 7.11726895e-01 -7.02417381e-01 -7.39255001e-03 4.81871647e+01] [-7.02378853e-01 -7.11765285e-01 7.35704450e-03 -1.29852470e+02] [-1.04294764e-02 -4.38356380e-05 -9.99945611e-01 2.88401337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.07762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.18, Y:-129.86, Z:2.89 [[ 7.66131371e-01 -6.42619316e-01 -9.11793000e-03 4.81810105e+01] [-6.42572526e-01 -7.66185622e-01 7.75511147e-03 -1.29859276e+02] [-1.19696113e-02 -8.25028688e-05 -9.99928358e-01 2.88568731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.18, Y:-129.87, Z:2.89 [[ 8.16027688e-01 -5.77915014e-01 -1.06324321e-02 4.81764838e+01] [-5.77863783e-01 -8.16096941e-01 7.69611973e-03 -1.29866452e+02] [-1.31247985e-02 -1.36149329e-04 -9.99913857e-01 2.88587272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.17, Y:-129.87, Z:2.89 [[ 8.59056895e-01 -5.11762890e-01 -1.09542199e-02 4.81724773e+01] [-5.11719179e-01 -8.59126722e-01 6.69008433e-03 -1.29871999e+02] [-1.28347999e-02 -1.41678675e-04 -9.99917621e-01 2.88512835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.17, Y:-129.88, Z:2.88 [[ 8.96552253e-01 -4.42803554e-01 -1.09119392e-02 4.81695206e+01] [-4.42768879e-01 -8.96618644e-01 5.54319671e-03 -1.29877826e+02] [-1.22383953e-02 -1.38298423e-04 -9.99925098e-01 2.88410816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.17, Y:-129.88, Z:2.88 [[ 9.28353067e-01 -3.71563184e-01 -1.00689764e-02 4.81666420e+01] [-3.71539919e-01 -9.28407662e-01 4.15962889e-03 -1.29882965e+02] [-1.08936798e-02 -1.20577553e-04 -9.99940655e-01 2.88332614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.17, Y:-129.89, Z:2.88 [[ 9.54039962e-01 -2.99587490e-01 -7.42200757e-03 4.81653112e+01] [-2.99577838e-01 -9.54068829e-01 2.40589963e-03 -1.29887801e+02] [-7.80188350e-03 -7.18554097e-05 -9.99969562e-01 2.88081193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.16, Y:-129.89, Z:2.88 [[ 9.74226648e-01 -2.25470696e-01 -6.73817094e-03 4.81628088e+01] [-2.25464921e-01 -9.74249949e-01 1.61465120e-03 -1.29892816e+02] [-6.92871922e-03 -5.38150514e-05 -9.99975995e-01 2.88042229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.16, Y:-129.90, Z:2.88 [[ 9.88645912e-01 -1.50141180e-01 -6.07341541e-03 4.81576474e+01] [-1.50138113e-01 -9.88664566e-01 9.60356012e-04 -1.29897605e+02] [-6.14875960e-03 -3.76009151e-05 -9.99981096e-01 2.87893698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.15, Y:-129.90, Z:2.88 [[ 9.97146871e-01 -7.53170398e-02 -5.04584796e-03 4.81528011e+01] [-7.53159964e-02 -9.97159638e-01 3.96761691e-04 -1.29900884e+02] [-5.06139884e-03 -1.55966127e-05 -9.99987191e-01 2.87876031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.15, Y:-129.91, Z:2.88 [[ 9.99981052e-01 2.19504506e-03 -5.75128498e-03 4.81479817e+01] [ 2.19508402e-03 -9.99997591e-01 4.61934413e-07 -1.29907171e+02] [-5.75127011e-03 -1.30864794e-05 -9.99983461e-01 2.87944217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.14, Y:-129.91, Z:2.88 [[ 9.96769000e-01 8.00465842e-02 -6.64111113e-03 4.81431457e+01] [ 8.00448882e-02 -9.96791124e-01 -5.21208429e-04 -1.29914882e+02] [-6.66152158e-03 -1.20625934e-05 -9.99977812e-01 2.88015335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.14, Y:-129.92, Z:2.88 [[ 9.87245360e-01 1.59048725e-01 -7.07837042e-03 4.81400014e+01] [ 1.59044796e-01 -9.87270734e-01 -1.11813047e-03 -1.29924835e+02] [-7.16610519e-03 -2.19088553e-05 -9.99974323e-01 2.88056651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.14, Y:-129.94, Z:2.88 [[ 9.70970323e-01 2.39055633e-01 -8.30878554e-03 4.81373155e+01] [ 2.39047359e-01 -9.71005871e-01 -1.98967534e-03 -1.29937981e+02] [-8.54352263e-03 -5.42775313e-05 -9.99963502e-01 2.88335897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.14, Y:-129.95, Z:2.88 [[ 9.48956204e-01 3.15255537e-01 -9.80151700e-03 4.81359687e+01] [ 3.15239545e-01 -9.49006818e-01 -3.17633968e-03 -1.29948242e+02] [-1.03030651e-02 -7.56185080e-05 -9.99946919e-01 2.88456711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.13, Y:-129.96, Z:2.89 [[ 9.21291466e-01 3.88711810e-01 -1.11876516e-02 4.81347361e+01] [ 3.88684343e-01 -9.21359387e-01 -4.62180208e-03 -1.29957505e+02] [-1.21043969e-02 -9.04382021e-05 -9.99926735e-01 2.88614510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.13, Y:-129.97, Z:2.89 [[ 8.88936313e-01 4.57844892e-01 -1.30493509e-02 4.81326150e+01] [ 4.57796887e-01 -8.89032085e-01 -6.63040777e-03 -1.29965931e+02] [-1.46369900e-02 -7.99419800e-05 -9.99892870e-01 2.88892896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.13, Y:-129.97, Z:2.89 [[ 8.51259707e-01 5.24587850e-01 -1.28257259e-02 4.81328723e+01] [ 5.24529318e-01 -8.51356320e-01 -7.83648761e-03 -1.29974827e+02] [-1.50301890e-02 -5.65831031e-05 -9.99887039e-01 2.88744820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.13, Y:-129.98, Z:2.89 [[ 8.08833340e-01 5.87902617e-01 -1.26151148e-02 4.81320255e+01] [ 5.87831615e-01 -8.08931711e-01 -9.13677218e-03 -1.29983871e+02] [-1.55762987e-02 -2.54373475e-05 -9.99878682e-01 2.88787125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.13, Y:-129.99, Z:2.89 [[ 7.64063855e-01 6.45038043e-01 -1.15042960e-02 4.81322430e+01] [ 6.44963698e-01 -7.64150456e-01 -9.79333060e-03 -1.29991713e+02] [-1.51080838e-02 6.28766690e-05 -9.99885864e-01 2.88574347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.13, Y:-130.00, Z:2.89 [[ 7.13662164e-01 7.00413557e-01 -1.03520455e-02 4.81325309e+01] [ 7.00337599e-01 -7.13737233e-01 -1.03155235e-02 -1.30000842e+02] [-1.46137728e-02 1.11872114e-04 -9.99893207e-01 2.88524731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.13, Y:-130.01, Z:2.89 [[ 6.56621209e-01 7.54160528e-01 -9.51236552e-03 4.81349858e+01] [ 7.54078925e-01 -6.56690098e-01 -1.10945942e-02 -1.30011149e+02] [-1.46137813e-02 1.11871517e-04 -9.99893207e-01 2.88524739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.70762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.14, Y:-130.02, Z:2.89 [[ 5.98438925e-01 8.01123347e-01 -8.49913190e-03 4.81369329e+01] [ 8.01038689e-01 -5.98499254e-01 -1.16474417e-02 -1.30019770e+02] [-1.44177616e-02 1.62149020e-04 -9.99896046e-01 2.88500720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.14, Y:-130.03, Z:2.88 [[ 5.40302976e-01 8.41438912e-01 -7.29731704e-03 4.81380345e+01] [ 8.41355515e-01 -5.40352189e-01 -1.18494159e-02 -1.30027703e+02] [-1.39136808e-02 2.62636726e-04 -9.99903166e-01 2.88493099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.76762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.14, Y:-130.04, Z:2.88 [[ 4.75869756e-01 8.79494091e-01 -6.17412655e-03 4.81431977e+01] [ 8.79411612e-01 -4.75909710e-01 -1.20484364e-02 -1.30037902e+02] [-1.35348554e-02 3.03887886e-04 -9.99908353e-01 2.88412805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.15, Y:-130.05, Z:2.88 [[ 4.08550031e-01 9.12722479e-01 -4.95457819e-03 4.81470730e+01] [ 9.12645229e-01 -4.08579938e-01 -1.18793967e-02 -1.30048029e+02] [-1.28669337e-02 3.31555738e-04 -9.99917163e-01 2.88366637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.82762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.15, Y:-130.06, Z:2.88 [[ 3.38494243e-01 9.40961256e-01 -3.68279188e-03 4.81499698e+01] [ 9.40894227e-01 -3.38514108e-01 -1.12362147e-02 -1.30057205e+02] [-1.18195197e-02 3.38276370e-04 -9.99930090e-01 2.88311543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.85762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.16, Y:-130.07, Z:2.88 [[ 2.67480461e-01 9.63560258e-01 -2.41489583e-03 4.81585825e+01] [ 9.63509044e-01 -2.67491156e-01 -9.94003191e-03 -1.30066599e+02] [-1.02237830e-02 3.31990343e-04 -9.99947681e-01 2.87936086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.17, Y:-130.08, Z:2.88 [[ 1.91514926e-01 9.81488425e-01 -1.58290179e-03 4.81710695e+01] [ 9.81439428e-01 -1.91521190e-01 -9.81236979e-03 -1.30075983e+02] [-9.93388660e-03 3.25693046e-04 -9.99950605e-01 2.87832142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.18, Y:-130.09, Z:2.88 [[ 1.13715945e-01 9.93512987e-01 -7.92241857e-04 4.81812974e+01] [ 9.93465733e-01 -1.13718268e-01 -9.69502241e-03 -1.30085291e+02] [-9.72222305e-03 3.15413502e-04 -9.99952688e-01 2.87890679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.19, Y:-130.09, Z:2.88 [[ 3.25162852e-02 9.99471205e-01 -3.12499712e-05 4.81944963e+01] [ 9.99420337e-01 -3.25149457e-02 -1.00880360e-02 -1.30092254e+02] [-1.00837176e-02 2.96793599e-04 -9.99949114e-01 2.87874669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.21, Y:-130.10, Z:2.88 [[-4.83847294e-02 9.98828502e-01 7.36157790e-04 4.82079022e+01] [ 9.98780924e-01 4.83896124e-02 -9.75246520e-03 -1.30098103e+02] [-9.77666259e-03 2.63389969e-04 -9.99952173e-01 2.87916090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.22, Y:-130.10, Z:2.88 [[-1.28865764e-01 9.91660857e-01 1.53640016e-03 4.82200226e+01] [ 9.91611332e-01 1.28874687e-01 -9.91364084e-03 -1.30103913e+02] [-1.00289727e-02 2.45982908e-04 -9.99949678e-01 2.87990893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.24, Y:-130.11, Z:2.88 [[-2.10760207e-01 9.77534895e-01 2.37991954e-03 4.82353823e+01] [ 9.77483074e-01 2.10773544e-01 -1.00673912e-02 -1.30106593e+02] [-1.03428503e-02 2.04525608e-04 -9.99946490e-01 2.88049669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.067628 meters Centerline goodness [0,1] 0.9999341296328825 Centerline is valid? [True, True] Translation: X:48.24, Y:-130.11, Z:2.88 [[-2.87933898e-01 9.57644889e-01 3.21511737e-03 4.82449975e+01] [ 9.57592517e-01 2.87951782e-01 -1.00171321e-02 -1.30110367e+02] [-1.05186542e-02 1.94500432e-04 -9.99944659e-01 2.88189242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.26, Y:-130.11, Z:2.88 [[-3.62992594e-01 9.31784355e-01 3.78054224e-03 4.82570158e+01] [ 9.31738709e-01 3.63012239e-01 -9.22456329e-03 -1.30111322e+02] [-9.96768686e-03 1.74029385e-04 -9.99950306e-01 2.87990130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.27, Y:-130.11, Z:2.88 [[-4.34894826e-01 9.00471972e-01 4.08868017e-03 4.82670588e+01] [ 9.00435537e-01 4.34914017e-01 -8.10191602e-03 -1.30114290e+02] [-9.07377261e-03 1.58111568e-04 -9.99958820e-01 2.87959104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.28, Y:-130.12, Z:2.88 [[-5.01277843e-01 8.65277426e-01 3.93695592e-03 4.82768419e+01] [ 8.65253155e-01 5.01293279e-01 -6.48276722e-03 -1.30115597e+02] [-7.58296168e-03 1.56795966e-04 -9.99971237e-01 2.87745553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.29, Y:-130.12, Z:2.88 [[-5.65459255e-01 8.24765989e-01 4.11029129e-03 4.82855173e+01] [ 8.24746259e-01 5.65474170e-01 -5.70712073e-03 -1.30117269e+02] [-7.03130263e-03 1.62803128e-04 -9.99975267e-01 2.87675086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.30, Y:-130.12, Z:2.88 [[-6.26321679e-01 7.79554986e-01 3.89605545e-03 4.82964059e+01] [ 7.79541420e-01 6.26333777e-01 -4.60156580e-03 -1.30115886e+02] [-6.02740469e-03 1.55076180e-04 -9.99981823e-01 2.87626319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.31, Y:-130.11, Z:2.88 [[-6.81752858e-01 7.31576693e-01 2.92979002e-03 4.83056854e+01] [ 7.31570734e-01 6.81759141e-01 -2.95553340e-03 -1.30114659e+02] [-4.15961048e-03 1.28405291e-04 -9.99991341e-01 2.87558595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.31, Y:-130.11, Z:2.88 [[-7.35605243e-01 6.77404014e-01 2.95431928e-03 4.83146887e+01] [ 6.77399241e-01 7.35611165e-01 -2.54628543e-03 -1.30113951e+02] [-3.89809422e-03 1.28192725e-04 -9.99992394e-01 2.87562242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.34, Y:-130.09, Z:2.88 [[-7.80700549e-01 6.24897535e-01 3.11822792e-03 4.83366412e+01] [ 6.24893226e-01 7.80706765e-01 -2.32443150e-03 -1.30094444e+02] [-3.88695315e-03 1.33874557e-04 -9.99992437e-01 2.87564883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.36, Y:-130.07, Z:2.88 [[-8.22553384e-01 5.68676014e-01 3.67720611e-03 4.83585325e+01] [ 5.68671156e-01 8.22561589e-01 -2.35562258e-03 -1.30074682e+02] [-4.36431456e-03 1.53495726e-04 -9.99990465e-01 2.87618391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.37, Y:-130.05, Z:2.88 [[-8.61292969e-01 5.08091287e-01 4.20298178e-03 4.83748933e+01] [ 5.08086152e-01 8.61303209e-01 -2.29002572e-03 -1.30050550e+02] [-4.78358380e-03 1.63093787e-04 -9.99988545e-01 2.87657365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.39, Y:-130.02, Z:2.88 [[-8.95776582e-01 4.44474230e-01 5.19365368e-03 4.83922583e+01] [ 4.44467953e-01 8.95791619e-01 -2.36940298e-03 -1.30024393e+02] [-5.70557000e-03 1.85956913e-04 -9.99983706e-01 2.87657781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.42762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.41, Y:-130.00, Z:2.88 [[-9.25745056e-01 3.78106328e-01 5.62999477e-03 4.84069504e+01] [ 3.78100537e-01 9.25762157e-01 -2.10062169e-03 -1.29998262e+02] [-6.00629446e-03 1.84063907e-04 -9.99981945e-01 2.87673609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.45762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.41, Y:-129.97, Z:2.88 [[-9.51460069e-01 3.07705977e-01 6.38512251e-03 4.84145753e+01] [ 3.07700291e-01 9.51481477e-01 -1.87890628e-03 -1.29967696e+02] [-6.65347649e-03 1.76999760e-04 -9.99977850e-01 2.87757420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.42, Y:-129.94, Z:2.88 [[-9.71288757e-01 2.37825400e-01 6.10166466e-03 4.84240818e+01] [ 2.37821710e-01 9.71307909e-01 -1.33391191e-03 -1.29940324e+02] [-6.24383328e-03 1.55494681e-04 -9.99980495e-01 2.87723714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.51762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.59, Y:-129.19, Z:1.98 [[-9.66518845e-01 -2.56532521e-01 5.69108758e-03 4.85911154e+01] [ 2.56527047e-01 -9.66535585e-01 -1.68429250e-03 -1.29185355e+02] [ 5.93271447e-03 -1.67982552e-04 9.99982387e-01 1.98017136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.37, Y:-129.93, Z:2.88 [[-9.73392157e-01 2.29072845e-01 5.77418368e-03 4.83687217e+01] [ 2.29069531e-01 9.73409276e-01 -1.23783390e-03 -1.29926842e+02] [-5.90419809e-03 1.17791733e-04 -9.99982563e-01 2.87668538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.57762800000003 meters Centerline goodness [0,1] 0.9998252969951084 Centerline is valid? [True, True] Translation: X:48.53, Y:-129.18, Z:1.98 [[-9.66301639e-01 -2.57296712e-01 7.71654392e-03 4.85346925e+01] [ 2.57288313e-01 -9.66332449e-01 -2.07902108e-03 -1.29177343e+02] [ 7.99167207e-03 -2.35849091e-05 9.99968066e-01 1.97642150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.60762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.32, Y:-129.91, Z:2.88 [[-9.75177578e-01 2.21276142e-01 8.09688176e-03 4.83167501e+01] [ 2.21269632e-01 9.75211183e-01 -1.70247618e-03 -1.29912508e+02] [-8.27288700e-03 1.31377449e-04 -9.99965770e-01 2.87947464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.48, Y:-129.17, Z:1.98 [[-9.65779987e-01 -2.59177447e-01 9.80142931e-03 4.84773076e+01] [ 2.59163732e-01 -9.65829721e-01 -2.66653574e-03 -1.29168800e+02] [ 1.01576177e-02 -3.51118543e-05 9.99948409e-01 1.97581647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.26, Y:-129.90, Z:2.88 [[-9.77099072e-01 2.12570216e-01 9.55549325e-03 4.82616412e+01] [ 2.12561119e-01 9.77145788e-01 -1.96950239e-03 -1.29900308e+02] [-9.75576753e-03 1.06727381e-04 -9.99952406e-01 2.88114094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.26, Y:-129.87, Z:2.88 [[-9.89893653e-01 1.41504331e-01 9.33168131e-03 4.82646147e+01] [ 1.41498917e-01 9.89937632e-01 -1.24119739e-03 -1.29872168e+02] [-9.41341731e-03 9.17693819e-05 -9.99955689e-01 2.87972873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.27, Y:-129.85, Z:2.88 [[-9.97484160e-01 7.04628626e-02 7.76762132e-03 4.82725597e+01] [ 7.04612934e-02 9.97514401e-01 -4.75828760e-04 -1.29846120e+02] [-7.78184238e-03 7.26849948e-05 -9.99969718e-01 2.87784818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.32, Y:-129.09, Z:1.98 [[-9.92946484e-01 -1.18333239e-01 7.38403775e-03 4.83226695e+01] [ 1.18329283e-01 -9.92973935e-01 -9.71790482e-04 -1.29085782e+02] [ 7.44715213e-03 -9.11880482e-05 9.99972265e-01 1.98010615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.787628 meters Centerline goodness [0,1] 0.9999126484975541 Centerline is valid? [True, True] Translation: X:48.20, Y:-129.84, Z:2.88 [[-9.97682187e-01 6.75886719e-02 7.87561076e-03 4.81962892e+01] [ 6.75872964e-02 9.97713267e-01 -4.40975520e-04 -1.29844635e+02] [-7.88740629e-03 9.23378180e-05 -9.99968890e-01 2.87842575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.19, Y:-129.82, Z:2.88 [[-9.99982267e-01 5.23097541e-04 5.93228657e-03 4.81913869e+01] [ 5.23641780e-04 9.99999859e-01 9.01890920e-05 -1.29820934e+02] [-5.93223856e-03 9.32938858e-05 -9.99982400e-01 2.87568721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.19, Y:-129.80, Z:2.88 [[-9.97686549e-01 -6.78127708e-02 4.79344530e-03 4.81946766e+01] [-6.78115555e-02 9.97698061e-01 4.15782765e-04 -1.29795529e+02] [-4.81060646e-03 8.97698893e-05 -9.99988425e-01 2.87523854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.19, Y:-129.77, Z:2.87 [[-9.90683271e-01 -1.36122218e-01 4.17120059e-03 4.81853662e+01] [-1.36120623e-01 9.90692048e-01 6.65176906e-04 -1.29771057e+02] [-4.22292061e-03 9.11932115e-05 -9.99991079e-01 2.87448450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.16, Y:-129.75, Z:2.87 [[-9.78906018e-01 -2.04277955e-01 3.67771075e-03 4.81605506e+01] [-2.04276157e-01 9.78912922e-01 8.62116482e-04 -1.29750285e+02] [-3.77626997e-03 9.26623944e-05 -9.99992866e-01 2.87386396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.11, Y:-129.74, Z:2.87 [[-9.62531111e-01 -2.71153650e-01 3.09181568e-03 4.81087995e+01] [-2.71151933e-01 9.62536072e-01 9.69537030e-04 -1.29737475e+02] [-3.23887762e-03 9.48577556e-05 -9.99994750e-01 2.87381647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.05, Y:-129.73, Z:2.87 [[-9.40590428e-01 -3.39530790e-01 2.91380670e-03 4.80459739e+01] [-3.39528834e-01 9.40594936e-01 1.15653931e-03 -1.29731717e+02] [-3.13339253e-03 9.85084119e-05 -9.99995086e-01 2.87351394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.97, Y:-129.74, Z:2.87 [[-9.13567232e-01 -4.06678744e-01 2.70397450e-03 4.79708868e+01] [-4.06676633e-01 9.13571228e-01 1.31404840e-03 -1.29737650e+02] [-3.00466886e-03 1.00828317e-04 -9.99995481e-01 2.87412054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.89, Y:-129.75, Z:2.87 [[-8.82112010e-01 -4.71030532e-01 2.93941654e-03 4.78911817e+01] [-4.71027436e-01 8.82116898e-01 1.71245303e-03 -1.29749698e+02] [-3.39952666e-03 1.26029551e-04 -9.99994214e-01 2.87497188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.80, Y:-129.77, Z:2.88 [[-8.45000173e-01 -5.34757264e-01 3.06194162e-03 4.78045489e+01] [-5.34753128e-01 8.45005709e-01 2.10820821e-03 -1.29770155e+02] [-3.71473781e-03 1.44053446e-04 -9.99993090e-01 2.87562445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.71, Y:-129.81, Z:2.88 [[-8.02856099e-01 -5.96165037e-01 3.05503013e-03 4.77143377e+01] [-5.96159964e-01 8.02861896e-01 2.46449306e-03 -1.29805682e+02] [-3.92201187e-03 1.57346631e-04 -9.99992297e-01 2.87670466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.62, Y:-129.85, Z:2.88 [[-7.56051005e-01 -6.54504711e-01 3.23425264e-03 4.76203773e+01] [-6.54497662e-01 7.56057901e-01 3.04321305e-03 -1.29849698e+02] [-4.43707954e-03 1.84013496e-04 -9.99990139e-01 2.87752493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.53, Y:-129.90, Z:2.88 [[-7.04919498e-01 -7.09280090e-01 3.20228538e-03 4.75288000e+01] [-7.09271428e-01 7.04926743e-01 3.51134731e-03 -1.29903582e+02] [-4.74790534e-03 2.03927657e-04 -9.99988708e-01 2.87797990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.17762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.44, Y:-129.97, Z:2.88 [[-6.48669496e-01 -7.61064173e-01 3.03458522e-03 4.74393559e+01] [-7.61054271e-01 6.48676559e-01 3.88821023e-03 -1.29965737e+02] [-4.92764181e-03 2.12679325e-04 -9.99987837e-01 2.87746434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.20762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.35, Y:-130.04, Z:2.88 [[-5.87869340e-01 -8.08951175e-01 2.76338163e-03 4.73500334e+01] [-8.08940484e-01 5.87875796e-01 4.16423832e-03 -1.30040583e+02] [-4.99319066e-03 2.12616755e-04 -9.99987511e-01 2.87719750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.26, Y:-130.12, Z:2.88 [[-5.21349060e-01 -8.53339209e-01 2.71152668e-03 4.72641243e+01] [-8.53325398e-01 5.21356065e-01 4.85986551e-03 -1.30122627e+02] [-5.56078467e-03 2.19871729e-04 -9.99984515e-01 2.87848608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.26762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.18, Y:-130.21, Z:2.88 [[-4.52178857e-01 -8.91923364e-01 2.64482957e-03 4.71827274e+01] [-8.91904938e-01 4.52186530e-01 5.73787034e-03 -1.30214238e+02] [-6.31369692e-03 2.35607098e-04 -9.99980041e-01 2.87983672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.29762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.11, Y:-130.31, Z:2.88 [[-3.79702731e-01 -9.25105248e-01 2.47298577e-03 4.71102230e+01] [-9.25081205e-01 3.79710704e-01 6.67422441e-03 -1.30305189e+02] [-7.11337920e-03 2.46508580e-04 -9.99974669e-01 2.88024386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.32762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.04, Y:-130.41, Z:2.88 [[-3.04367440e-01 -9.52552891e-01 1.85770616e-03 4.70432248e+01] [-9.52530623e-01 3.04373034e-01 6.51685145e-03 -1.30409374e+02] [-6.77308135e-03 2.13995383e-04 -9.99977040e-01 2.88053606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.35762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.98, Y:-130.52, Z:2.88 [[-2.24172565e-01 -9.74548695e-01 1.22553777e-03 4.69817065e+01] [-9.74530063e-01 2.24175859e-01 6.02829409e-03 -1.30523098e+02] [-6.14960212e-03 1.57054747e-04 -9.99981079e-01 2.87979966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.93, Y:-130.64, Z:2.88 [[-1.45186194e-01 -9.89404158e-01 6.17884549e-04 4.69319534e+01] [-9.89391615e-01 1.45187465e-01 4.98309509e-03 -1.30638489e+02] [-5.02000409e-03 1.12146817e-04 -9.99987393e-01 2.87964486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.89, Y:-130.75, Z:2.88 [[-6.50039606e-02 -9.97884984e-01 2.07069916e-04 4.68899557e+01] [-9.97874874e-01 6.50042342e-02 4.49291974e-03 -1.30749777e+02] [-4.49687756e-03 8.54277112e-05 -9.99989885e-01 2.87882287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.86, Y:-130.87, Z:2.88 [[ 1.57459844e-02 -9.99876017e-01 -1.23998427e-04 4.68578749e+01] [-9.99868134e-01 -1.57463527e-02 3.97073926e-03 -1.30870283e+02] [-3.97219948e-03 6.14588777e-05 -9.99992109e-01 2.87821872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.83, Y:-131.00, Z:2.88 [[ 9.91127051e-02 -9.95076156e-01 -3.39315036e-04 4.68330980e+01] [-9.95071273e-01 -9.91132817e-02 3.11751483e-03 -1.30996703e+02] [-3.13579530e-03 2.86573170e-05 -9.99995083e-01 2.87736259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.82, Y:-131.12, Z:2.88 [[ 1.78200068e-01 -9.83994142e-01 -5.13688812e-04 4.68210848e+01] [-9.83990343e-01 -1.78200807e-01 2.73455862e-03 -1.31118801e+02] [-2.78232943e-03 1.81662979e-05 -9.99996129e-01 2.87738592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.82, Y:-131.24, Z:2.88 [[ 2.55918866e-01 -9.66698015e-01 -6.93549315e-04 4.68184967e+01] [-9.66694579e-01 -2.55919806e-01 2.57746164e-03 -1.31242315e+02] [-2.66912006e-03 1.08293016e-05 -9.99996438e-01 2.87693419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.82, Y:-131.36, Z:2.88 [[ 3.33172198e-01 -9.42865490e-01 -9.76749169e-04 4.68246066e+01] [-9.42861446e-01 -3.33173630e-01 2.76164216e-03 -1.31363437e+02] [-2.92928416e-03 8.36743928e-07 -9.99995710e-01 2.87759304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.84, Y:-131.48, Z:2.88 [[ 4.04826281e-01 -9.14392845e-01 -1.18661312e-03 4.68415194e+01] [-9.14388922e-01 -4.04828020e-01 2.67815544e-03 -1.31480899e+02] [-2.92926041e-03 8.38182649e-07 -9.99995710e-01 2.87759187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.87, Y:-131.59, Z:2.88 [[ 4.74683272e-01 -8.80155239e-01 -1.59576217e-03 4.68659871e+01] [-8.80150255e-01 -4.74685954e-01 2.96212510e-03 -1.31594753e+02] [-3.36461582e-03 -1.56075569e-06 -9.99994340e-01 2.87800029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.90, Y:-131.71, Z:2.88 [[ 5.41265928e-01 -8.40849336e-01 -1.89448999e-03 4.69001370e+01] [-8.40844166e-01 -5.41269243e-01 2.94859578e-03 -1.31706843e+02] [-3.50475397e-03 -3.00356947e-06 -9.99993858e-01 2.87879576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.94, Y:-131.81, Z:2.88 [[ 6.04019364e-01 -7.96966191e-01 -2.34506423e-03 4.69421715e+01] [-7.96960168e-01 -6.04023916e-01 3.09841490e-03 -1.31814242e+02] [-3.88580680e-03 -2.57981623e-06 -9.99992450e-01 2.88008552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.99, Y:-131.91, Z:2.88 [[ 6.62247372e-01 -7.49277695e-01 -3.36938725e-03 4.69911980e+01] [-7.49268028e-01 -6.62255944e-01 3.80621511e-03 -1.31911290e+02] [-5.08330882e-03 3.91818810e-06 -9.99987080e-01 2.88140623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.05, Y:-132.00, Z:2.88 [[ 7.16815772e-01 -6.97250585e-01 -4.09516252e-03 4.70453025e+01] [-6.97239293e-01 -7.16827470e-01 3.96829903e-03 -1.32003875e+02] [-5.70242381e-03 1.07688895e-05 -9.99983741e-01 2.88199390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.04, Y:-132.01, Z:2.88 [[ 7.68218442e-01 -6.40170452e-01 -4.71356915e-03 4.70427448e+01] [-6.40158564e-01 -7.68232902e-01 3.90132492e-03 -1.32007413e+02] [-6.11863184e-03 2.03619053e-05 -9.99981281e-01 2.88270425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.04, Y:-132.01, Z:2.88 [[ 8.14359871e-01 -5.80333156e-01 -5.60620524e-03 4.70436327e+01] [-5.80319750e-01 -8.14379166e-01 3.94470671e-03 -1.32007598e+02] [-6.85482084e-03 4.09807836e-05 -9.99976505e-01 2.88320990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.04, Y:-132.01, Z:2.88 [[ 8.56764713e-01 -5.15668701e-01 -6.32595364e-03 4.70421626e+01] [-5.15655079e-01 -8.56788065e-01 3.74856322e-03 -1.32010638e+02] [-7.35301830e-03 5.03734348e-05 -9.99972965e-01 2.88303566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.04, Y:-132.01, Z:2.88 [[ 8.94050517e-01 -4.47919438e-01 -6.46920489e-03 4.70404264e+01] [-4.47908161e-01 -8.94073920e-01 3.17877549e-03 -1.32014291e+02] [-7.20778271e-03 5.56237966e-05 -9.99974022e-01 2.88248072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.04, Y:-132.01, Z:2.88 [[ 9.25673715e-01 -3.78270007e-01 -6.32253827e-03 4.70397024e+01] [-3.78261656e-01 -9.25695305e-01 2.51433872e-03 -1.32013189e+02] [-6.80384292e-03 6.41165274e-05 -9.99976852e-01 2.88176463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.04, Y:-132.02, Z:2.88 [[ 9.52086924e-01 -3.05762159e-01 -6.32383974e-03 4.70371491e+01] [-3.05755900e-01 -9.52107923e-01 1.95763459e-03 -1.32018079e+02] [-6.61954850e-03 6.97130141e-05 -9.99978088e-01 2.88108967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.95762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.03, Y:-132.02, Z:2.88 [[ 9.72744472e-01 -2.31782324e-01 -6.71913797e-03 4.70345110e+01] [-2.31777377e-01 -9.72767674e-01 1.51643322e-03 -1.32021254e+02] [-6.88764263e-03 8.22421481e-05 -9.99976277e-01 2.88104660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.03, Y:-132.02, Z:2.88 [[ 9.87730492e-01 -1.56030468e-01 -6.55496978e-03 4.70276206e+01] [-1.56027613e-01 -9.87752239e-01 9.47845781e-04 -1.32021968e+02] [-6.62257890e-03 8.65401089e-05 -9.99978067e-01 2.88094463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.01762800000003 meters Centerline goodness [0,1] 0.9999101870354986 Centerline is valid? [True, True] Translation: X:47.02, Y:-132.02, Z:2.88 [[ 9.96639720e-01 -8.15708247e-02 -7.44775638e-03 4.70216306e+01] [-8.15694659e-02 -9.96667540e-01 4.86527224e-04 -1.32023511e+02] [-7.46262346e-03 1.22617154e-04 -9.99972147e-01 2.88179487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.02, Y:-132.03, Z:2.88 [[ 9.99979276e-01 -1.51647980e-03 -6.25676414e-03 4.70154452e+01] [-1.51702282e-03 -9.99998846e-01 -8.20435605e-05 -1.32030485e+02] [-6.25663250e-03 9.15335142e-05 -9.99980423e-01 2.88062001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.07762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.01, Y:-132.04, Z:2.88 [[ 9.96863730e-01 7.88890735e-02 -6.26243400e-03 4.70103560e+01] [ 7.88870229e-02 -9.96883397e-01 -5.74175313e-04 -1.32042135e+02] [-6.28821264e-03 7.83497697e-05 -9.99980226e-01 2.87991115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.01, Y:-132.05, Z:2.88 [[ 9.87447480e-01 1.57782170e-01 -7.22913903e-03 4.70058006e+01] [ 1.57777324e-01 -9.87473939e-01 -1.23939549e-03 -1.32052695e+02] [-7.33414091e-03 8.32437418e-05 -9.99973101e-01 2.88008660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.00, Y:-132.06, Z:2.88 [[ 9.71964059e-01 2.34988365e-01 -8.14473118e-03 4.70028064e+01] [ 2.34979320e-01 -9.71998179e-01 -2.06379677e-03 -1.32063454e+02] [-8.40163211e-03 9.20928917e-05 -9.99964701e-01 2.88065999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.00, Y:-132.07, Z:2.88 [[ 9.50638219e-01 3.10155208e-01 -9.52493498e-03 4.69996142e+01] [ 3.10138452e-01 -9.50685928e-01 -3.22588704e-03 -1.32072569e+02] [-1.00557473e-02 1.12602921e-04 -9.99949433e-01 2.88122274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.00, Y:-132.08, Z:2.88 [[ 9.23680870e-01 3.83043333e-01 -9.56321276e-03 4.69966691e+01] [ 3.83021417e-01 -9.23730366e-01 -4.09930905e-03 -1.32081378e+02] [-1.04040430e-02 1.23538042e-04 -9.99945869e-01 2.88136015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.00, Y:-132.09, Z:2.88 [[ 8.91511357e-01 4.52898298e-01 -9.52009763e-03 4.69950018e+01] [ 4.52870756e-01 -8.91562175e-01 -4.99669435e-03 -1.32090465e+02] [-1.07507533e-02 1.43235956e-04 -9.99942199e-01 2.88108152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.99, Y:-132.10, Z:2.88 [[ 8.55168426e-01 5.18283661e-01 -8.30722817e-03 4.69928062e+01] [ 5.18257321e-01 -8.55208758e-01 -5.22776648e-03 -1.32099804e+02] [-9.81388023e-03 1.65339008e-04 -9.99951829e-01 2.88112155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.99, Y:-132.11, Z:2.88 [[ 8.12930214e-01 5.82310536e-01 -7.67504441e-03 4.69939933e+01] [ 5.82282520e-01 -8.12966425e-01 -5.71480512e-03 -1.32112425e+02] [-9.56734465e-03 1.76693554e-04 -9.99954216e-01 2.87993582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.99, Y:-132.12, Z:2.88 [[ 7.65642397e-01 6.43234882e-01 -6.37230393e-03 4.69939826e+01] [ 6.43210778e-01 -7.65668896e-01 -5.57110310e-03 -1.32123761e+02] [-8.46260276e-03 1.66738163e-04 -9.99964178e-01 2.87918301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.99, Y:-132.13, Z:2.88 [[ 7.13984042e-01 7.00143468e-01 -5.09045495e-03 4.69928227e+01] [ 7.00124115e-01 -7.14002172e-01 -5.20792307e-03 -1.32132995e+02] [-7.28088921e-03 1.54423698e-04 -9.99973482e-01 2.87899461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.00, Y:-132.15, Z:2.88 [[ 6.57596575e-01 7.53362290e-01 -3.46475158e-03 4.69985267e+01] [ 7.53350869e-01 -6.57605692e-01 -4.15008231e-03 -1.32146384e+02] [-5.40495587e-03 1.18906305e-04 -9.99985386e-01 2.87662250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.00, Y:-132.16, Z:2.88 [[ 5.96423237e-01 8.02666690e-01 -2.34680172e-03 4.70030645e+01] [ 8.02659885e-01 -5.96427847e-01 -3.30629480e-03 -1.32158358e+02] [-4.05355060e-03 8.82674492e-05 -9.99991780e-01 2.87598947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.01, Y:-132.17, Z:2.88 [[ 5.31219721e-01 8.47232906e-01 -1.41819194e-03 4.70070258e+01] [ 8.47229589e-01 -5.31221611e-01 -2.37145645e-03 -1.32170187e+02] [-2.76255014e-03 5.82302601e-05 -9.99996182e-01 2.87500596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.01, Y:-132.18, Z:2.87 [[ 4.60931883e-01 8.87435409e-01 -4.39708972e-04 4.70136560e+01] [ 8.87434968e-01 -4.60932092e-01 -8.85404659e-04 -1.32181200e+02] [-9.88415422e-04 1.78981195e-05 -9.99999511e-01 2.87402973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.02, Y:-132.19, Z:2.87 [[ 3.88121532e-01 9.21608194e-01 -1.15547835e-04 4.70205819e+01] [ 9.21608149e-01 -3.88121549e-01 -2.86150557e-04 -1.32190894e+02] [-3.08565302e-04 4.57136604e-06 -9.99999952e-01 2.87416773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.03, Y:-132.20, Z:2.87 [[ 3.12814678e-01 9.49814176e-01 8.84716124e-05 4.70273794e+01] [ 9.49814134e-01 -3.12814690e-01 2.84391871e-04 -1.32200404e+02] [ 2.97794651e-04 -4.93036352e-06 -9.99999956e-01 2.87432845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.04, Y:-132.21, Z:2.88 [[ 2.33641804e-01 9.72322724e-01 1.66745545e-04 4.70357027e+01] [ 9.72322450e-01 -2.33641863e-01 7.30686971e-04 -1.32210019e+02] [ 7.49422287e-04 -8.58858486e-06 -9.99999719e-01 2.87506772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.05, Y:-132.22, Z:2.88 [[ 1.54680423e-01 9.87964547e-01 1.45697394e-04 4.70462433e+01] [ 9.87964051e-01 -1.54680492e-01 9.90056472e-04 -1.32218013e+02] [ 1.00067724e-03 -9.19856637e-06 -9.99999499e-01 2.87628491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.05, Y:-132.23, Z:2.88 [[ 7.48367833e-02 9.97195795e-01 5.41301974e-05 4.70547606e+01] [ 9.97195474e-01 -7.48368026e-02 8.00282296e-04 -1.32226143e+02] [ 8.02089071e-04 -5.91216494e-06 -9.99999678e-01 2.87674468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.06, Y:-132.23, Z:2.88 [[-5.62363699e-03 9.99984187e-01 -5.18910958e-06 4.70620011e+01] [ 9.99984084e-01 5.62363877e-03 4.55016256e-04 -1.32232926e+02] [ 4.55038243e-04 -2.63018073e-06 -9.99999896e-01 2.87704750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.07, Y:-132.24, Z:2.88 [[-8.43810823e-02 9.96433556e-01 -4.58790798e-05 4.70678186e+01] [ 9.96433425e-01 8.43810948e-02 5.10322135e-04 -1.32239405e+02] [ 5.12373426e-04 -2.65391459e-06 -9.99999869e-01 2.87724854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.70762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.08, Y:-132.24, Z:2.88 [[-1.62051377e-01 9.86782322e-01 -3.31376716e-05 4.70771618e+01] [ 9.86782303e-01 1.62051381e-01 1.93230501e-04 -1.32244615e+02] [ 1.96046448e-04 -1.38639913e-06 -9.99999981e-01 2.87809906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.08, Y:-132.25, Z:2.88 [[-2.37312093e-01 9.71433442e-01 1.93487271e-04 4.70841256e+01] [ 9.71433133e-01 2.37312172e-01 -7.74929931e-04 -1.32249990e+02] [-7.98709735e-04 4.05970168e-06 -9.99999681e-01 2.87923039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.76762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.09, Y:-132.25, Z:2.88 [[-3.10928851e-01 9.50433117e-01 3.73307986e-04 4.70910534e+01] [ 9.50432464e-01 3.10929075e-01 -1.11421248e-03 -1.32254173e+02] [-1.17505675e-03 8.36322210e-06 -9.99999310e-01 2.87971811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.10, Y:-132.26, Z:2.88 [[-3.82616492e-01 9.23906936e-01 7.71297698e-04 4.70982060e+01] [ 9.23905154e-01 3.82617269e-01 -1.81466386e-03 -1.32258906e+02] [-1.97169234e-03 1.82856000e-05 -9.99998056e-01 2.88014753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.82762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.11, Y:-132.26, Z:2.88 [[-4.51730193e-01 8.92154172e-01 8.75241056e-04 4.71053035e+01] [ 8.92152591e-01 4.51731041e-01 -1.67991513e-03 -1.32263383e+02] [-1.89411684e-03 2.19801908e-05 -9.99998206e-01 2.88057305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.85762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.11, Y:-132.27, Z:2.88 [[-5.16737897e-01 8.56142686e-01 1.28312576e-03 4.71115821e+01] [ 8.56140227e-01 5.16739489e-01 -2.05227223e-03 -1.32268223e+02] [-2.42007961e-03 3.80487464e-05 -9.99997071e-01 2.88144262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.12, Y:-132.27, Z:2.88 [[-5.82238637e-01 8.13017048e-01 1.20412051e-03 4.71204676e+01] [ 8.13015420e-01 5.82239881e-01 -1.62689899e-03 -1.32272446e+02] [-2.02378359e-03 3.17250921e-05 -9.99997952e-01 2.88166790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.13, Y:-132.27, Z:2.88 [[-6.44381157e-01 7.64703361e-01 1.30115408e-03 4.71346942e+01] [ 7.64701897e-01 6.44382470e-01 -1.49678286e-03 -1.32270348e+02] [-1.98303577e-03 3.04963152e-05 -9.99998033e-01 2.88169099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.14, Y:-132.27, Z:2.88 [[-7.03542880e-01 7.10645828e-01 3.15009579e-03 4.71446520e+01] [ 7.10639089e-01 7.03549930e-01 -3.09536094e-03 -1.32271400e+02] [-4.41595501e-03 6.08620543e-05 -9.99990248e-01 2.88431922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.17, Y:-132.25, Z:2.88 [[-7.52605112e-01 6.58458228e-01 4.27869838e-03 4.71699423e+01] [ 6.58448134e-01 7.52617271e-01 -3.64669365e-03 -1.32252145e+02] [-5.62141774e-03 7.27806810e-05 -9.99984197e-01 2.88450069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.18, Y:-132.23, Z:2.89 [[-7.97755229e-01 6.02960054e-01 5.07615301e-03 4.71808370e+01] [ 6.02948453e-01 7.97771375e-01 -3.74102270e-03 -1.32225287e+02] [-6.30529682e-03 7.62381842e-05 -9.99980119e-01 2.88535332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.21, Y:-132.21, Z:2.89 [[-8.39065391e-01 5.43990119e-01 6.63477164e-03 4.72131512e+01] [ 5.43973920e-01 8.39091618e-01 -4.19900072e-03 -1.32210951e+02] [-7.85139617e-03 8.59065597e-05 -9.99969174e-01 2.88583419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.23, Y:-132.19, Z:2.89 [[-8.75811335e-01 4.82601770e-01 7.07377428e-03 4.72344803e+01] [ 4.82586784e-01 8.75839897e-01 -3.80398574e-03 -1.32190335e+02] [-8.03130399e-03 8.21361566e-05 -9.99967745e-01 2.88622188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.25, Y:-132.17, Z:2.89 [[-9.08110330e-01 4.18659909e-01 7.71419227e-03 4.72509278e+01] [ 4.18645551e-01 9.08143091e-01 -3.46826449e-03 -1.32166695e+02] [-8.45761371e-03 7.99454634e-05 -9.99964231e-01 2.88694415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.27, Y:-132.14, Z:2.89 [[-9.35894995e-01 3.52186296e-01 8.08523269e-03 4.72653281e+01] [ 3.52173814e-01 9.35929916e-01 -2.96597777e-03 -1.32141290e+02] [-8.61178788e-03 7.15634832e-05 -9.99962915e-01 2.88754120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.55, Y:-131.39, Z:1.97 [[-9.15699462e-01 -4.01774132e-01 8.48781890e-03 4.75499448e+01] [ 4.01756531e-01 -9.15738798e-01 -3.76087380e-03 -1.31386025e+02] [ 9.28364689e-03 -3.37934375e-05 9.99956905e-01 1.96873146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.22, Y:-132.12, Z:2.89 [[-9.38775159e-01 3.44433239e-01 8.18196445e-03 4.72177126e+01] [ 3.44420463e-01 9.38810813e-01 -2.96676354e-03 -1.32121748e+02] [-8.70316867e-03 3.29120650e-05 -9.99962126e-01 2.88763070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.23, Y:-132.10, Z:2.89 [[-9.61223048e-01 2.75665707e-01 7.65965483e-03 4.72326965e+01] [ 2.75657109e-01 9.61253566e-01 -2.17734927e-03 -1.32097004e+02] [-7.96309105e-03 1.85200034e-05 -9.99968294e-01 2.88678313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.24, Y:-132.07, Z:2.89 [[-9.78518670e-01 2.06044657e-01 6.84194676e-03 4.72379585e+01] [ 2.06039698e-01 9.78542589e-01 -1.42948098e-03 -1.32070221e+02] [-6.98967322e-03 1.09388191e-05 -9.99975572e-01 2.88630037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.42, Y:-131.29, Z:1.97 [[-9.63091618e-01 -2.69149413e-01 3.62341030e-03 4.74158385e+01] [ 2.69146684e-01 -9.63098411e-01 -1.22997057e-03 -1.31285703e+02] [ 3.82074656e-03 -2.09345479e-04 9.99992679e-01 1.97390482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.19, Y:-132.06, Z:2.88 [[-9.79668488e-01 2.00614872e-01 1.82388137e-03 4.71854182e+01] [ 2.00614525e-01 9.79670186e-01 -3.72951260e-04 -1.32061130e+02] [-1.86162177e-03 5.28498062e-07 -9.99998267e-01 2.88100794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.36, Y:-131.27, Z:1.98 [[-9.63835325e-01 -2.66498462e-01 1.92635484e-04 4.73619790e+01] [ 2.66498433e-01 -9.63835338e-01 -1.61960546e-04 -1.31274764e+02] [ 2.28831123e-04 -1.04766241e-04 9.99999968e-01 1.97679665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.14, Y:-132.05, Z:2.88 [[-9.80897946e-01 1.94511621e-01 -2.10904369e-03 4.71427870e+01] [ 1.94511159e-01 9.80900214e-01 4.23993887e-04 -1.32053410e+02] [ 2.15123314e-03 5.66220203e-06 -9.99997686e-01 2.87885537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.31, Y:-131.26, Z:1.98 [[-9.64175711e-01 -2.65253212e-01 -2.43576259e-03 4.73083955e+01] [ 2.65252444e-01 -9.64178787e-01 6.39001270e-04 -1.31264233e+02] [-2.51800776e-03 -2.99824755e-05 9.99996829e-01 1.97727355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.42762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.09, Y:-132.04, Z:2.88 [[-9.82047669e-01 1.88611434e-01 -2.84647813e-03 4.70933716e+01] [ 1.88610603e-01 9.82051794e-01 5.60180895e-04 -1.32044353e+02] [ 2.90104548e-03 1.32483857e-05 -9.99995792e-01 2.87941548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.45762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.25, Y:-131.25, Z:1.98 [[-9.64374806e-01 -2.64526458e-01 -2.64313584e-03 4.72509071e+01] [ 2.64525470e-01 -9.64378428e-01 7.22846547e-04 -1.31252943e+02] [-2.74019522e-03 -2.08175124e-06 9.99996246e-01 1.97620254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.04, Y:-132.03, Z:2.88 [[-9.83197838e-01 1.82522951e-01 -2.71721266e-03 4.70378010e+01] [ 1.82522201e-01 9.83201593e-01 5.23333826e-04 -1.32034126e+02] [ 2.76708825e-03 1.85890503e-05 -9.99996171e-01 2.88045863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.51762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.05, Y:-132.01, Z:2.88 [[-9.93778980e-01 1.11343264e-01 -2.45278267e-03 4.70471945e+01] [ 1.11342877e-01 9.93782007e-01 2.94033559e-04 -1.32009027e+02] [ 2.47026994e-03 1.91044899e-05 -9.99996949e-01 2.88099575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.05, Y:-131.98, Z:2.88 [[-9.99210813e-01 3.96583576e-02 -2.22839095e-03 4.70521448e+01] [ 3.96582158e-02 9.99213298e-01 1.07764018e-04 -1.31982707e+02] [ 2.23091162e-03 1.93049628e-05 -9.99997511e-01 2.88133318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.57762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.09, Y:-131.17, Z:1.98 [[-9.92267890e-01 -1.24100947e-01 -1.84086864e-03 4.70911734e+01] [ 1.24100718e-01 -9.92269598e-01 2.38681949e-04 -1.31171119e+02] [-1.85625864e-03 8.38331500e-06 9.99998277e-01 1.97502896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.60762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.97, Y:-131.98, Z:2.88 [[-9.99502866e-01 3.15005618e-02 -1.31730149e-03 4.69735313e+01] [ 3.15005141e-02 9.99503734e-01 5.69121562e-05 -1.31977781e+02] [ 1.31844053e-03 1.53881889e-05 -9.99999131e-01 2.88407487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.97, Y:-131.95, Z:2.89 [[-9.99187036e-01 -4.03130898e-02 -3.47896696e-04 4.69742700e+01] [-4.03130891e-02 9.99187097e-01 -9.11888796e-06 -1.31949144e+02] [ 3.47981500e-04 4.91331583e-06 -9.99999939e-01 2.88537069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.95, Y:-131.14, Z:1.97 [[-9.98678526e-01 -5.13918710e-02 2.78575876e-04 4.69505039e+01] [ 5.13918812e-02 -9.98678564e-01 2.97932204e-05 -1.31142819e+02] [ 2.76676627e-04 4.40703877e-05 9.99999961e-01 1.97023599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.87, Y:-131.95, Z:2.89 [[-9.98860242e-01 -4.77218091e-02 9.19875157e-04 4.68734126e+01] [-4.77217992e-02 9.98860665e-01 3.27314571e-05 -1.31947496e+02] [-9.20389115e-04 -1.12039463e-05 -9.99999576e-01 2.88751937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.87, Y:-131.92, Z:2.89 [[-9.92960872e-01 -1.18432079e-01 1.59672576e-03 4.68691589e+01] [-1.18431958e-01 9.92962156e-01 1.70632782e-04 -1.31921632e+02] [-1.60569665e-03 -1.96716812e-05 -9.99998711e-01 2.88861565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.86, Y:-131.89, Z:2.89 [[-9.81994664e-01 -1.88904461e-01 1.25898084e-03 4.68621837e+01] [-1.88904325e-01 9.81995471e-01 2.26653069e-04 -1.31894086e+02] [-1.27912926e-03 -1.52548217e-05 -9.99999182e-01 2.88900745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.84, Y:-131.87, Z:2.89 [[-9.65887994e-01 -2.58952749e-01 1.96409415e-03 4.68389963e+01] [-2.58952264e-01 9.65889990e-01 5.01465255e-04 -1.31870302e+02] [-2.02695468e-03 -2.42473578e-05 -9.99997945e-01 2.88941263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.79, Y:-131.85, Z:2.89 [[-9.44442927e-01 -3.28659429e-01 3.24623054e-03 4.67916539e+01] [-3.28657638e-01 9.44448505e-01 1.08593045e-03 -1.31853032e+02] [-3.42279886e-03 -4.12991283e-05 -9.99994141e-01 2.89109536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.73, Y:-131.84, Z:2.89 [[-9.17704065e-01 -3.97249353e-01 3.49291525e-03 4.67335307e+01] [-3.97246662e-01 9.17710711e-01 1.46274208e-03 -1.31844692e+02] [-3.78655908e-03 -4.51845717e-05 -9.99992830e-01 2.89150167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.66, Y:-131.85, Z:2.89 [[-8.85647459e-01 -4.64346090e-01 3.35969621e-03 4.66595946e+01] [-4.64342945e-01 8.85653830e-01 1.70971092e-03 -1.31846502e+02] [-3.76942539e-03 -4.58501028e-05 -9.99992895e-01 2.89160928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.59, Y:-131.85, Z:2.89 [[-8.48299221e-01 -5.29507205e-01 3.24836337e-03 4.65889210e+01] [-5.29503532e-01 8.48305439e-01 1.97282255e-03 -1.31853124e+02] [-3.80022807e-03 -4.64760471e-05 -9.99992778e-01 2.89146345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.50, Y:-131.88, Z:2.89 [[-8.06075597e-01 -5.91806234e-01 2.74097721e-03 4.65032838e+01] [-5.91802987e-01 8.06080256e-01 1.96104916e-03 -1.31875201e+02] [-3.37000873e-03 -4.13646256e-05 -9.99994321e-01 2.89197320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.42, Y:-131.91, Z:2.89 [[-7.59092932e-01 -6.50979617e-01 1.85990154e-03 4.64178552e+01] [-6.50977757e-01 7.59095210e-01 1.55633073e-03 -1.31906525e+02] [-2.42498193e-03 -2.93548826e-05 -9.99997059e-01 2.89135144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.33, Y:-131.95, Z:2.89 [[-7.07616188e-01 -7.06595190e-01 1.60271570e-03 4.63319423e+01] [-7.06593462e-01 7.07618002e-01 1.56272339e-03 -1.31948321e+02] [-2.23832331e-03 -2.66600640e-05 -9.99997495e-01 2.89071472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.24, Y:-132.00, Z:2.89 [[-6.52289447e-01 -7.57969095e-01 1.15217161e-03 4.62444452e+01] [-7.57967965e-01 6.52290464e-01 1.30907720e-03 -1.32001620e+02] [-1.74379061e-03 -1.94119273e-05 -9.99998479e-01 2.89049527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.16, Y:-132.06, Z:2.89 [[-5.92940418e-01 -8.05246134e-01 5.69673708e-04 4.61596416e+01] [-8.05245778e-01 5.92940692e-01 7.57355400e-04 -1.32062637e+02] [-9.47640230e-04 -9.66072041e-06 -9.99999551e-01 2.89011383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.08, Y:-132.14, Z:2.89 [[-5.30647893e-01 -8.47592356e-01 -1.11268993e-04 4.60792210e+01] [-8.47592338e-01 5.30647904e-01 -1.72787960e-04 -1.32135334e+02] [ 2.05498412e-04 2.62117888e-06 -9.99999979e-01 2.88925184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.00, Y:-132.22, Z:2.89 [[-4.64177293e-01 -8.85742284e-01 -2.15750001e-04 4.59998573e+01] [-8.85742193e-01 4.64177343e-01 -4.01146940e-04 -1.32218074e+02] [ 4.55459070e-04 4.89557846e-06 -9.99999896e-01 2.88903193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.93, Y:-132.31, Z:2.89 [[-3.95216240e-01 -9.18588047e-01 -3.51966173e-04 4.59253505e+01] [-9.18587701e-01 3.95216396e-01 -7.97238453e-04 -1.32310956e+02] [ 8.71436516e-04 8.23021427e-06 -9.99999620e-01 2.88891608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.17762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.86, Y:-132.40, Z:2.89 [[-3.23769207e-01 -9.46136039e-01 -3.10181049e-04 4.58621687e+01] [-9.46135629e-01 3.23769355e-01 -8.81212777e-04 -1.32400372e+02] [ 9.34174285e-04 8.16377969e-06 -9.99999564e-01 2.88895181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.20762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.80, Y:-132.50, Z:2.89 [[-2.50879474e-01 -9.68018329e-01 6.93110733e-05 4.58034863e+01] [-9.68018293e-01 2.50879483e-01 2.62642566e-04 -1.32500709e+02] [-2.71631544e-04 -1.20275819e-06 -9.99999963e-01 2.88983232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.75, Y:-132.61, Z:2.89 [[-1.75866160e-01 -9.84414063e-01 2.15878492e-04 4.57497802e+01] [-9.84413369e-01 1.75866293e-01 1.16910250e-03 -1.32614055e+02] [-1.18884669e-03 -6.90810619e-06 -9.99999293e-01 2.89050027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.26762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.71, Y:-132.72, Z:2.89 [[-9.99510427e-02 -9.94992278e-01 3.95548748e-04 4.57051743e+01] [-9.94985264e-01 9.99518234e-02 3.73609442e-03 -1.32721514e+02] [-3.75692092e-03 -2.01386420e-05 -9.99992943e-01 2.89295152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.29762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.67, Y:-132.84, Z:2.89 [[-2.37494324e-02 -9.99717935e-01 1.23255437e-04 4.56689206e+01] [-9.99708283e-01 2.37497447e-02 4.39300253e-03 -1.32838042e+02] [-4.39469070e-03 -1.88881644e-05 -9.99990343e-01 2.89419107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.32762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.64, Y:-132.96, Z:2.89 [[ 5.23984839e-02 -9.98626224e-01 -2.51317293e-04 4.56426478e+01] [-9.98613272e-01 -5.23990843e-02 5.08621251e-03 -1.32959567e+02] [-5.09239399e-03 -1.55410404e-05 -9.99987034e-01 2.89483288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.35762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.63, Y:-133.07, Z:2.90 [[ 1.27365496e-01 -9.91855646e-01 -6.38356253e-04 4.56259148e+01] [-9.91843023e-01 -1.27367096e-01 5.00411426e-03 -1.33074877e+02] [-5.04466457e-03 -4.20230069e-06 -9.99987276e-01 2.89505359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.62, Y:-133.19, Z:2.89 [[ 1.99373416e-01 -9.79923311e-01 -7.38747789e-04 4.56211843e+01] [-9.79916835e-01 -1.99374784e-01 3.56249672e-03 -1.33193709e+02] [-3.63826126e-03 1.36442535e-05 -9.99993381e-01 2.89203371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.62, Y:-133.31, Z:2.89 [[ 2.72391887e-01 -9.62186090e-01 -7.67012475e-04 4.56247439e+01] [-9.62182450e-01 -2.72392966e-01 2.64680034e-03 -1.33314519e+02] [-2.75564327e-03 1.70390039e-05 -9.99996203e-01 2.89122167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.64, Y:-133.43, Z:2.89 [[ 3.43753694e-01 -9.39059726e-01 -4.77884313e-04 4.56362022e+01] [-9.39058867e-01 -3.43754026e-01 1.27066169e-03 -1.33433684e+02] [-1.35750188e-03 1.19668511e-05 -9.99999079e-01 2.88965133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.66, Y:-133.56, Z:2.89 [[ 4.11893450e-01 -9.11232011e-01 8.58282373e-05 4.56580102e+01] [-9.11231993e-01 -4.11893459e-01 -1.85445702e-04 -1.33555502e+02] [ 2.04336149e-04 -1.82556592e-06 -9.99999979e-01 2.88823813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.68, Y:-133.67, Z:2.89 [[ 4.80019614e-01 -8.77257657e-01 4.15976449e-04 4.56848793e+01] [-8.77257347e-01 -4.80019794e-01 -7.38221561e-04 -1.33667306e+02] [ 8.47287447e-04 -1.05575667e-05 -9.99999641e-01 2.88873589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.72, Y:-133.78, Z:2.89 [[ 5.45334911e-01 -8.38218146e-01 4.17477364e-04 4.57182476e+01] [-8.38217914e-01 -5.45335071e-01 -6.23276339e-04 -1.33777805e+02] [ 7.50106585e-04 -1.00426586e-05 -9.99999719e-01 2.88966858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.76, Y:-133.88, Z:2.89 [[ 6.07935718e-01 -7.93985620e-01 -9.99376375e-04 4.57610871e+01] [-7.93984611e-01 -6.07936539e-01 1.26556614e-03 -1.33882762e+02] [-1.61239873e-03 2.41066055e-05 -9.99998700e-01 2.89131013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.81, Y:-133.98, Z:2.89 [[ 6.67216729e-01 -7.44860662e-01 -2.10515809e-03 4.58103075e+01] [-7.44857167e-01 -6.67220048e-01 2.28226459e-03 -1.33983914e+02] [-3.10457279e-03 4.52769789e-05 -9.99995180e-01 2.89172595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.87, Y:-134.08, Z:2.89 [[ 7.22754283e-01 -6.91096809e-01 -3.38352770e-03 4.58651823e+01] [-6.91089646e-01 -7.22762200e-01 3.14696487e-03 -1.34078330e+02] [-4.62034330e-03 6.38386288e-05 -9.99989324e-01 2.89279645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.86, Y:-134.08, Z:2.90 [[ 7.76334678e-01 -6.30291151e-01 -6.12636999e-03 4.58593145e+01] [-6.30272391e-01 -7.76358846e-01 4.86368724e-03 -1.34084663e+02] [-7.82180056e-03 8.54328029e-05 -9.99969406e-01 2.89604749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.85, Y:-134.09, Z:2.90 [[ 8.24476860e-01 -5.65840851e-01 -7.87648699e-03 4.58541104e+01] [-5.65815982e-01 -8.24514478e-01 5.30570080e-03 -1.34090375e+02] [-9.49645981e-03 8.22146824e-05 -9.99954904e-01 2.89834073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.85, Y:-134.09, Z:2.90 [[ 8.67313412e-01 -4.97668226e-01 -9.68412156e-03 4.58486876e+01] [-4.97638118e-01 -8.67367472e-01 5.47463513e-03 -1.34094309e+02] [-1.11242440e-02 7.09635482e-05 -9.99938121e-01 2.89982846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.85, Y:-134.10, Z:2.90 [[ 9.05252070e-01 -4.24719212e-01 -1.15013324e-02 4.58456354e+01] [-4.24685359e-01 -9.05325129e-01 5.36251273e-03 -1.34099085e+02] [-1.26900074e-02 3.00217337e-05 -9.99919478e-01 2.90079485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.84, Y:-134.10, Z:2.90 [[ 9.36150525e-01 -3.51383805e-01 -1.23132455e-02 4.58423101e+01] [-3.51353598e-01 -9.36231500e-01 4.60733914e-03 -1.34101368e+02] [-1.31469927e-02 1.31401628e-05 -9.99913574e-01 2.90119957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.80762800000002 meters Centerline goodness [0,1] 0.999933257692051 Centerline is valid? [True, True] Translation: X:45.84, Y:-134.10, Z:2.90 [[ 9.60930032e-01 -2.76507936e-01 -1.25233507e-02 4.58409674e+01] [-2.76484519e-01 -9.61011634e-01 3.59848549e-03 -1.34103520e+02] [-1.30300955e-02 4.61981654e-06 -9.99915105e-01 2.90141650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.83762800000002 meters Centerline goodness [0,1] 0.9998885669712503 Centerline is valid? [True, True] Translation: X:45.84, Y:-134.10, Z:2.90 [[ 9.79757062e-01 -1.99856072e-01 -1.15606761e-02 4.58396252e+01] [-1.99842115e-01 -9.79825265e-01 2.36198739e-03 -1.34103474e+02] [-1.17995000e-02 -3.86387112e-06 -9.99930383e-01 2.90006673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.83, Y:-134.10, Z:2.90 [[ 9.92448896e-01 -1.22208454e-01 -1.05016034e-02 4.58342045e+01] [-1.22201536e-01 -9.92504455e-01 1.30027412e-03 -1.34102188e+02] [-1.05817927e-02 -7.14353981e-06 -9.99944011e-01 2.89796553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.83, Y:-134.10, Z:2.90 [[ 9.98962850e-01 -4.45471464e-02 -9.42208208e-03 4.58294788e+01] [-4.45451439e-02 -9.99007283e-01 4.22386807e-04 -1.34101055e+02] [-9.43154475e-03 -2.24072709e-06 -9.99955522e-01 2.89700780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.82, Y:-134.10, Z:2.90 [[ 9.99401597e-01 3.35927061e-02 -8.24486561e-03 4.58248667e+01] [ 3.35915632e-02 -9.99435606e-01 -2.77108950e-04 -1.34099815e+02] [-8.24952109e-03 -1.47965431e-08 -9.99965972e-01 2.89633869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.95762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.82, Y:-134.10, Z:2.90 [[ 9.93750087e-01 1.11399668e-01 -7.13293422e-03 4.58203908e+01] [ 1.11396784e-01 -9.93775686e-01 -8.01688130e-04 -1.34098589e+02] [-7.17784439e-03 2.09171918e-06 -9.99974239e-01 2.89580488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.81, Y:-134.10, Z:2.90 [[ 9.82096955e-01 1.88265728e-01 -6.44878703e-03 4.58135433e+01] [ 1.88261630e-01 -9.82118127e-01 -1.24224454e-03 -1.34095977e+02] [-6.56734271e-03 5.94542047e-06 -9.99978435e-01 2.89547168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.01762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.81, Y:-134.09, Z:2.90 [[ 9.64388948e-01 2.64422337e-01 -5.89782071e-03 4.58069346e+01] [ 2.64417351e-01 -9.64406982e-01 -1.62384942e-03 -1.34093767e+02] [-6.11728153e-03 6.53630737e-06 -9.99981289e-01 2.89507944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.80, Y:-134.09, Z:2.90 [[ 9.40703781e-01 3.39188400e-01 -5.25605964e-03 4.58014687e+01] [ 3.39183073e-01 -9.40718464e-01 -1.90097142e-03 -1.34092484e+02] [-5.58925981e-03 5.48454177e-06 -9.99984380e-01 2.89506863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.07762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.79, Y:-134.09, Z:2.90 [[ 9.10767039e-01 4.12886521e-01 -5.30291611e-03 4.57947940e+01] [ 4.12879531e-01 -9.10782477e-01 -2.40259406e-03 -1.34092059e+02] [-5.82180177e-03 -1.26203872e-06 -9.99983053e-01 2.89582012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.79, Y:-134.09, Z:2.90 [[ 8.75341961e-01 4.83476155e-01 -5.22101563e-03 4.57886865e+01] [ 4.83467590e-01 -8.75357531e-01 -2.87785930e-03 -1.34089929e+02] [-5.96163170e-03 -5.08083905e-06 -9.99982229e-01 2.89619615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.137628 meters Centerline goodness [0,1] 0.9998653531114652 Centerline is valid? [True, True] Translation: X:45.78, Y:-134.09, Z:2.90 [[ 8.34616659e-01 5.50803776e-01 -5.49849845e-03 4.57818211e+01] [ 5.50791887e-01 -8.34634771e-01 -3.61897427e-03 -1.34087495e+02] [-6.58258268e-03 -8.07211638e-06 -9.99978335e-01 2.89836573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.77, Y:-134.09, Z:2.90 [[ 7.87946698e-01 6.15715141e-01 -5.90472549e-03 4.57738723e+01] [ 6.15698053e-01 -7.87968822e-01 -4.58726051e-03 -1.34087654e+02] [-7.47718534e-03 -2.10112185e-05 -9.99972045e-01 2.89872041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.77, Y:-134.09, Z:2.90 [[ 7.36909926e-01 6.75964965e-01 -5.92679794e-03 4.57672442e+01] [ 6.75943401e-01 -7.36933759e-01 -5.39929859e-03 -1.34088591e+02] [-8.01739417e-03 -2.73832356e-05 -9.99967860e-01 2.89924251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.76, Y:-134.09, Z:2.90 [[ 6.81428738e-01 7.31857569e-01 -6.27478594e-03 4.57594733e+01] [ 7.31827017e-01 -6.81457627e-01 -6.68735577e-03 -1.34090179e+02] [-9.17019267e-03 -3.51014730e-05 -9.99957952e-01 2.90047960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.75, Y:-134.09, Z:2.90 [[ 6.21927590e-01 7.83044324e-01 -6.90352911e-03 4.57510291e+01] [ 7.82996872e-01 -6.21965903e-01 -8.62056684e-03 -1.34091545e+02] [-1.10440457e-02 -4.40733389e-05 -9.99939012e-01 2.90199481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.75, Y:-134.10, Z:2.90 [[ 5.59089397e-01 8.29082583e-01 -6.41223291e-03 4.57545568e+01] [ 8.29028874e-01 -5.59126165e-01 -9.43699155e-03 -1.34100593e+02] [-1.14092925e-02 -3.98043210e-05 -9.99934911e-01 2.89953590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.76, Y:-134.11, Z:2.90 [[ 4.92881125e-01 8.70077873e-01 -5.71765042e-03 4.57599506e+01] [ 8.70020154e-01 -4.92914287e-01 -1.00218230e-02 -1.34109988e+02] [-1.15380780e-02 -3.49037150e-05 -9.99933434e-01 2.89934542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.34762800000001 meters Centerline goodness [0,1] 0.9999104524390517 Centerline is valid? [True, True] Translation: X:45.76, Y:-134.12, Z:2.90 [[ 4.25176301e-01 9.05097692e-01 -4.82505260e-03 4.57634206e+01] [ 9.05039671e-01 -4.25203678e-01 -1.02482427e-02 -1.34118929e+02] [-1.13272909e-02 -9.55410975e-06 -9.99935844e-01 2.89999174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.77, Y:-134.13, Z:2.90 [[ 3.54073207e-01 9.35210343e-01 -3.71197330e-03 4.57679260e+01] [ 9.35158853e-01 -3.54092664e-01 -9.81353265e-03 -1.34127487e+02] [-1.04920998e-02 3.42429470e-06 -9.99944956e-01 2.89761290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.77, Y:-134.14, Z:2.90 [[ 2.79769972e-01 9.60062584e-01 -2.93225683e-03 4.57736373e+01] [ 9.60009728e-01 -2.79785338e-01 -1.00740521e-02 -1.34136209e+02] [-1.04921230e-02 3.42220469e-06 -9.99944956e-01 2.89761310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.78, Y:-134.14, Z:2.90 [[ 2.05170782e-01 9.78724382e-01 -1.88004722e-03 4.57783880e+01] [ 9.78682528e-01 -2.05179395e-01 -9.05122235e-03 -1.34144037e+02] [-9.24439895e-03 1.70770030e-05 -9.99957270e-01 2.89655306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.46762800000002 meters Centerline goodness [0,1] 0.9998216395781776 Centerline is valid? [True, True] Translation: X:45.78, Y:-134.15, Z:2.90 [[ 1.30814466e-01 9.91406447e-01 -9.12293674e-04 4.57823121e+01] [ 9.91380457e-01 -1.30817642e-01 -7.17876799e-03 -1.34152075e+02] [-7.23642097e-03 3.46565784e-05 -9.99973816e-01 2.89733657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.79, Y:-134.16, Z:2.89 [[ 5.38792059e-02 9.98547417e-01 -2.93919564e-04 4.57879161e+01] [ 9.98528659e-01 -5.38799953e-02 -6.12067384e-03 -1.34159632e+02] [-6.12761944e-03 3.62899380e-05 -9.99981225e-01 2.89429753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.80, Y:-134.17, Z:2.89 [[-2.32606414e-02 9.99729422e-01 1.56337936e-04 4.57957107e+01] [ 9.99716262e-01 2.32611374e-02 -5.12989821e-03 -1.34166054e+02] [-5.13214678e-03 3.69688541e-05 -9.99986830e-01 2.89342687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.80, Y:-134.17, Z:2.89 [[-1.00400589e-01 9.94946956e-01 5.26656006e-04 4.58031019e+01] [ 9.94935287e-01 1.00401963e-01 -4.81884354e-03 -1.34172073e+02] [-4.84737100e-03 4.01739131e-05 -9.99988251e-01 2.89273653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.81, Y:-134.18, Z:2.89 [[-1.76866108e-01 9.84234486e-01 9.25711673e-04 4.58135009e+01] [ 9.84222367e-01 1.76868524e-01 -4.88451947e-03 -1.34176815e+02] [-4.97124177e-03 4.72001868e-05 -9.99987642e-01 2.89279672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.82, Y:-134.18, Z:2.89 [[-2.53390172e-01 9.67362874e-01 1.57853135e-03 4.58233829e+01] [ 9.67345488e-01 2.53395082e-01 -5.79991044e-03 -1.34182411e+02] [-6.01061011e-03 5.73448770e-05 -9.99981934e-01 2.89438993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.64762800000003 meters Centerline goodness [0,1] 0.9998448581560284 Centerline is valid? [True, True] Translation: X:45.84, Y:-134.19, Z:2.90 [[-3.28183924e-01 9.44608725e-01 3.10950392e-03 4.58350562e+01] [ 9.44568881e-01 3.28198642e-01 -8.67647925e-03 -1.34185489e+02] [-9.21641297e-03 8.96596320e-05 -9.99957524e-01 2.89823736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.67762800000003 meters Centerline goodness [0,1] 0.9998450298870932 Centerline is valid? [True, True] Translation: X:45.85, Y:-134.19, Z:2.90 [[-4.01227613e-01 9.15968941e-01 4.15949680e-03 4.58458453e+01] [ 9.15922231e-01 4.01249161e-01 -9.25082561e-03 -1.34187784e+02] [-1.01424635e-02 9.80889108e-05 -9.99948559e-01 2.89882665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.70762800000003 meters Centerline goodness [0,1] 0.9998230558258869 Centerline is valid? [True, True] Translation: X:45.86, Y:-134.19, Z:2.90 [[-4.71732669e-01 8.81725430e-01 5.34376358e-03 4.58567369e+01] [ 8.81671423e-01 4.71762922e-01 -9.75948745e-03 -1.34189614e+02] [-1.11261778e-02 1.07574577e-04 -9.99938096e-01 2.89936078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.73762800000003 meters Centerline goodness [0,1] 0.9997788882501216 Centerline is valid? [True, True] Translation: X:45.87, Y:-134.19, Z:2.90 [[-5.39442024e-01 8.41996849e-01 6.60363669e-03 4.58671395e+01] [ 8.41936365e-01 5.39482430e-01 -1.00927810e-02 -1.34191920e+02] [-1.20606358e-02 1.15371664e-04 -9.99927261e-01 2.90078712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.76762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.88, Y:-134.19, Z:2.90 [[-6.04198557e-01 7.96798441e-01 7.50659919e-03 4.58783481e+01] [ 7.96739205e-01 6.04245176e-01 -9.71633009e-03 -1.34191633e+02] [-1.22777830e-02 1.10209257e-04 -9.99924619e-01 2.89876503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.79762800000003 meters Centerline goodness [0,1] 0.9998232551974019 Centerline is valid? [True, True] Translation: X:45.89, Y:-134.19, Z:2.90 [[-6.64426269e-01 7.47299067e-01 9.04645491e-03 4.58887894e+01] [ 7.47232382e-01 6.64487839e-01 -9.98394606e-03 -1.34190913e+02] [-1.34722528e-02 1.26208021e-04 -9.99909237e-01 2.90033830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.82762800000003 meters Centerline goodness [0,1] 0.9998234735982701 Centerline is valid? [True, True] Translation: X:45.90, Y:-134.19, Z:2.90 [[-7.20966569e-01 6.92903423e-01 9.59440335e-03 4.58994693e+01] [ 6.92844338e-01 7.21030396e-01 -9.04939235e-03 -1.34188360e+02] [-1.31882114e-02 1.23118680e-04 -9.99913024e-01 2.89988338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.85762800000003 meters Centerline goodness [0,1] 0.9998234619119075 Centerline is valid? [True, True] Translation: X:45.92, Y:-134.17, Z:2.90 [[-7.68047259e-01 6.40317783e-01 9.82576842e-03 4.59218128e+01] [ 6.40267387e-01 7.68110098e-01 -8.03435447e-03 -1.34171157e+02] [-1.26918120e-02 1.20355137e-04 -9.99919448e-01 2.89975651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.44, Y:-133.56, Z:1.96 [[-7.36148026e-01 -6.76780524e-01 7.36246623e-03 4.64350939e+01] [ 6.76743357e-01 -7.36184803e-01 -7.09680317e-03 -1.33556612e+02] [ 1.02231139e-02 -2.41797532e-04 9.99947713e-01 1.96022334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.89, Y:-134.15, Z:2.90 [[-7.70225115e-01 6.37730220e-01 7.31014730e-03 4.58910097e+01] [ 6.37702617e-01 7.70259799e-01 -5.93412878e-03 -1.34149883e+02] [-9.41508584e-03 9.10850423e-05 -9.99955673e-01 2.89570217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.947628 meters Centerline goodness [0,1] 0.9998225849374612 Centerline is valid? [True, True] Translation: X:45.91, Y:-134.13, Z:2.90 [[-8.13200003e-01 5.81932595e-01 7.75945529e-03 4.59087907e+01] [ 5.81907221e-01 8.13237017e-01 -5.43514211e-03 -1.34130599e+02] [-9.47316263e-03 9.54254798e-05 -9.99955124e-01 2.89664861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.93, Y:-134.11, Z:2.89 [[-8.52998932e-01 5.21874247e-01 6.33177259e-03 4.59298187e+01] [ 5.21860438e-01 8.53022430e-01 -3.79702250e-03 -1.34111907e+02] [-7.38271231e-03 6.54454795e-05 -9.99972745e-01 2.89340173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.95, Y:-134.09, Z:2.89 [[-8.88021127e-01 4.59760973e-01 6.19080262e-03 4.59488050e+01] [ 4.59750258e-01 8.88042704e-01 -3.13945043e-03 -1.34090966e+02] [-6.94109389e-03 5.83247887e-05 -9.99975909e-01 2.89323155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.96, Y:-134.07, Z:2.89 [[-9.18593359e-01 3.95147093e-01 6.70929749e-03 4.59637570e+01] [ 3.95137005e-01 9.18617859e-01 -2.82416547e-03 -1.34066949e+02] [-7.27924127e-03 5.68320721e-05 -9.99973504e-01 2.89310279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.97, Y:-134.04, Z:2.89 [[-9.44511138e-01 3.28389734e-01 7.67417698e-03 4.59709076e+01] [ 3.28379387e-01 9.44542312e-01 -2.60735814e-03 -1.34039847e+02] [-8.10481451e-03 5.73627327e-05 -9.99967154e-01 2.89417964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.09762800000001 meters Centerline goodness [0,1] 0.9999331893191992 Centerline is valid? [True, True] Translation: X:45.99, Y:-134.01, Z:2.90 [[-9.65724479e-01 2.59373557e-01 1.00791112e-02 4.59867036e+01] [ 2.59360079e-01 9.65777073e-01 -2.64484752e-03 -1.34014789e+02] [-1.04201781e-02 5.99250917e-05 -9.99945707e-01 2.89790909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.12762800000002 meters Centerline goodness [0,1] 0.9998662565199946 Centerline is valid? [True, True] Translation: X:46.20, Y:-133.24, Z:1.96 [[-9.49339153e-01 -3.14034788e-01 1.17185984e-02 4.61981781e+01] [ 3.14011526e-01 -9.49411475e-01 -3.82259567e-03 -1.33237099e+02] [ 1.23261998e-02 5.08352335e-05 9.99924028e-01 1.95683017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.15762800000002 meters Centerline goodness [0,1] 0.9998884600798625 Centerline is valid? [True, True] Translation: X:45.94, Y:-134.00, Z:2.90 [[-9.67231683e-01 2.53561027e-01 1.30259939e-02 4.59398386e+01] [ 2.53538712e-01 9.67319391e-01 -3.36421752e-03 -1.34002968e+02] [-1.34533309e-02 4.86159474e-05 -9.99909499e-01 2.90012323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.15, Y:-133.23, Z:1.96 [[-9.49634878e-01 -3.13057274e-01 1.37383543e-02 4.61488429e+01] [ 3.13024716e-01 -9.49734249e-01 -4.51487597e-03 -1.33226231e+02] [ 1.44612003e-02 1.29607535e-05 9.99895431e-01 1.95640755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.89, Y:-133.99, Z:2.90 [[-9.69091497e-01 2.46194450e-01 1.58102484e-02 4.58902993e+01] [ 2.46161657e-01 9.69220456e-01 -4.01815866e-03 -1.33987012e+02] [-1.63128645e-02 -2.08643369e-06 -9.99866936e-01 2.90050218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.90, Y:-133.96, Z:2.90 [[-9.84214756e-01 1.76226059e-01 1.63000345e-02 4.58991565e+01] [ 1.76201679e-01 9.84349722e-01 -2.93125823e-03 -1.33959538e+02] [-1.65614985e-02 -1.28941566e-05 -9.99862849e-01 2.90039871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.91, Y:-133.93, Z:2.90 [[-9.94278431e-01 1.05579646e-01 1.62277361e-02 4.59067265e+01] [ 1.05565297e-01 9.94410850e-01 -1.74068913e-03 -1.33931586e+02] [-1.63208182e-02 -1.76438795e-05 -9.99866806e-01 2.89996507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.00, Y:-133.14, Z:1.96 [[-9.84514748e-01 -1.74607179e-01 1.55898911e-02 4.59979888e+01] [ 1.74585062e-01 -9.84638174e-01 -2.77910335e-03 -1.33144991e+02] [ 1.58356533e-02 -1.43061321e-05 9.99874608e-01 1.95821471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.84, Y:-133.92, Z:2.90 [[-9.94776667e-01 1.00900858e-01 1.54401986e-02 4.58429478e+01] [ 1.00888421e-01 9.94896485e-01 -1.58428932e-03 -1.33923547e+02] [-1.55212555e-02 -1.82767967e-05 -9.99879538e-01 2.89899191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.93, Y:-133.14, Z:1.96 [[-9.85349622e-01 -1.69859381e-01 1.52942071e-02 4.59306014e+01] [ 1.69839207e-01 -9.85468310e-01 -2.61793645e-03 -1.33137687e+02] [ 1.55166375e-02 1.79733022e-05 9.99879610e-01 1.95961118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.78, Y:-133.92, Z:2.90 [[-9.95190023e-01 9.67769256e-02 1.52001403e-02 4.57791476e+01] [ 9.67654650e-02 9.95306097e-01 -1.48937374e-03 -1.33917968e+02] [-1.52729293e-02 -1.13612369e-05 -9.99883362e-01 2.89815074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.42762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.78, Y:-133.89, Z:2.90 [[-9.99541901e-01 2.64878457e-02 1.46418076e-02 4.57825200e+01] [ 2.64849840e-02 9.99649135e-01 -3.89350984e-04 -1.33891426e+02] [-1.46469834e-02 -1.38458229e-06 -9.99892727e-01 2.89820025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.45762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.81, Y:-133.10, Z:1.96 [[-9.95462861e-01 -9.40933318e-02 1.41469716e-02 4.58080983e+01] [ 9.40834433e-02 -9.95563380e-01 -1.36437424e-03 -1.33097103e+02] [ 1.42125854e-02 -2.71880860e-05 9.99898996e-01 1.95848087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.69, Y:-133.89, Z:2.90 [[-9.99685303e-01 2.05524073e-02 1.43838017e-02 4.56928520e+01] [ 2.05502500e-02 9.99788777e-01 -2.97782137e-04 -1.33890543e+02] [-1.43868836e-02 -2.09770562e-06 -9.99896503e-01 2.89622152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.51762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.69, Y:-133.86, Z:2.90 [[-9.98612562e-01 -5.08266680e-02 1.37695509e-02 4.56930933e+01] [-5.08219045e-02 9.98707490e-01 6.95861968e-04 -1.33863639e+02] [-1.37871219e-02 -4.89829705e-06 -9.99904953e-01 2.89608461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.66, Y:-133.07, Z:1.96 [[-9.99741695e-01 -1.80918944e-02 1.37559711e-02 4.56570679e+01] [ 1.80902225e-02 -9.99836328e-01 -2.45972775e-04 -1.33065324e+02] [ 1.37581697e-02 2.93933924e-06 9.99905352e-01 1.96054933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.57762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.59, Y:-133.87, Z:2.90 [[-9.98202072e-01 -5.83090035e-02 1.38810468e-02 4.55908166e+01] [-5.83036537e-02 9.98298582e-01 7.90111293e-04 -1.33867767e+02] [-1.39034999e-02 -2.06250151e-05 -9.99903341e-01 2.89552032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.60762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.58, Y:-133.84, Z:2.90 [[-9.91396561e-01 -1.30113948e-01 1.42555152e-02 4.55834046e+01] [-1.30100981e-01 9.91499047e-01 1.83722513e-03 -1.33840746e+02] [-1.43733784e-02 -3.32378335e-05 -9.99896697e-01 2.89514553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.57, Y:-133.82, Z:2.90 [[-9.79162009e-01 -2.02496410e-01 1.53936454e-02 4.55658394e+01] [-2.02472359e-01 9.79283003e-01 3.12145077e-03 -1.33815719e+02] [-1.57068178e-02 -6.03816892e-05 -9.99876639e-01 2.89627158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.53, Y:-133.80, Z:2.90 [[-9.61606360e-01 -2.73942171e-01 1.63980465e-02 4.55298744e+01] [-2.73903853e-01 9.61746162e-01 4.58252237e-03 -1.33795759e+02] [-1.70261044e-02 -8.49054445e-05 -9.99855042e-01 2.89700520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.47, Y:-133.79, Z:2.90 [[-9.38447570e-01 -3.45035086e-01 1.63385254e-02 4.54711406e+01] [-3.44984769e-01 9.38589782e-01 5.89325002e-03 -1.33785063e+02] [-1.73685510e-02 -1.06036249e-04 -9.99849150e-01 2.89702237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.41, Y:-133.78, Z:2.90 [[-9.09406282e-01 -4.15581419e-01 1.65014712e-02 4.54080404e+01] [-4.15515968e-01 9.09555970e-01 7.37685943e-03 -1.33778062e+02] [-1.80746973e-02 -1.48062447e-04 -9.99836628e-01 2.89748950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.33, Y:-133.78, Z:2.90 [[-8.75495529e-01 -4.82970057e-01 1.57322078e-02 4.53322101e+01] [-4.82895413e-01 8.75636853e-01 8.49248663e-03 -1.33782564e+02] [-1.78773177e-02 -1.61876889e-04 -9.99840175e-01 2.89836931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.787628 meters Centerline goodness [0,1] 0.9998437220932309 Centerline is valid? [True, True] Translation: X:45.25, Y:-133.80, Z:2.90 [[-8.36725390e-01 -5.47413082e-01 1.51505864e-02 4.52504415e+01] [-5.47326919e-01 8.36862528e-01 9.71353973e-03 -1.33798373e+02] [-1.79962768e-02 -1.64758484e-04 -9.99838040e-01 2.89944243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.17, Y:-133.82, Z:2.90 [[-7.92620806e-01 -6.09569186e-01 1.33291269e-02 4.51651047e+01] [-6.09486571e-01 7.92732855e-01 1.00369708e-02 -1.33822044e+02] [-1.66846649e-02 -1.68411908e-04 -9.99860787e-01 2.89685205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.08, Y:-133.86, Z:2.90 [[-7.44069122e-01 -6.68010239e-01 1.11113765e-02 4.50751544e+01] [-6.67938831e-01 7.44152066e-01 9.76837868e-03 -1.33859281e+02] [-1.47939307e-02 -1.53370862e-04 -9.99890552e-01 2.89515879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.99, Y:-133.91, Z:2.89 [[-6.91323994e-01 -7.22482103e-01 9.52611057e-03 4.49862525e+01] [-7.22416267e-01 6.91389609e-01 9.75427843e-03 -1.33906521e+02] [-1.36335455e-02 -1.38450513e-04 -9.99907049e-01 2.89346469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.90, Y:-133.96, Z:2.89 [[-6.34388087e-01 -7.72971457e-01 8.17813559e-03 4.49013223e+01] [-7.72909771e-01 6.34440786e-01 9.76595976e-03 -1.33960371e+02] [-1.27373509e-02 -1.25552382e-04 -9.99918869e-01 2.89232920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.82, Y:-134.02, Z:2.89 [[-5.73699736e-01 -8.19035366e-01 7.04859039e-03 4.48167353e+01] [-8.18975996e-01 5.73743023e-01 9.86215818e-03 -1.34024258e+02] [-1.21215359e-02 -1.14708786e-04 -9.99926525e-01 2.89225058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.74, Y:-134.10, Z:2.89 [[-5.09715137e-01 -8.60318486e-01 6.52543578e-03 4.47366950e+01] [-8.60250783e-01 5.09756893e-01 1.07935267e-02 -1.34097050e+02] [-1.26122564e-02 -1.11887302e-04 -9.99920456e-01 2.89330217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.66, Y:-134.18, Z:2.89 [[-4.42672869e-01 -8.96663415e-01 5.95412414e-03 4.46589993e+01] [-8.96585579e-01 4.42712897e-01 1.18148584e-02 -1.34182371e+02] [-1.32299188e-02 -1.08264563e-04 -9.99912475e-01 2.89360395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.59, Y:-134.27, Z:2.89 [[-3.72557299e-01 -9.27993768e-01 5.35028993e-03 4.45889097e+01] [-9.27902374e-01 3.72595698e-01 1.30242050e-02 -1.34273417e+02] [-1.40798761e-02 -1.12284110e-04 -9.99900867e-01 2.89348539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.52, Y:-134.37, Z:2.90 [[-2.99398991e-01 -9.54114206e-01 5.13082645e-03 4.45249272e+01] [-9.53982081e-01 2.99442919e-01 1.58785105e-02 -1.34370830e+02] [-1.66863021e-02 -1.40706477e-04 -9.99860764e-01 2.89509371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.47, Y:-134.47, Z:2.90 [[-2.23604618e-01 -9.74670212e-01 4.35335708e-03 4.44664439e+01] [-9.74501014e-01 2.23646919e-01 1.81612274e-02 -1.34474176e+02] [-1.86748222e-02 -1.81416572e-04 -9.99825594e-01 2.89653222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.41, Y:-134.58, Z:2.90 [[-1.46267291e-01 -9.89239990e-01 3.18155665e-03 4.44149017e+01] [-9.89038378e-01 1.46301715e-01 1.99723500e-02 -1.34584361e+02] [-2.02229145e-02 -2.25380107e-04 -9.99795471e-01 2.89814984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.37, Y:-134.71, Z:2.90 [[-6.69089289e-02 -9.97757531e-01 1.76179445e-03 4.43700912e+01] [-9.97519299e-01 6.69314543e-02 2.18043249e-02 -1.34707223e+02] [-2.18733489e-02 -2.98519932e-04 -9.99760705e-01 2.90007198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.17762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.34, Y:-134.82, Z:2.90 [[ 1.14019728e-02 -9.99934993e-01 7.05390354e-05 4.43366787e+01] [-9.99688622e-01 -1.13975976e-02 2.21980577e-02 -1.34818616e+02] [-2.21958107e-02 -3.23618721e-04 -9.99753590e-01 2.90103914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.20762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.31, Y:-134.94, Z:2.90 [[ 8.90211385e-02 -9.96028456e-01 -1.59754059e-03 4.43140426e+01] [-9.95797128e-01 -8.90348958e-02 2.14678259e-02 -1.34936561e+02] [-2.15248023e-02 -3.20263965e-04 -9.99768263e-01 2.89885980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.23762800000003 meters Centerline goodness [0,1] 0.9999104965205522 Centerline is valid? [True, True] Translation: X:44.30, Y:-135.05, Z:2.90 [[ 1.65189348e-01 -9.86256625e-01 -3.21701381e-03 4.42999734e+01] [-9.86032077e-01 -1.65220389e-01 2.10467804e-02 -1.35054557e+02] [-2.12890429e-02 -3.04625115e-04 -9.99773316e-01 2.89978629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.26762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.30, Y:-135.18, Z:2.90 [[ 2.40525471e-01 -9.70632424e-01 -4.49386706e-03 4.42956727e+01] [-9.70440883e-01 -2.40567289e-01 1.92839748e-02 -1.35176488e+02] [-1.97987286e-02 -2.77254803e-04 -9.99803948e-01 2.89694882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.29762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.30, Y:-135.30, Z:2.90 [[ 3.14806990e-01 -9.49136928e-01 -5.97080434e-03 4.43001810e+01] [-9.48949191e-01 -3.14863486e-01 1.88790177e-02 -1.35296478e+02] [-1.97987611e-02 -2.77256778e-04 -9.99803947e-01 2.89695044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.32762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.32, Y:-135.42, Z:2.90 [[ 3.85166673e-01 -9.22825302e-01 -6.33213133e-03 4.43171374e+01] [-9.22691987e-01 -3.85218668e-01 1.56867829e-02 -1.35421040e+02] [-1.69154154e-02 -1.99419135e-04 -9.99856904e-01 2.89547482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.35762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.34, Y:-135.52, Z:2.89 [[ 4.53950432e-01 -8.91002398e-01 -6.61306902e-03 4.43368512e+01] [-8.90902934e-01 -4.53998573e-01 1.33138314e-02 -1.35524363e+02] [-1.48649796e-02 -1.52216903e-04 -9.99889499e-01 2.89172458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.37, Y:-135.63, Z:2.89 [[ 5.17963543e-01 -8.55383233e-01 -5.77003471e-03 4.43682571e+01] [-8.55328646e-01 -5.17995675e-01 9.66370368e-03 -1.35632941e+02] [-1.12550231e-02 -7.01702143e-05 -9.99936658e-01 2.88876398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.41, Y:-135.74, Z:2.89 [[ 5.80513470e-01 -8.14231421e-01 -5.59497767e-03 4.44065577e+01] [-8.14192966e-01 -5.80540430e-01 7.91352912e-03 -1.35739415e+02] [-9.69155481e-03 -3.85187857e-05 -9.99953035e-01 2.88777826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.45, Y:-135.84, Z:2.89 [[ 6.39958209e-01 -7.68387880e-01 -5.79279336e-03 4.44518273e+01] [-7.68356135e-01 -6.39984426e-01 6.98458739e-03 -1.35841800e+02] [-9.07416984e-03 -1.89157214e-05 -9.99958829e-01 2.88783730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.50, Y:-135.94, Z:2.89 [[ 6.95247730e-01 -7.18744981e-01 -6.02048673e-03 4.45045777e+01] [-7.18718078e-01 -6.95273797e-01 6.21869294e-03 -1.35939620e+02] [-8.65554101e-03 3.50049400e-06 -9.99962540e-01 2.88831408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.56, Y:-136.03, Z:2.89 [[ 7.45192154e-01 -6.66808581e-01 -7.41420647e-03 4.45605907e+01] [-6.66776240e-01 -7.45229035e-01 6.56750608e-03 -1.36026669e+02] [-9.90455134e-03 4.95627050e-05 -9.99950948e-01 2.88902374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.56, Y:-136.03, Z:2.89 [[ 7.94128516e-01 -6.07694079e-01 -8.23444778e-03 4.45556842e+01] [-6.07662283e-01 -7.94171204e-01 6.21679504e-03 -1.36031071e+02] [-1.03174708e-02 6.68291151e-05 -9.99946771e-01 2.88974160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.55, Y:-136.04, Z:2.89 [[ 8.38967231e-01 -5.44105087e-01 -9.14552502e-03 4.45498610e+01] [-5.44073729e-01 -8.39017073e-01 5.84194377e-03 -1.36038954e+02] [-1.08518830e-02 7.46405120e-05 -9.99941114e-01 2.88949248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.54, Y:-136.05, Z:2.89 [[ 8.78769859e-01 -4.77138278e-01 -1.01290703e-02 4.45427853e+01] [-4.77107661e-01 -8.78828230e-01 5.40579786e-03 -1.36047989e+02] [-1.14810260e-02 8.22048300e-05 -9.99934087e-01 2.88961199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.54, Y:-136.06, Z:2.89 [[ 9.13065141e-01 -4.07631447e-01 -1.21922816e-02 4.45362150e+01] [-4.07596642e-01 -9.13146534e-01 5.32779307e-03 -1.36056729e+02] [-1.33051157e-02 1.04910907e-04 -9.99911478e-01 2.89068425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.53, Y:-136.07, Z:2.89 [[ 9.41947176e-01 -3.35513545e-01 -1.28910711e-02 4.45314143e+01] [-3.35483800e-01 -9.42035375e-01 4.46901507e-03 -1.36065568e+02] [-1.36432600e-02 1.15169384e-04 -9.99906920e-01 2.89142622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.53, Y:-136.07, Z:2.89 [[ 9.65121431e-01 -2.61449051e-01 -1.36020884e-02 4.45272457e+01] [-2.61424949e-01 -9.65217270e-01 3.55225163e-03 -1.36072784e+02] [-1.40577034e-02 1.27571089e-04 -9.99901177e-01 2.89293600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.71762800000002 meters Centerline goodness [0,1] 0.9999107342111135 Centerline is valid? [True, True] Translation: X:44.52, Y:-136.08, Z:2.89 [[ 9.82234956e-01 -1.87116795e-01 -1.42055259e-02 4.45210737e+01] [-1.87099598e-01 -9.82337660e-01 2.54196689e-03 -1.36079309e+02] [-1.44302678e-02 1.61039444e-04 -9.99895865e-01 2.89423333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.52, Y:-136.09, Z:2.89 [[ 9.93866619e-01 -1.09817257e-01 -1.30120508e-02 4.45150947e+01] [-1.09809798e-01 -9.93951784e-01 1.28850681e-03 -1.36086533e+02] [-1.30748514e-02 1.48246761e-04 -9.99914510e-01 2.89217104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.51, Y:-136.09, Z:2.89 [[ 9.99400059e-01 -3.23603499e-02 -1.23421960e-02 4.45099524e+01] [-3.23597159e-02 -9.99476256e-01 2.51118552e-04 -1.36094525e+02] [-1.23438581e-02 1.48422062e-04 -9.99923801e-01 2.89137247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.51, Y:-136.10, Z:2.89 [[ 9.98897282e-01 4.55043246e-02 -1.15575578e-02 4.45054496e+01] [ 4.54995972e-02 -9.98964131e-01 -6.71785829e-04 -1.36103502e+02] [-1.15761548e-02 1.45180816e-04 -9.99932984e-01 2.89036257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.50, Y:-136.11, Z:2.89 [[ 9.92259247e-01 1.23784013e-01 -9.95516160e-03 4.45015994e+01] [ 1.23776530e-01 -9.92309177e-01 -1.36664259e-03 -1.36112419e+02] [-1.00477667e-02 1.23848386e-04 -9.99949512e-01 2.88845865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.50, Y:-136.12, Z:2.89 [[ 9.79371247e-01 2.01865133e-01 -9.07899635e-03 4.44980635e+01] [ 2.01855442e-01 -9.79413323e-01 -1.98089926e-03 -1.36121995e+02] [-9.29196447e-03 1.07390956e-04 -9.99956823e-01 2.88784786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.50, Y:-136.13, Z:2.89 [[ 9.60183594e-01 2.79249218e-01 -8.20612830e-03 4.44959756e+01] [ 2.79238241e-01 -9.60218656e-01 -2.47761782e-03 -1.36132068e+02] [-8.57155032e-03 8.75031526e-05 -9.99963260e-01 2.88764615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.49, Y:-136.14, Z:2.89 [[ 9.34598144e-01 3.55615230e-01 -8.00733396e-03 4.44944493e+01] [ 3.55601544e-01 -9.34632443e-01 -3.12070004e-03 -1.36142253e+02] [-8.59368256e-03 6.91801477e-05 -9.99963071e-01 2.88724332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.95762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.49, Y:-136.15, Z:2.89 [[ 9.01738906e-01 4.32221303e-01 -7.18955667e-03 4.44938229e+01] [ 4.32207351e-01 -9.01767567e-01 -3.47299502e-03 -1.36153701e+02] [-7.98441145e-03 2.43554941e-05 -9.99968124e-01 2.88783424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.49, Y:-136.16, Z:2.89 [[ 8.63794220e-01 5.03790928e-01 -7.36523670e-03 4.44945619e+01] [ 5.03772582e-01 -8.63825620e-01 -4.29929772e-03 -1.36164473e+02] [-8.52822734e-03 3.30420452e-06 -9.99963634e-01 2.88753079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.01762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.49, Y:-136.17, Z:2.89 [[ 8.20339669e-01 5.71832521e-01 -7.09897137e-03 4.44946318e+01] [ 5.71811293e-01 -8.20370385e-01 -4.92720117e-03 -1.36173987e+02] [-8.64131974e-03 -1.72934166e-05 -9.99962663e-01 2.88815798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.50, Y:-136.18, Z:2.89 [[ 7.70439876e-01 6.37473720e-01 -7.04656509e-03 4.44956529e+01] [ 6.37447718e-01 -7.70472098e-01 -5.75794825e-03 -1.36184497e+02] [-9.09972248e-03 -5.56638973e-05 -9.99958595e-01 2.88884187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.07762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.50, Y:-136.19, Z:2.89 [[ 7.17126924e-01 6.96911251e-01 -6.60931309e-03 4.44965109e+01] [ 6.96882544e-01 -7.17157377e-01 -6.32578570e-03 -1.36191945e+02] [-9.14842886e-03 -6.95236757e-05 -9.99958150e-01 2.88946579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.50, Y:-136.20, Z:2.89 [[ 6.59695014e-01 7.51505415e-01 -6.48849002e-03 4.44971233e+01] [ 7.51470289e-01 -6.59726917e-01 -7.26637567e-03 -1.36198280e+02] [-9.74135218e-03 -8.23156709e-05 -9.99952549e-01 2.89007313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.50, Y:-136.21, Z:2.89 [[ 5.98801719e-01 8.00873120e-01 -6.22466767e-03 4.44998797e+01] [ 8.00831363e-01 -5.98834065e-01 -8.17869262e-03 -1.36205581e+02] [-1.02776381e-02 -8.74938898e-05 -9.99947180e-01 2.89079931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.50, Y:-136.21, Z:2.89 [[ 5.34950307e-01 8.44863759e-01 -5.77910998e-03 4.45029192e+01] [ 8.44816100e-01 -5.34981516e-01 -8.97411585e-03 -1.36213324e+02] [-1.06736223e-02 -8.15791276e-05 -9.99943032e-01 2.89115060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.51, Y:-136.22, Z:2.89 [[ 4.68356457e-01 8.83523852e-01 -5.27563198e-03 4.45062816e+01] [ 8.83469485e-01 -4.68386163e-01 -9.80155529e-03 -1.36220977e+02] [-1.11309409e-02 -7.02381668e-05 -9.99938047e-01 2.89121468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.51, Y:-136.23, Z:2.89 [[ 3.99058486e-01 9.16914713e-01 -4.44228835e-03 4.45086919e+01] [ 9.16859388e-01 -3.99083208e-01 -1.00725235e-02 -1.36228471e+02] [-1.10084877e-02 -5.34277870e-05 -9.99939403e-01 2.89149170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.51, Y:-136.24, Z:2.89 [[ 3.29491250e-01 9.44153162e-01 -3.21293445e-03 4.45092232e+01] [ 9.44108612e-01 -3.29506915e-01 -9.17180657e-03 -1.36235175e+02] [-9.71827429e-03 -1.13290718e-05 -9.99952776e-01 2.88948522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.51, Y:-136.24, Z:2.89 [[ 2.56351427e-01 9.66580957e-01 -2.28015789e-03 4.45121894e+01] [ 9.66542501e-01 -2.56361567e-01 -8.62205811e-03 -1.36243351e+02] [-8.91846203e-03 6.40739413e-06 -9.99960230e-01 2.88893985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.52, Y:-136.25, Z:2.89 [[ 1.81697822e-01 9.83353318e-01 -1.46717326e-03 4.45159972e+01] [ 9.83320306e-01 -1.81703745e-01 -8.05758176e-03 -1.36250592e+02] [-8.19004064e-03 2.13437963e-05 -9.99966461e-01 2.88795028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.52, Y:-136.26, Z:2.89 [[ 1.05560619e-01 9.94412582e-01 -7.56704614e-04 4.45198709e+01] [ 9.94384949e-01 -1.05563327e-01 -7.41328929e-03 -1.36258964e+02] [-7.45174840e-03 3.00957266e-05 -9.99972235e-01 2.88730084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.53, Y:-136.27, Z:2.89 [[ 2.76912173e-02 9.99616514e-01 -1.48492579e-04 4.45277378e+01] [ 9.99596157e-01 -2.76916010e-02 -6.37951934e-03 -1.36266762e+02] [-6.38118488e-03 2.82240451e-05 -9.99979640e-01 2.88604674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.54, Y:-136.27, Z:2.89 [[-5.03367282e-02 9.98732241e-01 3.51856418e-04 4.45350949e+01] [ 9.98711896e-01 5.03379487e-02 -6.37493515e-03 -1.36274036e+02] [-6.38456500e-03 3.05098115e-05 -9.99979618e-01 2.88591859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.43762800000002 meters Centerline goodness [0,1] 0.9998883405167601 Centerline is valid? [True, True] Translation: X:44.55, Y:-136.28, Z:2.89 [[-1.27388305e-01 9.91852439e-01 9.78840401e-04 4.45453796e+01] [ 9.91825681e-01 1.27392059e-01 -7.28572214e-03 -1.36279818e+02] [-7.35105777e-03 4.27232505e-05 -9.99972980e-01 2.88777694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.56, Y:-136.29, Z:2.89 [[-2.04753220e-01 9.78812449e-01 1.51930474e-03 4.45569130e+01] [ 9.78786979e-01 2.04758852e-01 -7.06132945e-03 -1.36286048e+02] [-7.22280827e-03 4.12457541e-05 -9.99973914e-01 2.88607648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.57, Y:-136.29, Z:2.89 [[-2.80134233e-01 9.59958517e-01 2.11136955e-03 4.45673867e+01] [ 9.59932510e-01 2.80142186e-01 -7.06630001e-03 -1.36290782e+02] [-7.37483856e-03 4.72597344e-05 -9.99972804e-01 2.88624634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.58, Y:-136.30, Z:2.89 [[-3.53571112e-01 9.35403057e-01 2.93090355e-03 4.45773892e+01] [ 9.35372309e-01 3.53583254e-01 -7.58455451e-03 -1.36296137e+02] [-8.13093389e-03 5.98066564e-05 -9.99966942e-01 2.88676409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.59, Y:-136.30, Z:2.89 [[-4.23652621e-01 9.05815568e-01 4.07593265e-03 4.45879184e+01] [ 9.05775702e-01 4.23672218e-01 -8.49882255e-03 -1.36299138e+02] [-9.42522520e-03 9.13323047e-05 -9.99955577e-01 2.88778431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.60, Y:-136.30, Z:2.89 [[-4.92408226e-01 8.70349532e-01 5.08242116e-03 4.45989233e+01] [ 8.70305434e-01 4.92434443e-01 -8.76197482e-03 -1.36301375e+02] [-1.01287399e-02 1.08790277e-04 -9.99948697e-01 2.88829115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.61, Y:-136.30, Z:2.89 [[-5.57861477e-01 8.29911678e-01 6.09749383e-03 4.46092454e+01] [ 8.29864645e-01 5.57894784e-01 -8.83631967e-03 -1.36304094e+02] [-1.07351249e-02 1.30652207e-04 -9.99942368e-01 2.88922531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.64762800000003 meters Centerline goodness [0,1] 0.9998663637578511 Centerline is valid? [True, True] Translation: X:44.62, Y:-136.31, Z:2.89 [[-6.19278908e-01 7.85136378e-01 7.38253428e-03 4.46183894e+01] [ 7.85083848e-01 6.19322887e-01 -9.08367440e-03 -1.36305172e+02] [-1.17040957e-02 1.70580459e-04 -9.99931490e-01 2.89158903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.67762800000003 meters Centerline goodness [0,1] 0.999955452601568 Centerline is valid? [True, True] Translation: X:44.63, Y:-136.30, Z:2.89 [[-6.77671946e-01 7.35324414e-01 7.66424558e-03 4.46298348e+01] [ 7.35280374e-01 6.77715261e-01 -8.04968276e-03 -1.36303484e+02] [-1.11133044e-02 1.80325177e-04 -9.99938229e-01 2.88957964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.70762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.64, Y:-136.30, Z:2.89 [[-7.30648820e-01 6.82715397e-01 7.21029239e-03 4.46397876e+01] [ 6.82684743e-01 7.30684371e-01 -6.47244498e-03 -1.36303142e+02] [-9.68728580e-03 1.93272313e-04 -9.99953058e-01 2.88728716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.66, Y:-136.29, Z:2.89 [[-7.75952841e-01 6.30751085e-01 7.08926329e-03 4.46605183e+01] [ 6.30727042e-01 7.75985200e-01 -5.51064294e-03 -1.36286636e+02] [-8.97700741e-03 1.95391022e-04 -9.99959687e-01 2.88673505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.76762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.69, Y:-136.27, Z:2.89 [[-8.17691442e-01 5.75614747e-01 6.95469074e-03 4.46857841e+01] [ 5.75595924e-01 8.17720995e-01 -4.65906633e-03 -1.36269347e+02] [-8.36882392e-03 1.93412970e-04 -9.99964962e-01 2.88523841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.79762800000003 meters Centerline goodness [0,1] 0.9999111150615528 Centerline is valid? [True, True] Translation: X:45.15, Y:-135.60, Z:1.97 [[-8.06491202e-01 -5.91221063e-01 5.44021989e-03 4.51538893e+01] [ 5.91205552e-01 -8.06509514e-01 -4.28954858e-03 -1.35595069e+02] [ 6.92366057e-03 -2.43194984e-04 9.99976002e-01 1.97218552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.82762800000003 meters Centerline goodness [0,1] 0.9998669268985095 Centerline is valid? [True, True] Translation: X:44.65, Y:-136.25, Z:2.88 [[-8.18193749e-01 5.74919338e-01 5.17142985e-03 4.46547190e+01] [ 5.74909086e-01 8.18210076e-01 -3.43706158e-03 -1.36249138e+02] [-6.20734918e-03 1.60919708e-04 -9.99980721e-01 2.88447958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.85762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.68, Y:-136.23, Z:2.88 [[-8.57176729e-01 5.15004798e-01 4.25603403e-03 4.46751515e+01] [ 5.14999161e-01 8.57187286e-01 -2.41269606e-03 -1.36225987e+02] [-4.89076830e-03 1.23747036e-04 -9.99988032e-01 2.88137920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.69, Y:-136.20, Z:2.88 [[-8.91786466e-01 4.52443960e-01 3.37082697e-03 4.46911584e+01] [ 4.52441116e-01 8.91792832e-01 -1.60669418e-03 -1.36202217e+02] [-3.73301841e-03 9.22725927e-05 -9.99993028e-01 2.88022472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.05, Y:-135.47, Z:1.98 [[-8.82961607e-01 -4.69439643e-01 2.28513443e-03 4.50493782e+01] [ 4.69437679e-01 -8.82964554e-01 -1.36457756e-03 -1.35474235e+02] [ 2.65827950e-03 -1.32141396e-04 9.99996458e-01 1.97746128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.65, Y:-136.18, Z:2.88 [[-8.94308031e-01 4.47445672e-01 2.34879828e-03 4.46510370e+01] [ 4.47444304e-01 8.94311113e-01 -1.10828280e-03 -1.36180006e+02] [-2.59645274e-03 5.98102067e-05 -9.99996627e-01 2.87907017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.67, Y:-136.15, Z:2.88 [[-9.24390764e-01 3.81436859e-01 2.76384739e-03 4.46666489e+01] [ 3.81435357e-01 9.24394893e-01 -1.07215793e-03 -1.36154657e+02] [-2.96384697e-03 6.31362247e-05 -9.99995606e-01 2.87915401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.68, Y:-136.13, Z:2.88 [[-9.49682817e-01 3.13200610e-01 2.81510684e-03 4.46764282e+01] [ 3.13199412e-01 9.49686988e-01 -8.68119388e-04 -1.36126775e+02] [-2.94536585e-03 5.72517400e-05 -9.99995661e-01 2.87915512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.69, Y:-136.10, Z:2.88 [[-9.70653756e-01 2.40461482e-01 3.09228498e-03 4.46890486e+01] [ 2.40460413e-01 9.70658680e-01 -7.18314885e-04 -1.36097253e+02] [-3.17428032e-03 4.63370832e-05 -9.99994961e-01 2.87945437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.87, Y:-135.33, Z:1.98 [[-9.59704312e-01 -2.80995123e-01 3.06164975e-03 4.48710291e+01] [ 2.80993544e-01 -9.59709195e-01 -9.43142090e-04 -1.35328722e+02] [ 3.20331175e-03 -4.48337149e-05 9.99994868e-01 1.97673344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.64, Y:-136.08, Z:2.88 [[-9.73799640e-01 2.27386757e-01 3.08606926e-03 4.46361964e+01] [ 2.27385668e-01 9.73804530e-01 -7.03988726e-04 -1.36076975e+02] [-3.16530594e-03 1.61839514e-05 -9.99994990e-01 2.88017551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.64, Y:-136.05, Z:2.88 [[-9.87982884e-01 1.54535429e-01 2.93647763e-03 4.46401408e+01] [ 1.54534764e-01 9.87987247e-01 -4.53444057e-04 -1.36047201e+02] [-2.97127562e-03 5.79291109e-06 -9.99995586e-01 2.88018751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.64, Y:-136.02, Z:2.88 [[-9.96690562e-01 8.12456981e-02 2.65704232e-03 4.46428280e+01] [ 8.12454036e-02 9.96694104e-01 -2.18763190e-04 -1.36017445e+02] [-2.66603198e-03 -2.16673145e-06 -9.99996446e-01 2.88040828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.64, Y:-135.99, Z:2.88 [[-9.99967756e-01 7.65773069e-03 2.41776435e-03 4.46446355e+01] [ 7.65768869e-03 9.99970679e-01 -2.66284337e-05 -1.35988394e+02] [-2.41789737e-03 -8.11308836e-06 -9.99997077e-01 2.88010265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.64, Y:-135.96, Z:2.88 [[-9.97979696e-01 -6.34878067e-02 2.41358250e-03 4.46427224e+01] [-6.34876407e-02 9.97982614e-01 1.45411731e-04 -1.35960875e+02] [-2.41794524e-03 -8.11470328e-06 -9.99997077e-01 2.88010322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.64, Y:-135.93, Z:2.88 [[-9.90549351e-01 -1.37131527e-01 2.63191852e-03 4.46353942e+01] [-1.37131087e-01 9.90552848e-01 3.47875514e-04 -1.35932791e+02] [-2.65475908e-03 -1.63299815e-05 -9.99996476e-01 2.88046066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.62, Y:-135.91, Z:2.88 [[-9.78108042e-01 -2.08077124e-01 2.92741996e-03 4.46170586e+01] [-2.08076253e-01 9.78112422e-01 6.02212449e-04 -1.35908966e+02] [-2.98865246e-03 -2.00977375e-05 -9.99995534e-01 2.88031548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.59, Y:-135.89, Z:2.88 [[-9.60504749e-01 -2.78241394e-01 3.51469607e-03 4.45895228e+01] [-2.78239626e-01 9.60511180e-01 9.92328511e-04 -1.35888650e+02] [-3.65201174e-03 -2.47914708e-05 -9.99993331e-01 2.88002999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.54, Y:-135.88, Z:2.88 [[-9.37599492e-01 -3.47698952e-01 3.55413107e-03 4.45371546e+01] [-3.47696553e-01 9.37606228e-01 1.29207346e-03 -1.35878152e+02] [-3.78162801e-03 -2.43117014e-05 -9.99992849e-01 2.88019994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.47, Y:-135.88, Z:2.88 [[-9.09934454e-01 -4.14731881e-01 4.09344027e-03 4.44721192e+01] [-4.14727800e-01 9.09943661e-01 1.84009611e-03 -1.35878084e+02] [-4.48794654e-03 -2.32966281e-05 -9.99989929e-01 2.88056080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.40, Y:-135.88, Z:2.88 [[-8.76933995e-01 -4.80593226e-01 4.11324150e-03 4.44045063e+01] [-4.80588051e-01 8.76943642e-01 2.23044361e-03 -1.35882726e+02] [-4.67901707e-03 -2.08228872e-05 -9.99989053e-01 2.88089326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.42762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.33, Y:-135.90, Z:2.88 [[-8.38907923e-01 -5.44257284e-01 4.18404005e-03 4.43253329e+01] [-5.44250622e-01 8.38918356e-01 2.69298441e-03 -1.35899511e+02] [-4.97574438e-03 -1.80004430e-05 -9.99987621e-01 2.88104542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.45762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.24, Y:-135.93, Z:2.88 [[-7.96007893e-01 -6.05265271e-01 5.03845203e-03 4.42396482e+01] [-6.05253287e-01 7.96023838e-01 3.80878694e-03 -1.35929932e+02] [-6.31605438e-03 -1.77151932e-05 -9.99980053e-01 2.88172903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.15, Y:-135.97, Z:2.88 [[-7.47969060e-01 -6.63711681e-01 5.39349806e-03 4.41522104e+01] [-6.63694612e-01 7.47988506e-01 4.76001023e-03 -1.35967631e+02] [-7.19354894e-03 -1.92952262e-05 -9.99974126e-01 2.88207378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.51762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.07, Y:-136.01, Z:2.88 [[-6.95204271e-01 -7.18790419e-01 5.59962135e-03 4.40671602e+01] [-7.18767361e-01 6.95226822e-01 5.75729526e-03 -1.36012024e+02] [-8.03129562e-03 -2.23288055e-05 -9.99967748e-01 2.88303388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.98, Y:-136.07, Z:2.88 [[-6.38254184e-01 -7.69804327e-01 5.73536360e-03 4.39767697e+01] [-7.69773616e-01 6.38279952e-01 6.87628433e-03 -1.36072191e+02] [-8.95416104e-03 -2.61143309e-05 -9.99959910e-01 2.88419932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.57762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.89, Y:-136.14, Z:2.89 [[-5.77313053e-01 -8.16496062e-01 6.61962845e-03 4.38946559e+01] [-8.16443093e-01 5.77351002e-01 9.30033197e-03 -1.36137303e+02] [-1.14155335e-02 -3.53468796e-05 -9.99934840e-01 2.88620879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.60762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.81, Y:-136.21, Z:2.89 [[-5.12977361e-01 -8.58377083e-01 6.55826749e-03 4.38134589e+01] [-8.58307892e-01 5.13019281e-01 1.08986488e-02 -1.36213998e+02] [-1.27196681e-02 -3.82526251e-05 -9.99919101e-01 2.88763312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.74, Y:-136.30, Z:2.89 [[-4.45614714e-01 -8.95203414e-01 6.19469027e-03 4.37352091e+01] [-8.95118123e-01 4.45657768e-01 1.23571849e-02 -1.36302932e+02] [-1.38229060e-02 -3.84361031e-05 -9.99904458e-01 2.88792152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.667628 meters Centerline goodness [0,1] 0.9999777009700078 Centerline is valid? [True, True] Translation: X:43.66, Y:-136.39, Z:2.89 [[-3.74960743e-01 -9.27025930e-01 5.23133306e-03 4.36643321e+01] [-9.26937342e-01 3.74997231e-01 1.28156204e-02 -1.36392407e+02] [-1.38421479e-02 -4.37634127e-05 -9.99904192e-01 2.88866880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.60, Y:-136.49, Z:2.89 [[-3.01567549e-01 -9.53436180e-01 4.05767635e-03 4.35978627e+01] [-9.53352260e-01 3.01594841e-01 1.26499222e-02 -1.36492320e+02] [-1.32846678e-02 -5.35888784e-05 -9.99911753e-01 2.88747975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.54, Y:-136.60, Z:2.89 [[-2.27059210e-01 -9.73876424e-01 2.97092698e-03 4.35396334e+01] [-9.73795983e-01 2.27078640e-01 1.25169538e-02 -1.36599080e+02] [-1.28646003e-02 -5.09871115e-05 -9.99917246e-01 2.88649901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.49, Y:-136.70, Z:2.88 [[-1.51925902e-01 -9.88390309e-01 1.76550159e-03 4.34918927e+01] [-9.88326212e-01 1.51936156e-01 1.12562158e-02 -1.36702020e+02] [-1.13937782e-02 -3.47807562e-05 -9.99935088e-01 2.88432529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.45, Y:-136.82, Z:2.88 [[-7.56895304e-02 -9.97131066e-01 8.55969053e-04 4.34508038e+01] [-9.97071073e-01 7.56943660e-02 1.09379477e-02 -1.36818489e+02] [-1.09713595e-02 -2.55738581e-05 -9.99939813e-01 2.88347519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.42, Y:-136.94, Z:2.88 [[ 6.57529620e-04 -9.99999784e-01 6.12334916e-06 4.34190545e+01] [-9.99947361e-01 -6.57432450e-04 1.02393118e-02 -1.36935412e+02] [-1.02393056e-02 -1.28556776e-05 -9.99947577e-01 2.88299517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.40, Y:-137.05, Z:2.88 [[ 7.70263759e-02 -9.97028782e-01 -7.38459521e-04 4.33965134e+01] [-9.96982773e-01 -7.70299156e-02 9.57819821e-03 -1.37050447e+02] [-9.60662277e-03 -1.54247446e-06 -9.99953855e-01 2.88296152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.38, Y:-137.17, Z:2.88 [[ 1.51550989e-01 -9.88448345e-01 -1.47221149e-03 4.33838783e+01] [-9.88403135e-01 -1.51558138e-01 9.45373609e-03 -1.37171676e+02] [-9.56765542e-03 2.24153896e-05 -9.99954229e-01 2.88469699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.90762800000002 meters Centerline goodness [0,1] 0.9998662147698893 Centerline is valid? [True, True] Translation: X:43.38, Y:-137.30, Z:2.89 [[ 2.25386816e-01 -9.74266304e-01 -2.43975031e-03 4.33807915e+01] [-9.74211589e-01 -2.25400015e-01 1.03253409e-02 -1.37295056e+02] [-1.06095515e-02 4.96373101e-05 -9.99943716e-01 2.88634636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.39, Y:-137.41, Z:2.88 [[ 2.99020248e-01 -9.54241867e-01 -3.05807146e-03 4.33856917e+01] [-9.54193945e-01 -2.99035879e-01 9.56342363e-03 -1.37412575e+02] [-1.00402923e-02 5.83359686e-05 -9.99949593e-01 2.88442270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.40, Y:-137.53, Z:2.88 [[ 3.69216135e-01 -9.29335659e-01 -3.83120117e-03 4.34010622e+01] [-9.29288089e-01 -3.69236001e-01 9.40334418e-03 -1.37531567e+02] [-1.01534805e-02 8.84232197e-05 -9.99948448e-01 2.88487590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.42, Y:-137.65, Z:2.88 [[ 4.38752896e-01 -8.98597304e-01 -4.33380725e-03 4.34236275e+01] [-8.98555630e-01 -4.38774288e-01 8.65473040e-03 -1.37648864e+02] [-9.67868059e-03 9.68788725e-05 -9.99953156e-01 2.88498137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.45, Y:-137.76, Z:2.88 [[ 5.06249002e-01 -8.62373171e-01 -4.94584202e-03 4.34540570e+01] [-8.62333971e-01 -5.06273151e-01 8.22308935e-03 -1.37762677e+02] [-9.59531866e-03 1.02036813e-04 -9.99953959e-01 2.88447107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.05762800000002 meters Centerline goodness [0,1] 0.999888435192003 Centerline is valid? [True, True] Translation: X:43.49, Y:-137.87, Z:2.89 [[ 5.70201423e-01 -8.21486501e-01 -5.50140056e-03 4.34937261e+01] [-8.21450147e-01 -5.70227951e-01 7.72923409e-03 -1.37871618e+02] [-9.48651384e-03 1.11906016e-04 -9.99954996e-01 2.88576661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.54, Y:-137.98, Z:2.88 [[ 6.31378013e-01 -7.75461310e-01 -4.64351550e-03 4.35404252e+01] [-7.75441365e-01 -6.31395082e-01 5.56243909e-03 -1.37977766e+02] [-7.24534915e-03 8.87722529e-05 -9.99973748e-01 2.88128411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.11762800000002 meters Centerline goodness [0,1] 0.9999553790549284 Centerline is valid? [True, True] Translation: X:43.59, Y:-138.08, Z:2.88 [[ 6.88946809e-01 -7.24798854e-01 -4.34925223e-03 4.35896704e+01] [-7.24785115e-01 -6.88960532e-01 4.46337515e-03 -1.38075415e+02] [-6.23151232e-03 7.72452072e-05 -9.99980581e-01 2.88184087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.65, Y:-138.17, Z:2.88 [[ 7.42880420e-01 -6.69411471e-01 -4.11873677e-03 4.36465820e+01] [-6.69401658e-01 -7.42891835e-01 3.62517172e-03 -1.38168998e+02] [-5.48650745e-03 6.40201384e-05 -9.99984947e-01 2.88076828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.17762800000003 meters Centerline goodness [0,1] 0.9998664767669575 Centerline is valid? [True, True] Translation: X:43.64, Y:-138.18, Z:2.88 [[ 7.93152404e-01 -6.09003738e-01 -4.86929165e-03 4.36412115e+01] [-6.08992788e-01 -7.93167348e-01 3.65272451e-03 -1.38176412e+02] [-6.08668603e-03 6.81962732e-05 -9.99981474e-01 2.88285086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.20762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.63, Y:-138.19, Z:2.88 [[ 8.39956869e-01 -5.42626529e-01 -5.37656916e-03 4.36339912e+01] [-5.42615810e-01 -8.39974075e-01 3.41117925e-03 -1.38185420e+02] [-6.36717507e-03 5.21679828e-05 -9.99979728e-01 2.88200371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.63, Y:-138.19, Z:2.88 [[ 8.80566675e-01 -4.73882049e-01 -6.17533618e-03 4.36278496e+01] [-4.73870761e-01 -8.80588327e-01 3.27107642e-03 -1.38193591e+02] [-6.98803335e-03 4.59103749e-05 -9.99975582e-01 2.88293463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.26762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.62, Y:-138.20, Z:2.88 [[ 9.15645467e-01 -4.01935691e-01 -6.40931376e-03 4.36224942e+01] [-4.01926098e-01 -9.15667898e-01 2.77717506e-03 -1.38200441e+02] [-6.98504864e-03 3.31627100e-05 -9.99975604e-01 2.88337696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.29762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.62, Y:-138.21, Z:2.88 [[ 9.45355369e-01 -3.25982061e-01 -6.23874407e-03 4.36190237e+01] [-3.25975028e-01 -9.45375955e-01 2.14136602e-03 -1.38207383e+02] [-6.59600554e-03 9.32290777e-06 -9.99978246e-01 2.88242710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.32762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.62, Y:-138.21, Z:2.88 [[ 9.68268674e-01 -2.49830323e-01 -6.37059493e-03 4.36159884e+01] [-2.49824922e-01 -9.68289631e-01 1.64286740e-03 -1.38213406e+02] [-6.57901911e-03 7.96336484e-07 -9.99978358e-01 2.88199575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.35762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.61, Y:-138.22, Z:2.88 [[ 9.85047034e-01 -1.72167399e-01 -6.38180193e-03 4.36125862e+01] [-1.72163743e-01 -9.85067707e-01 1.12203085e-03 -1.38218880e+02] [-6.47968413e-03 -6.53825791e-06 -9.99979007e-01 2.88188539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.61, Y:-138.23, Z:2.88 [[ 9.95607058e-01 -9.34360638e-02 -6.02392331e-03 4.36067403e+01] [-9.34342756e-02 -9.95625282e-01 5.78208430e-04 -1.38226489e+02] [-6.05159586e-03 -1.28274831e-05 -9.99981689e-01 2.88167975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.60, Y:-138.23, Z:2.88 [[ 9.99868741e-01 -1.49858335e-02 -6.15833427e-03 4.36015541e+01] [-1.49854603e-02 -9.99887706e-01 1.06735682e-04 -1.38234308e+02] [-6.15924224e-03 -1.44361984e-05 -9.99981032e-01 2.88137170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.60, Y:-138.24, Z:2.88 [[ 9.97987066e-01 6.30969316e-02 -6.37123035e-03 4.35964322e+01] [ 6.30957333e-02 -9.98007403e-01 -3.89110803e-04 -1.38241475e+02] [-6.38308676e-03 -1.36699022e-05 -9.99979628e-01 2.88212052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.59, Y:-138.25, Z:2.88 [[ 9.90023422e-01 1.40754746e-01 -6.45949505e-03 4.35908610e+01] [ 1.40751828e-01 -9.90044495e-01 -9.06281196e-04 -1.38246861e+02] [-6.52275089e-03 -1.19461279e-05 -9.99978727e-01 2.88281165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.59, Y:-138.25, Z:2.88 [[ 9.76278184e-01 2.16405252e-01 -7.04801145e-03 4.35874190e+01] [ 2.16399636e-01 -9.76303624e-01 -1.55911084e-03 -1.38251985e+02] [-7.21839890e-03 -3.06120789e-06 -9.99973947e-01 2.88260214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.59, Y:-138.26, Z:2.88 [[ 9.56595793e-01 2.91329240e-01 -7.19462488e-03 4.35850147e+01] [ 2.91320973e-01 -9.56622848e-01 -2.19467764e-03 -1.38260018e+02] [-7.52191631e-03 3.47427903e-06 -9.99971710e-01 2.88225929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.58, Y:-138.27, Z:2.88 [[ 9.31093956e-01 3.64707376e-01 -7.25084255e-03 4.35815836e+01] [ 3.64696245e-01 -9.31122189e-01 -2.84930261e-03 -1.38268254e+02] [-7.79058206e-03 8.61338777e-06 -9.99969653e-01 2.88270898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.58, Y:-138.28, Z:2.88 [[ 8.99405439e-01 4.37069442e-01 -6.33710606e-03 4.35775498e+01] [ 4.37058567e-01 -8.99427764e-01 -3.08314533e-03 -1.38275746e+02] [-7.04731774e-03 3.31118064e-06 -9.99975167e-01 2.88258825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.58, Y:-138.29, Z:2.88 [[ 8.61663230e-01 5.07447580e-01 -5.78197358e-03 4.35770459e+01] [ 5.07436209e-01 -8.61682629e-01 -3.39715632e-03 -1.38285550e+02] [-6.70610495e-03 -6.77806828e-06 -9.99977514e-01 2.88227803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.58, Y:-138.30, Z:2.88 [[ 8.17972642e-01 5.75215666e-01 -6.90613817e-03 4.35769324e+01] [ 5.75195455e-01 -8.18001795e-01 -4.82197263e-03 -1.38295638e+02] [-8.42290762e-03 -2.81375999e-05 -9.99964526e-01 2.88372418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.68762800000002 meters Centerline goodness [0,1] 0.9999331655044891 Centerline is valid? [True, True] Translation: X:43.58, Y:-138.31, Z:2.89 [[ 7.70187715e-01 6.37770665e-01 -7.71120256e-03 4.35784597e+01] [ 6.37739179e-01 -7.70226316e-01 -6.33730592e-03 -1.38306178e+02] [-9.98111895e-03 -3.68208284e-05 -9.99950187e-01 2.88593214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.58, Y:-138.32, Z:2.88 [[ 7.17310836e-01 6.96712321e-01 -7.55693624e-03 4.35811830e+01] [ 6.96674360e-01 -7.17350640e-01 -7.27297728e-03 -1.38316590e+02] [-1.04881459e-02 -4.77383032e-05 -9.99944997e-01 2.88490050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.58, Y:-138.33, Z:2.89 [[ 6.60375083e-01 7.50900199e-01 -7.32398101e-03 4.35832141e+01] [ 7.50854913e-01 -6.60415693e-01 -8.24693726e-03 -1.38326958e+02] [-1.10294988e-02 -5.31752436e-05 -9.99939172e-01 2.88559670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.59, Y:-138.34, Z:2.88 [[ 6.00090381e-01 7.99906845e-01 -6.36979165e-03 4.35867827e+01] [ 7.99862561e-01 -6.00124185e-01 -8.41697816e-03 -1.38336507e+02] [-1.05554645e-02 -4.40102351e-05 -9.99944289e-01 2.88437270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.59, Y:-138.35, Z:2.88 [[ 5.36209335e-01 8.44066284e-01 -5.62657364e-03 4.35909420e+01] [ 8.44020519e-01 -5.36238853e-01 -8.78951170e-03 -1.38346369e+02] [-1.04361179e-02 -3.59253846e-05 -9.99945542e-01 2.88397036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.59, Y:-138.36, Z:2.88 [[ 4.69754869e-01 8.82785095e-01 -4.56495011e-03 4.35945395e+01] [ 8.82743801e-01 -4.69777049e-01 -8.53852379e-03 -1.38355753e+02] [-9.68219032e-03 -1.86682853e-05 -9.99953126e-01 2.88357182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.60, Y:-138.36, Z:2.88 [[ 4.02913552e-01 9.15232685e-01 -3.13070201e-03 4.35973470e+01] [ 9.15204735e-01 -4.02925714e-01 -7.15281756e-03 -1.38363886e+02] [-7.80793277e-03 1.67338222e-05 -9.99969518e-01 2.88179961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.60, Y:-138.37, Z:2.88 [[ 3.32466527e-01 9.43112182e-01 -2.32802503e-03 4.36011098e+01] [ 9.43088342e-01 -3.32474676e-01 -6.70590149e-03 -1.38372214e+02] [-7.09842676e-03 3.39545158e-05 -9.99974805e-01 2.88109283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.61, Y:-138.38, Z:2.88 [[ 2.60686316e-01 9.65422101e-01 -1.67693204e-03 4.36052728e+01] [ 9.65400793e-01 -2.60691704e-01 -6.41436987e-03 -1.38380464e+02] [-6.62973671e-03 5.32269259e-05 -9.99978022e-01 2.88066433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.95762800000003 meters Centerline goodness [0,1] 0.9998219650606431 Centerline is valid? [True, True] Translation: X:43.61, Y:-138.39, Z:2.88 [[ 1.88155755e-01 9.82138384e-01 -1.26788032e-03 4.36093995e+01] [ 9.82112914e-01 -1.88160007e-01 -7.07357090e-03 -1.38388425e+02] [-7.18578986e-03 8.57314319e-05 -9.99974178e-01 2.88358810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.61, Y:-138.40, Z:2.88 [[ 1.15758302e-01 9.93277199e-01 -6.48520273e-04 4.36115440e+01] [ 9.93255710e-01 -1.15760064e-01 -6.53472738e-03 -1.38395779e+02] [-6.56586846e-03 1.12302482e-04 -9.99978438e-01 2.88164792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.01762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.62, Y:-138.40, Z:2.88 [[ 4.02601519e-02 9.99189222e-01 -1.39527564e-04 4.36188955e+01] [ 9.99166118e-01 -4.02601700e-02 -6.79615793e-03 -1.38403254e+02] [-6.79626516e-03 1.34203136e-04 -9.99976896e-01 2.88128028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.04762800000003 meters Centerline goodness [0,1] 0.9998663578047042 Centerline is valid? [True, True] Translation: X:43.63, Y:-138.41, Z:2.88 [[-3.56834684e-02 9.99363051e-01 4.26146222e-04 4.36258425e+01] [ 9.99335994e-01 3.56856388e-02 -7.35570782e-03 -1.38411689e+02] [-7.36622991e-03 1.63386091e-04 -9.99972856e-01 2.88388200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.07762800000003 meters Centerline goodness [0,1] 0.9998440493695139 Centerline is valid? [True, True] Translation: X:43.63, Y:-138.42, Z:2.88 [[-1.12375713e-01 9.93665195e-01 1.08593819e-03 4.36331886e+01] [ 9.93633658e-01 1.12380801e-01 -7.91890641e-03 -1.38419910e+02] [-7.99078028e-03 1.89131982e-04 -9.99968055e-01 2.88473686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.10762800000003 meters Centerline goodness [0,1] 0.9998440493695139 Centerline is valid? [True, True] Translation: X:43.64, Y:-138.43, Z:2.88 [[-1.89846433e-01 9.81812320e-01 1.70277370e-03 4.36416448e+01] [ 9.81781278e-01 1.89853975e-01 -7.80958842e-03 -1.38426939e+02] [-7.99082849e-03 1.89128834e-04 -9.99968055e-01 2.88473727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.137628 meters Centerline goodness [0,1] 0.9998436802143814 Centerline is valid? [True, True] Translation: X:43.65, Y:-138.43, Z:2.89 [[-2.65077724e-01 9.64223045e-01 2.77853230e-03 4.36512672e+01] [ 9.64179104e-01 2.65092179e-01 -9.20831971e-03 -1.38433030e+02] [-9.61544125e-03 2.38082354e-04 -9.99953742e-01 2.88589405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.66, Y:-138.44, Z:2.88 [[-3.40607407e-01 9.40198594e-01 3.63301069e-03 4.36606568e+01] [ 9.40152376e-01 3.40626698e-01 -9.32538089e-03 -1.38438209e+02] [-1.00052104e-02 2.39289824e-04 -9.99949918e-01 2.88377016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.197628 meters Centerline goodness [0,1] 0.9999107322189739 Centerline is valid? [True, True] Translation: X:43.67, Y:-138.44, Z:2.89 [[-4.13348447e-01 9.10560602e-01 4.73826091e-03 4.36695424e+01] [ 9.10507785e-01 4.13375522e-01 -9.81076661e-03 -1.38444414e+02] [-1.08919786e-02 2.58958304e-04 -9.99940647e-01 2.88555176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.69, Y:-138.44, Z:2.88 [[-4.85620170e-01 8.74156653e-01 4.81621767e-03 4.36851744e+01] [ 8.74117733e-01 4.85644010e-01 -8.25133772e-03 -1.38444034e+02] [-9.55192903e-03 2.02925244e-04 -9.99954359e-01 2.88162196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.70, Y:-138.44, Z:2.88 [[-5.53841330e-01 8.32608190e-01 4.83563108e-03 4.37013145e+01] [ 8.32579063e-01 5.53862414e-01 -6.96630204e-03 -1.38441257e+02] [-8.47847444e-03 1.67819201e-04 -9.99964043e-01 2.88030175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.72, Y:-138.44, Z:2.88 [[-6.18896048e-01 7.85458183e-01 4.80887669e-03 4.37157007e+01] [ 7.85436159e-01 6.18914715e-01 -5.88348445e-03 -1.38439441e+02] [-7.59751555e-03 1.35800363e-04 -9.99971129e-01 2.87996020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.73, Y:-138.43, Z:2.88 [[-6.82127164e-01 7.31220146e-01 4.43072241e-03 4.37306799e+01] [ 7.31205506e-01 6.82141548e-01 -4.62777958e-03 -1.38434710e+02] [-6.40630550e-03 8.30344635e-05 -9.99979476e-01 2.87957348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.74, Y:-138.43, Z:2.88 [[-7.39174625e-01 6.73500044e-01 4.30853326e-03 4.37431911e+01] [ 6.73489068e-01 7.39187180e-01 -3.84556496e-03 -1.38431594e+02] [-5.77480072e-03 5.92060081e-05 -9.99983324e-01 2.88005256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.77, Y:-138.41, Z:2.88 [[-7.86486098e-01 6.17592016e-01 4.44057209e-03 4.37666459e+01] [ 6.17582484e-01 7.86498633e-01 -3.43171974e-03 -1.38412401e+02] [-5.61190659e-03 4.34196742e-05 -9.99984252e-01 2.87967177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.79, Y:-138.39, Z:2.88 [[-8.27502793e-01 5.61443259e-01 4.53813387e-03 4.37909442e+01] [ 5.61435163e-01 8.27515235e-01 -3.01564344e-03 -1.38391736e+02] [-5.44848759e-03 5.24145545e-05 -9.99985156e-01 2.87927574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.80, Y:-138.37, Z:2.88 [[-8.66186328e-01 4.99697529e-01 4.86055595e-03 4.38042244e+01] [ 4.99689784e-01 8.66199965e-01 -2.78230243e-03 -1.38367702e+02] [-5.60052304e-03 1.87778318e-05 -9.99984317e-01 2.87963013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.82, Y:-138.34, Z:2.88 [[-9.00734500e-01 4.34333031e-01 5.67266278e-03 4.38170605e+01] [ 4.34324428e-01 9.00752362e-01 -2.73368345e-03 -1.38344092e+02] [-6.29699342e-03 1.45301588e-06 -9.99980174e-01 2.87888307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.84, Y:-138.32, Z:2.88 [[-9.29705688e-01 3.68251475e-01 6.17944745e-03 4.38390874e+01] [ 3.68243291e-01 9.29726224e-01 -2.45512272e-03 -1.38323953e+02] [-6.64929691e-03 -7.00148827e-06 -9.99977893e-01 2.87893578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.14, Y:-137.58, Z:1.98 [[-9.00681591e-01 -4.34423053e-01 7.02018103e-03 4.41416681e+01] [ 4.34410539e-01 -9.00708946e-01 -3.29820828e-03 -1.37584017e+02] [ 7.75595756e-03 7.90051485e-05 9.99969919e-01 1.97559031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.79, Y:-138.31, Z:2.88 [[-9.32336932e-01 3.61494178e-01 8.35491327e-03 4.37914040e+01] [ 3.61479258e-01 9.32374365e-01 -3.28469562e-03 -1.38305555e+02] [-8.97730530e-03 -4.23151913e-05 -9.99959702e-01 2.88197545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.80, Y:-138.28, Z:2.88 [[-9.55914911e-01 2.93490505e-01 9.48720097e-03 4.38048016e+01] [ 2.93475452e-01 9.55961987e-01 -2.97295973e-03 -1.38282356e+02] [-9.94193894e-03 -5.76359436e-05 -9.99950576e-01 2.88329638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.82, Y:-138.26, Z:2.88 [[-9.74446604e-01 2.24361143e-01 1.07653734e-02 4.38181522e+01] [ 2.24346645e-01 9.74506066e-01 -2.55153059e-03 -1.38259527e+02] [-1.10633860e-02 -7.11549104e-05 -9.99938796e-01 2.88384121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.64762800000003 meters Centerline goodness [0,1] 0.999821647530933 Centerline is valid? [True, True] Translation: X:43.82, Y:-138.24, Z:2.89 [[-9.87990015e-01 1.53998204e-01 1.26602786e-02 4.38245864e+01] [ 1.53984376e-01 9.88071123e-01 -2.06566989e-03 -1.38235984e+02] [-1.28273652e-02 -9.13761245e-05 -9.99917722e-01 2.88780581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.83, Y:-138.21, Z:2.88 [[-9.96657809e-01 8.08961539e-02 1.13589178e-02 4.38311810e+01] [ 8.08896347e-02 9.96722529e-01 -1.03294612e-03 -1.38207717e+02] [-1.14052507e-02 -1.10675101e-04 -9.99934952e-01 2.88387633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.70762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.83, Y:-138.18, Z:2.88 [[-9.99909507e-01 8.03729889e-03 1.07879507e-02 4.38302531e+01] [ 8.03548784e-03 9.99967693e-01 -2.11211763e-04 -1.38178652e+02] [-1.07892997e-02 -1.24506203e-04 -9.99941786e-01 2.88365670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.83, Y:-138.15, Z:2.88 [[-9.97799345e-01 -6.56362985e-02 9.39910787e-03 4.38330145e+01] [-6.56346366e-02 9.97843604e-01 4.85492351e-04 -1.38149259e+02] [-9.41070560e-03 -1.32483080e-04 -9.99955710e-01 2.88219902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.76762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.83, Y:-138.12, Z:2.88 [[-9.90493640e-01 -1.37278807e-01 8.76799873e-03 4.38270759e+01] [-1.37274598e-01 9.90532439e-01 1.08294744e-03 -1.38121134e+02] [-8.83365290e-03 -1.30970950e-04 -9.99960974e-01 2.88134751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.81, Y:-138.09, Z:2.88 [[-9.78058068e-01 -2.08183236e-01 7.88383656e-03 4.38139368e+01] [-2.08177484e-01 9.78089835e-01 1.55243120e-03 -1.38094091e+02] [-8.03429055e-03 -1.22869403e-04 -9.99967717e-01 2.88065333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.82762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.79, Y:-138.07, Z:2.88 [[-9.60736148e-01 -2.77388706e-01 6.44662828e-03 4.37887286e+01] [-2.77383144e-01 9.60757772e-01 1.75938516e-03 -1.38071660e+02] [-6.68168179e-03 -9.78810986e-05 -9.99977673e-01 2.87993449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.85762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.74, Y:-138.06, Z:2.88 [[-9.38048474e-01 -3.46444220e-01 6.43912468e-03 4.37368445e+01] [-3.46436742e-01 9.38070570e-01 2.27819724e-03 -1.38059561e+02] [-6.82962162e-03 -9.36899330e-05 -9.99976673e-01 2.88031280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.68, Y:-138.05, Z:2.88 [[-9.10452414e-01 -4.13556209e-01 6.90391245e-03 4.36777637e+01] [-4.13545087e-01 9.10478585e-01 3.03439014e-03 -1.38054484e+02] [-7.54075532e-03 -9.24112483e-05 -9.99971564e-01 2.88150360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.60, Y:-138.06, Z:2.88 [[-8.78730198e-01 -4.77241109e-01 8.61181555e-03 4.36037753e+01] [-4.77219149e-01 8.78772392e-01 4.57904840e-03 -1.38063922e+02] [-9.75313588e-03 -8.59751798e-05 -9.99952433e-01 2.88408875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.52, Y:-138.08, Z:2.89 [[-8.41395632e-01 -5.40339583e-01 9.30193597e-03 4.35248778e+01] [-5.40307572e-01 8.41447045e-01 5.88211423e-03 -1.38079176e+02] [-1.10054257e-02 -7.67212168e-05 -9.99939436e-01 2.88582770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.44, Y:-138.10, Z:2.89 [[-7.99764095e-01 -6.00228954e-01 1.01288973e-02 4.34406430e+01] [-6.00181682e-01 7.99828231e-01 7.53322566e-03 -1.38104641e+02] [-1.26230382e-02 -5.43752325e-05 -9.99920325e-01 2.88693921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.35, Y:-138.14, Z:2.89 [[-7.52579048e-01 -6.58428339e-01 9.84377683e-03 4.33537369e+01] [-6.58372774e-01 7.52643422e-01 8.55387879e-03 -1.38138582e+02] [-1.30409701e-02 -4.34047098e-05 -9.99914962e-01 2.88727441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.037628 meters Centerline goodness [0,1] 0.9998888024018682 Centerline is valid? [True, True] Translation: X:43.27, Y:-138.18, Z:2.89 [[-7.01803563e-01 -7.12304585e-01 9.69216277e-03 4.32656500e+01] [-7.12236970e-01 7.01870486e-01 9.81428470e-03 -1.38184498e+02] [-1.37934030e-02 -1.54166745e-05 -9.99904866e-01 2.88936084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.18, Y:-138.24, Z:2.89 [[-6.46661972e-01 -7.62729531e-01 8.48279575e-03 4.31780119e+01] [-7.62663738e-01 6.46717607e-01 1.00179329e-02 -1.38240483e+02] [-1.31269467e-02 8.69555309e-06 -9.99913838e-01 2.88659586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.09, Y:-138.31, Z:2.89 [[-5.88573431e-01 -8.08408930e-01 7.50456889e-03 4.30923584e+01] [-8.08342269e-01 5.88621271e-01 1.03814893e-02 -1.38307178e+02] [-1.28098375e-02 4.40085156e-05 -9.99917950e-01 2.88586734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.01, Y:-138.38, Z:2.88 [[-5.29934460e-01 -8.48017432e-01 5.99194785e-03 4.30143894e+01] [-8.47960859e-01 5.29968323e-01 9.79582653e-03 -1.38382789e+02] [-1.14825742e-02 1.10208791e-04 -9.99934067e-01 2.88466659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.93, Y:-138.47, Z:2.88 [[-4.65786872e-01 -8.84883376e-01 4.89913042e-03 4.29340237e+01] [-8.84831320e-01 4.65812615e-01 9.59909292e-03 -1.38471811e+02] [-1.07761545e-02 1.36227421e-04 -9.99941926e-01 2.88344248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.86, Y:-138.56, Z:2.88 [[-3.98782366e-01 -9.17037987e-01 3.73550558e-03 4.28639071e+01] [-9.16994135e-01 3.98799833e-01 8.96940244e-03 -1.38557038e+02] [-9.71500176e-03 1.51402823e-04 -9.99952797e-01 2.88235259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.21762800000002 meters Centerline goodness [0,1] 0.9998661938850606 Centerline is valid? [True, True] Translation: X:42.80, Y:-138.65, Z:2.88 [[-3.31957424e-01 -9.43290623e-01 2.65881850e-03 4.27987921e+01] [-9.43255893e-01 3.31968023e-01 8.09640000e-03 -1.38654378e+02] [-8.51990092e-03 1.79713864e-04 -9.99963689e-01 2.88420009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.74, Y:-138.76, Z:2.88 [[-2.59830163e-01 -9.65653144e-01 1.51387934e-03 4.27399097e+01] [-9.65633327e-01 2.59834532e-01 6.18825847e-03 -1.38758460e+02] [-6.36906937e-03 1.46043866e-04 -9.99979707e-01 2.88203693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.69, Y:-138.87, Z:2.88 [[-1.86105296e-01 -9.82529425e-01 8.64445551e-04 4.26889716e+01] [-9.82515272e-01 1.86107257e-01 5.27540489e-03 -1.38873232e+02] [-5.34412013e-03 1.32449835e-04 -9.99985711e-01 2.88181495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.65, Y:-138.98, Z:2.88 [[-1.12675339e-01 -9.93631797e-01 3.47721400e-04 4.26471181e+01] [-9.93623395e-01 1.12675817e-01 4.08771512e-03 -1.38984651e+02] [-4.10086351e-03 1.15080567e-04 -9.99991585e-01 2.88005044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.33762800000002 meters Centerline goodness [0,1] 0.9998439659399938 Centerline is valid? [True, True] Translation: X:42.61, Y:-139.10, Z:2.88 [[-3.66410941e-02 -9.99328489e-01 3.97188034e-05 4.26148806e+01] [-9.99313829e-01 3.66407718e-02 5.41517002e-03 -1.39101647e+02] [-5.41298900e-03 1.58726205e-04 -9.99985337e-01 2.88154089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.78, Y:-139.22, Z:1.98 [[-4.62191869e-02 9.98931243e-01 3.97865489e-04 4.17796345e+01] [-9.98923945e-01 -4.62203726e-02 3.82472213e-03 -1.39216541e+02] [ 3.83902392e-03 -2.20661816e-04 9.99992607e-01 1.97857935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.61, Y:-139.41, Z:2.88 [[-2.55827808e-02 -9.99672707e-01 -1.11166460e-05 4.26103165e+01] [-9.99666958e-01 2.55825960e-02 3.39170340e-03 -1.39405779e+02] [-3.39030893e-03 9.78821484e-05 -9.99994248e-01 2.87885958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.42762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.58, Y:-139.52, Z:2.88 [[ 5.54401351e-02 -9.98461933e-01 -3.99155091e-04 4.25786059e+01] [-9.98449606e-01 -5.54414347e-02 4.96300781e-03 -1.39523699e+02] [-4.97750410e-03 1.23386420e-04 -9.99987605e-01 2.88128550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.45762800000003 meters Centerline goodness [0,1] 0.9997781672175514 Centerline is valid? [True, True] Translation: X:42.56, Y:-139.65, Z:2.89 [[ 1.34562950e-01 -9.90904265e-01 -1.24481475e-03 4.25634447e+01] [-9.90873358e-01 -1.34568588e-01 7.82841663e-03 -1.39648599e+02] [-7.92472439e-03 1.80038931e-04 -9.99968583e-01 2.88657229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.55, Y:-139.77, Z:2.89 [[ 2.15614698e-01 -9.76476486e-01 -1.99362269e-03 4.25542507e+01] [-9.76441036e-01 -2.15623861e-01 8.32191326e-03 -1.39774937e+02] [-8.55602523e-03 1.52328187e-04 -9.99963385e-01 2.88620103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.51762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.56, Y:-139.90, Z:2.89 [[ 2.91842106e-01 -9.56462418e-01 -2.79802647e-03 4.25594476e+01] [-9.56423222e-01 -2.91855481e-01 8.66015928e-03 -1.39897891e+02] [-9.09973624e-03 1.48698373e-04 -9.99958586e-01 2.88653089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.54762800000003 meters Centerline goodness [0,1] 0.9999335459861776 Centerline is valid? [True, True] Translation: X:42.58, Y:-140.02, Z:2.89 [[ 3.65736617e-01 -9.30709855e-01 -3.98658351e-03 4.25757954e+01] [-9.30659285e-01 -3.65758308e-01 9.70337060e-03 -1.40023222e+02] [-1.04891487e-02 1.61273019e-04 -9.99944974e-01 2.88759101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.57762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.60, Y:-140.14, Z:2.89 [[ 4.37300802e-01 -8.99303838e-01 -4.54043227e-03 4.25960855e+01] [-8.99258772e-01 -4.37324348e-01 9.00414730e-03 -1.40136654e+02] [-1.00831058e-02 1.45502718e-04 -9.99949154e-01 2.88568025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.60762800000003 meters Centerline goodness [0,1] 0.9998893487064864 Centerline is valid? [True, True] Translation: X:42.63, Y:-140.25, Z:2.89 [[ 5.06323362e-01 -8.62331852e-01 -4.51987331e-03 4.26274155e+01] [-8.62299514e-01 -5.06343523e-01 7.46891439e-03 -1.40251707e+02] [-8.72929136e-03 1.15798712e-04 -9.99961892e-01 2.88766495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.63762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.67, Y:-140.37, Z:2.89 [[ 5.71916486e-01 -8.20302710e-01 -3.87258345e-03 4.26670609e+01] [-8.20284873e-01 -5.71929591e-01 5.41020989e-03 -1.40365121e+02] [-6.65285490e-03 8.24333998e-05 -9.99977866e-01 2.88529593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.667628 meters Centerline goodness [0,1] 0.9999114221178972 Centerline is valid? [True, True] Translation: X:42.71, Y:-140.47, Z:2.89 [[ 6.33850502e-01 -7.73444022e-01 -4.22922330e-03 4.27115364e+01] [-7.73427603e-01 -6.33864607e-01 5.04016227e-03 -1.40467534e+02] [-6.57903834e-03 7.62886516e-05 -9.99978355e-01 2.88699310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.76, Y:-140.57, Z:2.89 [[ 6.93089500e-01 -7.20842488e-01 -3.61275388e-03 4.27639784e+01] [-7.20833047e-01 -6.93098914e-01 3.68956845e-03 -1.40566502e+02] [-5.16359349e-03 4.69912374e-05 -9.99986667e-01 2.88513163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.727628 meters Centerline goodness [0,1] 0.9999114162329753 Centerline is valid? [True, True] Translation: X:42.82, Y:-140.66, Z:2.89 [[ 7.46524506e-01 -6.65344871e-01 -4.16715874e-03 4.28215725e+01] [-6.65334859e-01 -7.46536135e-01 3.65029389e-03 -1.40658204e+02] [-5.53963890e-03 4.75221292e-05 -9.99984655e-01 2.88675631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.82, Y:-140.66, Z:2.88 [[ 7.97033638e-01 -6.03922954e-01 -3.80079730e-03 4.28174414e+01] [-6.03916294e-01 -7.97042700e-01 2.83640684e-03 -1.40663459e+02] [-4.74236894e-03 3.46517602e-05 -9.99988754e-01 2.88455398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.81, Y:-140.67, Z:2.88 [[ 8.42186238e-01 -5.39174479e-01 -3.63619970e-03 4.28130061e+01] [-5.39169599e-01 -8.42194087e-01 2.29416730e-03 -1.40666803e+02] [-4.29934234e-03 2.84122048e-05 -9.99990757e-01 2.88431824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.81, Y:-140.67, Z:2.88 [[ 8.82425006e-01 -4.70436240e-01 -3.98153481e-03 4.28097866e+01] [-4.70431571e-01 -8.82433988e-01 2.09602004e-03 -1.40669820e+02] [-4.49948543e-03 2.34591767e-05 -9.99989877e-01 2.88447417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.81, Y:-140.67, Z:2.89 [[ 9.16765668e-01 -3.99398795e-01 -4.61649864e-03 4.28075720e+01] [-3.99393855e-01 -9.16777291e-01 1.98669402e-03 -1.40673590e+02] [-5.02578432e-03 2.24683145e-05 -9.99987370e-01 2.88566714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.81, Y:-140.68, Z:2.89 [[ 9.45671037e-01 -3.25064819e-01 -6.25731011e-03 4.28052468e+01] [-3.25057836e-01 -9.45691738e-01 2.13079189e-03 -1.40678089e+02] [-6.61013195e-03 1.89595099e-05 -9.99978153e-01 2.88770816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.90762800000002 meters Centerline goodness [0,1] 0.9999333036905291 Centerline is valid? [True, True] Translation: X:42.80, Y:-140.68, Z:2.89 [[ 9.68098742e-01 -2.50434250e-01 -8.21652328e-03 4.28023478e+01] [-2.50425462e-01 -9.68133609e-01 2.09822263e-03 -1.40680587e+02] [-8.48015915e-03 2.63399424e-05 -9.99964042e-01 2.89049577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.80, Y:-140.68, Z:2.89 [[ 9.84758784e-01 -1.73679507e-01 -9.25025017e-03 4.27978886e+01] [-1.73672105e-01 -9.84802228e-01 1.60369749e-03 -1.40682354e+02] [-9.38819637e-03 2.72552351e-05 -9.99955930e-01 2.88977007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.79, Y:-140.69, Z:2.89 [[ 9.95272244e-01 -9.65271126e-02 -1.07553543e-02 4.27923787e+01] [-9.65218708e-02 -9.95330355e-01 1.00659380e-03 -1.40687897e+02] [-1.08022942e-02 3.62920459e-05 -9.99941653e-01 2.89005600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.79, Y:-140.69, Z:2.89 [[ 9.99717468e-01 -2.00867101e-02 -1.27086211e-02 4.27855479e+01] [-2.00859150e-02 -9.99798240e-01 1.90214917e-04 -1.40690154e+02] [-1.27098778e-02 6.51031072e-05 -9.99919224e-01 2.89333688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.78, Y:-140.69, Z:2.89 [[ 9.98221932e-01 5.82415291e-02 -1.26845604e-02 4.27795606e+01] [ 5.82359988e-02 -9.98302519e-01 -8.05229220e-04 -1.40690859e+02] [-1.27099264e-02 6.50994238e-05 -9.99919224e-01 2.89333732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.77, Y:-140.69, Z:2.89 [[ 9.90623887e-01 1.35998388e-01 -1.29905275e-02 4.27742559e+01] [ 1.35985777e-01 -9.90709056e-01 -1.85332526e-03 -1.40694737e+02] [-1.31218825e-02 6.94212929e-05 -9.99913902e-01 2.89332409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.77, Y:-140.70, Z:2.89 [[ 9.76717248e-01 2.14130441e-01 -1.30985632e-02 4.27705187e+01] [ 2.14110401e-01 -9.76805073e-01 -2.93005426e-03 -1.40703846e+02] [-1.34221568e-02 5.72959182e-05 -9.99909917e-01 2.89256839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.77, Y:-140.71, Z:2.89 [[ 9.56353371e-01 2.91972495e-01 -1.18445252e-02 4.27674580e+01] [ 2.91949760e-01 -9.56426715e-01 -3.64362891e-03 -1.40713997e+02] [-1.23922597e-02 2.65905101e-05 -9.99923213e-01 2.89173925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.77, Y:-140.72, Z:2.89 [[ 9.30139027e-01 3.67043893e-01 -1.09622550e-02 4.27651573e+01] [ 3.67018258e-01 -9.30203623e-01 -4.33800579e-03 -1.40723050e+02] [-1.17893679e-02 1.16007351e-05 -9.99930503e-01 2.89092954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.17762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.76, Y:-140.73, Z:2.89 [[ 8.97866854e-01 4.40184806e-01 -8.51162971e-03 4.27631913e+01] [ 4.40165086e-01 -8.97907198e-01 -4.16662294e-03 -1.40732868e+02] [-9.47673770e-03 -5.44959475e-06 -9.99955095e-01 2.88965288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.20762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.76, Y:-140.74, Z:2.89 [[ 8.60427089e-01 5.09520312e-01 -7.36726924e-03 4.27615118e+01] [ 5.09501725e-01 -8.60458629e-01 -4.35208686e-03 -1.40740882e+02] [-8.55670704e-03 -8.98295981e-06 -9.99963391e-01 2.88934526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.76, Y:-140.75, Z:2.89 [[ 8.17885938e-01 5.75337703e-01 -7.00853335e-03 4.27607076e+01] [ 5.75316678e-01 -8.17915966e-01 -4.91855289e-03 -1.40748445e+02] [-8.56222025e-03 -9.31088350e-06 -9.99963343e-01 2.88941625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.26762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.76, Y:-140.76, Z:2.89 [[ 7.70743713e-01 6.37113686e-01 -6.34663951e-03 4.27586081e+01] [ 6.37092126e-01 -7.70769843e-01 -5.24130367e-03 -1.40756151e+02] [-8.23110464e-03 -3.69220443e-06 -9.99966124e-01 2.88966413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.29762800000003 meters Centerline goodness [0,1] 0.9998661192431274 Centerline is valid? [True, True] Translation: X:42.75, Y:-140.76, Z:2.89 [[ 7.20706702e-01 6.93213240e-01 -6.10363781e-03 4.27543762e+01] [ 6.93188107e-01 -7.20732547e-01 -5.90288386e-03 -1.40759837e+02] [-8.49104767e-03 2.32788216e-05 -9.99963950e-01 2.89046370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.32762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.75, Y:-140.77, Z:2.89 [[ 6.64748617e-01 7.47052798e-01 -4.62537828e-03 4.27514748e+01] [ 7.47034459e-01 -6.64764708e-01 -5.23454032e-03 -1.40765661e+02] [-6.98526623e-03 2.43364753e-05 -9.99975602e-01 2.88670618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.35762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.75, Y:-140.77, Z:2.89 [[ 6.05435353e-01 7.95886039e-01 -3.66689664e-03 4.27492851e+01] [ 7.95871132e-01 -6.05446457e-01 -4.87130365e-03 -1.40771993e+02] [-6.09711215e-03 3.08822684e-05 -9.99981412e-01 2.88567158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.38762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.75, Y:-140.78, Z:2.88 [[ 5.44391683e-01 8.38826338e-01 -2.84064614e-03 4.27526938e+01] [ 8.38814471e-01 -5.44399092e-01 -4.46228411e-03 -1.40781920e+02] [-5.28952662e-03 4.64552713e-05 -9.99986009e-01 2.88408306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.76, Y:-140.79, Z:2.88 [[ 4.79157531e-01 8.77725655e-01 -2.39477210e-03 4.27561110e+01] [ 8.77714089e-01 -4.79163512e-01 -4.50624799e-03 -1.40791684e+02] [-5.10273688e-03 5.72774522e-05 -9.99986979e-01 2.88358707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.76, Y:-140.80, Z:2.88 [[ 4.11771879e-01 9.11285198e-01 -1.79097053e-03 4.27588499e+01] [ 9.11275884e-01 -4.11775769e-01 -4.12061378e-03 -1.40801470e+02] [-4.49253261e-03 6.46846299e-05 -9.99989906e-01 2.88320178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.76, Y:-140.81, Z:2.88 [[ 3.42343001e-01 9.39574048e-01 -1.37026678e-03 4.27604619e+01] [ 9.39565622e-01 -3.42345735e-01 -3.97993828e-03 -1.40811302e+02] [-4.20855171e-03 7.50484486e-05 -9.99991141e-01 2.88309225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.507628 meters Centerline goodness [0,1] 0.9999107222569413 Centerline is valid? [True, True] Translation: X:42.77, Y:-140.82, Z:2.88 [[ 2.75235887e-01 9.61376166e-01 -1.03580419e-03 4.27652548e+01] [ 9.61367837e-01 -2.75237816e-01 -4.00335586e-03 -1.40820362e+02] [-4.13382340e-03 1.06078372e-04 -9.99991450e-01 2.88449001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.77, Y:-140.83, Z:2.88 [[ 2.01761162e-01 9.79434537e-01 -6.49218188e-04 4.27697917e+01] [ 9.79427639e-01 -2.01762178e-01 -3.67747976e-03 -1.40830562e+02] [-3.73283837e-03 1.06110352e-04 -9.99993027e-01 2.88293362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.78, Y:-140.84, Z:2.88 [[ 1.27321181e-01 9.91861487e-01 -3.29127394e-04 4.27759798e+01] [ 9.91855643e-01 -1.27321561e-01 -3.40634015e-03 -1.40839123e+02] [-3.42052262e-03 1.07252388e-04 -9.99994144e-01 2.88307223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.78, Y:-140.85, Z:2.88 [[ 5.32017178e-02 9.98583784e-01 -5.33803764e-05 4.27823742e+01] [ 9.98579299e-01 -5.32016389e-02 -2.99498848e-03 -1.40847795e+02] [-2.99358685e-03 1.06033993e-04 -9.99995514e-01 2.88246696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.79, Y:-140.86, Z:2.88 [[-2.40348716e-02 9.99711110e-01 1.45520241e-04 4.27939328e+01] [ 9.99708245e-01 2.40351514e-02 -2.39498246e-03 -1.40855196e+02] [-2.39778817e-03 8.79146888e-05 -9.99997121e-01 2.88220725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.81, Y:-140.86, Z:2.88 [[-1.01193242e-01 9.94866728e-01 3.49550917e-04 4.28071855e+01] [ 9.94863597e-01 1.01193801e-01 -2.49780565e-03 -1.40861326e+02] [-2.52035612e-03 9.49944316e-05 -9.99996819e-01 2.88323615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.82, Y:-140.87, Z:2.88 [[-1.78913926e-01 9.83864561e-01 5.76214452e-04 4.28193556e+01] [ 9.83861110e-01 1.78914825e-01 -2.60799152e-03 -1.40866600e+02] [-2.66900374e-03 1.00308989e-04 -9.99996433e-01 2.88396681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.83, Y:-140.87, Z:2.88 [[-2.56156621e-01 9.66634906e-01 8.62684620e-04 4.28311907e+01] [ 9.66630766e-01 2.56158051e-01 -2.83101180e-03 -1.40871543e+02] [-2.95753844e-03 1.08715078e-04 -9.99995621e-01 2.88373387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.74762800000002 meters Centerline goodness [0,1] 0.9998666162772603 Centerline is valid? [True, True] Translation: X:42.84, Y:-140.88, Z:2.89 [[-3.32111593e-01 9.43239018e-01 1.43016923e-03 4.28432539e+01] [ 9.43231994e-01 3.32114643e-01 -3.64273165e-03 -1.40875430e+02] [-3.91094677e-03 1.39187963e-04 -9.99992343e-01 2.88528192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.86, Y:-140.88, Z:2.88 [[-4.10358247e-01 9.11922092e-01 2.05105948e-03 4.28601690e+01] [ 9.11912343e-01 4.10363349e-01 -4.21906962e-03 -1.40875683e+02] [-4.68914243e-03 1.39056445e-04 -9.99988996e-01 2.88355672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.87, Y:-140.88, Z:2.88 [[-4.83401945e-01 8.75394841e-01 2.53606167e-03 4.28738411e+01] [ 8.75384195e-01 4.83408580e-01 -4.31918223e-03 -1.40877314e+02] [-5.00694381e-03 1.32127216e-04 -9.99987456e-01 2.88406434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.89, Y:-140.87, Z:2.89 [[-5.55673686e-01 8.31392105e-01 3.73131714e-03 4.28903524e+01] [ 8.31374921e-01 5.55686199e-01 -5.34689227e-03 -1.40873522e+02] [-6.51880545e-03 1.30996157e-04 -9.99978744e-01 2.88502066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.90, Y:-140.87, Z:2.89 [[-6.20955157e-01 7.83835046e-01 4.16100945e-03 4.29030029e+01] [ 7.83818687e-01 6.20969088e-01 -5.06540577e-03 -1.40871140e+02] [-6.55430080e-03 1.16087124e-04 -9.99978514e-01 2.88524212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.91, Y:-140.87, Z:2.89 [[-6.81884247e-01 7.31447627e-01 4.27117399e-03 4.29144610e+01] [ 7.31434163e-01 6.81897616e-01 -4.43914611e-03 -1.40869257e+02] [-6.15950625e-03 9.70987694e-05 -9.99981025e-01 2.88526388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.93, Y:-140.87, Z:2.88 [[-7.38084124e-01 6.74694599e-01 4.36160118e-03 4.29252602e+01] [ 6.74683482e-01 7.38097006e-01 -3.87407921e-03 -1.40865085e+02] [-5.83310509e-03 8.33039120e-05 -9.99982984e-01 2.88476262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.95762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.95, Y:-140.84, Z:2.88 [[-7.85590294e-01 6.18738899e-01 3.17241621e-03 4.29475815e+01] [ 6.18734094e-01 7.85596698e-01 -2.43884991e-03 -1.40843555e+02] [-4.00125101e-03 4.69452555e-05 -9.99991994e-01 2.88358741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.97, Y:-140.82, Z:2.88 [[-8.27741259e-01 5.61103548e-01 2.68641826e-03 4.29673917e+01] [ 5.61100733e-01 8.27745618e-01 -1.77760098e-03 -1.40822411e+02] [-3.22108916e-03 3.59575750e-05 -9.99994812e-01 2.88248494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.01762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.99, Y:-140.80, Z:2.88 [[-8.65622006e-01 5.00691993e-01 2.46395943e-03 4.29861866e+01] [ 5.00690064e-01 8.65625512e-01 -1.39017749e-03 -1.40800083e+02] [-2.82891688e-03 3.03117772e-05 -9.99995998e-01 2.88173759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.00, Y:-140.77, Z:2.88 [[-8.99298224e-01 4.37333766e-01 1.37135949e-03 4.30002463e+01] [ 4.37333284e-01 8.99299270e-01 -6.49885594e-04 -1.40773732e+02] [-1.51747950e-03 1.53001859e-05 -9.99998849e-01 2.88085039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.07762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.34, Y:-140.08, Z:1.98 [[-8.76961223e-01 -4.80559345e-01 1.31491172e-03 4.33438275e+01] [ 4.80558778e-01 -8.76962209e-01 -7.38550589e-04 -1.40077213e+02] [ 1.50804527e-03 -1.57878607e-05 9.99998863e-01 1.97592309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.97, Y:-140.76, Z:2.88 [[-9.01210076e-01 4.33381034e-01 1.13058528e-03 4.29658449e+01] [ 4.33380710e-01 9.01210785e-01 -5.30505330e-04 -1.40756049e+02] [-1.24880659e-03 1.18771020e-05 -9.99999220e-01 2.88160424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.13762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.98, Y:-140.73, Z:2.88 [[-9.30171909e-01 3.67122839e-01 1.02047710e-03 4.29788541e+01] [ 3.67122629e-01 9.30172468e-01 -3.93145984e-04 -1.40729370e+02] [-1.09355257e-03 8.94688385e-06 -9.99999402e-01 2.88258696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.26, Y:-140.02, Z:1.97 [[-9.09020702e-01 -4.16750129e-01 8.33057728e-04 4.32620595e+01] [ 4.16749936e-01 -9.09021083e-01 -4.02058761e-04 -1.40016219e+02] [ 9.24825079e-04 -1.83029827e-05 9.99999572e-01 1.97412895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.94, Y:-140.71, Z:2.88 [[-9.32305296e-01 3.61668010e-01 1.75649408e-03 4.29375108e+01] [ 3.61667390e-01 9.32306951e-01 -6.70029328e-04 -1.40710162e+02] [-1.87991982e-03 1.05947392e-05 -9.99998233e-01 2.88415263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.94, Y:-140.68, Z:2.89 [[-9.55985638e-01 2.93374296e-01 4.79393813e-03 4.29449163e+01] [ 2.93370710e-01 9.55997658e-01 -1.45064163e-03 -1.40684323e+02] [-5.00857459e-03 1.96084668e-05 -9.99987457e-01 2.88695301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.96, Y:-140.66, Z:2.89 [[-9.74231531e-01 2.25450900e-01 6.69446264e-03 4.29556860e+01] [ 2.25445794e-01 9.74254531e-01 -1.51763094e-03 -1.40659355e+02] [-6.86426182e-03 3.07145312e-05 -9.99976440e-01 2.88751837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.287628 meters Centerline goodness [0,1] 0.9998465484358902 Centerline is valid? [True, True] Translation: X:43.13, Y:-139.91, Z:1.97 [[-9.59733275e-01 -2.80759903e-01 9.26919870e-03 4.31335157e+01] [ 2.80748094e-01 -9.59778027e-01 -2.57827934e-03 -1.39914145e+02] [ 9.62025069e-03 1.27849387e-04 9.99953716e-01 1.96614667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.91, Y:-140.66, Z:2.89 [[-9.73902628e-01 2.26715111e-01 1.06737886e-02 4.29073425e+01] [ 2.26702676e-01 9.73961112e-01 -2.37680457e-03 -1.40655061e+02] [-1.09347125e-02 1.05000222e-04 -9.99940209e-01 2.89084112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.91, Y:-140.63, Z:2.89 [[-9.87136706e-01 1.59492034e-01 1.11092369e-02 4.29101464e+01] [ 1.59483483e-01 9.87199206e-01 -1.65709097e-03 -1.40630427e+02] [-1.12313227e-02 1.35964477e-04 -9.99936917e-01 2.89120734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.37762800000002 meters Centerline goodness [0,1] 0.9998460286386732 Centerline is valid? [True, True] Translation: X:43.04, Y:-139.86, Z:1.96 [[-9.79958065e-01 -1.98855730e-01 1.17723894e-02 4.30381660e+01] [ 1.98840198e-01 -9.80028770e-01 -2.48728241e-03 -1.39856477e+02] [ 1.20318906e-02 -9.66082275e-05 9.99927610e-01 1.96441089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.85, Y:-140.63, Z:2.89 [[-9.86488558e-01 1.63450782e-01 1.11429816e-02 4.28498131e+01] [ 1.63443017e-01 9.86551462e-01 -1.61013170e-03 -1.40631920e+02] [-1.12563021e-02 2.32866033e-04 -9.99936619e-01 2.88940774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.43762800000002 meters Centerline goodness [0,1] 0.9999557051736357 Centerline is valid? [True, True] Translation: X:42.98, Y:-139.84, Z:1.97 [[-9.82450447e-01 -1.86203505e-01 1.09258663e-02 4.29809675e+01] [ 1.86189308e-01 -9.82511170e-01 -2.31145317e-03 -1.39838189e+02] [ 1.11651864e-02 -2.36608709e-04 9.99937639e-01 1.96775382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.79, Y:-140.63, Z:2.89 [[-9.86475814e-01 1.63572003e-01 1.04722410e-02 4.27946186e+01] [ 1.63565670e-01 9.86531362e-01 -1.46418240e-03 -1.40628023e+02] [-1.05706935e-02 2.68518589e-04 -9.99944093e-01 2.88704022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.92, Y:-139.82, Z:1.97 [[-9.84142857e-01 -1.77166259e-01 8.65755583e-03 4.29154513e+01] [ 1.77156438e-01 -9.84180881e-01 -1.89450797e-03 -1.39824989e+02] [ 8.85624382e-03 -3.30724734e-04 9.99960728e-01 1.97122724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.73, Y:-140.62, Z:2.88 [[-9.86667826e-01 1.62548623e-01 8.03405054e-03 4.27301326e+01] [ 1.62545171e-01 9.86700507e-01 -1.08524091e-03 -1.40623680e+02] [-8.10360616e-03 2.35123830e-04 -9.99967138e-01 2.88491097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.74, Y:-140.60, Z:2.88 [[-9.95675229e-01 9.26827084e-02 6.38395414e-03 4.27350823e+01] [ 9.26820210e-02 9.95695676e-01 -4.04069200e-04 -1.40596828e+02] [-6.39392576e-03 1.89356078e-04 -9.99979541e-01 2.88409490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.74, Y:-140.57, Z:2.88 [[-9.99758963e-01 2.11576592e-02 5.86251319e-03 4.27392858e+01] [ 2.11582968e-02 9.99776137e-01 4.67668472e-05 -1.40569314e+02] [-5.86021132e-03 1.70796369e-04 -9.99982814e-01 2.88359287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.74, Y:-140.54, Z:2.88 [[-9.98675861e-01 -5.11142449e-02 5.81873726e-03 4.27361984e+01] [-5.11124198e-02 9.98692799e-01 4.62031632e-04 -1.40541895e+02] [-5.83474740e-03 1.64010097e-04 -9.99982964e-01 2.88302469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.64762800000003 meters Centerline goodness [0,1] 0.9998670536881523 Centerline is valid? [True, True] Translation: X:42.68, Y:-139.72, Z:1.97 [[-9.99239957e-01 3.84281863e-02 6.54086637e-03 4.26764694e+01] [-3.84282519e-02 -9.99261355e-01 1.15692792e-04 -1.39724186e+02] [ 6.54048085e-03 -1.35749200e-04 9.99978602e-01 1.97226808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.62, Y:-140.54, Z:2.88 [[-9.97794503e-01 -6.60501513e-02 6.59596931e-03 4.26236202e+01] [-6.60478446e-02 9.97816296e-01 5.67166844e-04 -1.40542537e+02] [-6.61902712e-03 1.30266403e-04 -9.99978086e-01 2.88384277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.70762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.56, Y:-139.74, Z:1.97 [[-9.99407727e-01 3.35049214e-02 7.84954189e-03 4.25569645e+01] [-3.35044130e-02 -9.99438550e-01 1.96302319e-04 -1.39740407e+02] [ 7.85171186e-03 -6.68082386e-05 9.99969173e-01 1.97197790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.51, Y:-140.55, Z:2.89 [[-9.96605104e-01 -8.18444331e-02 8.93062924e-03 4.25094754e+01] [-8.18403100e-02 9.96645112e-01 8.26765092e-04 -1.40545560e+02] [-8.96833410e-03 9.30728444e-05 -9.99959779e-01 2.88603683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.76762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.50, Y:-140.51, Z:2.89 [[-9.86742203e-01 -1.61951061e-01 1.05678226e-02 4.24960855e+01] [-1.61941650e-01 9.86798791e-01 1.74595396e-03 -1.40514347e+02] [-1.07110737e-02 1.14358247e-05 -9.99942635e-01 2.88876187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.79762800000003 meters Centerline goodness [0,1] 0.9999115924411537 Centerline is valid? [True, True] Translation: X:42.47, Y:-140.49, Z:2.89 [[-9.71783288e-01 -2.35574556e-01 1.19108955e-02 4.24698290e+01] [-2.35557184e-01 9.71856279e-01 2.86096118e-03 -1.40490252e+02] [-1.22496482e-02 -2.54627310e-05 -9.99924970e-01 2.88958450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.82762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.42, Y:-140.47, Z:2.89 [[-9.50869460e-01 -3.09357761e-01 1.20434834e-02 4.24237622e+01] [-3.09333956e-01 9.50945724e-01 3.83849237e-03 -1.40472898e+02] [-1.26401664e-02 -7.55531858e-05 -9.99920107e-01 2.88909506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.85762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.37, Y:-140.47, Z:2.89 [[-9.25505282e-01 -3.78563712e-01 1.13793047e-02 4.23668666e+01] [-3.78536066e-01 9.25575232e-01 4.57558108e-03 -1.40465345e+02] [-1.22645515e-02 -7.27527693e-05 -9.99924785e-01 2.88843043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.88762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.30, Y:-140.47, Z:2.89 [[-8.95175567e-01 -4.45603083e-01 9.92958441e-03 4.22997846e+01] [-4.45576380e-01 8.95230634e-01 4.87863457e-03 -1.40467246e+02] [-1.10632028e-02 -5.71538112e-05 -9.99938799e-01 2.88710490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.22, Y:-140.48, Z:2.89 [[-8.59375777e-01 -5.11255626e-01 9.53723957e-03 4.22217507e+01] [-5.11224882e-01 8.59428695e-01 5.60699913e-03 -1.40477831e+02] [-1.10631872e-02 -5.71549375e-05 -9.99938799e-01 2.88710431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.14, Y:-140.50, Z:2.88 [[-8.19046507e-01 -5.73669674e-01 8.11946408e-03 4.21398404e+01] [-5.73641988e-01 8.19086750e-01 5.63607768e-03 -1.40500702e+02] [-9.88379229e-03 -4.14557837e-05 -9.99951153e-01 2.88486462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.06, Y:-140.53, Z:2.88 [[-7.74929692e-01 -6.32024576e-01 5.37661061e-03 4.20564635e+01] [-6.32009471e-01 7.74948343e-01 4.36964295e-03 -1.40534131e+02] [-6.92831721e-03 -1.19027646e-05 -9.99975999e-01 2.88100416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.97, Y:-140.58, Z:2.88 [[-7.25536108e-01 -6.88171085e-01 4.23248394e-03 4.19663531e+01] [-6.88159401e-01 7.25548453e-01 4.01007940e-03 -1.40578113e+02] [-5.83049286e-03 -3.16620973e-06 -9.99983003e-01 2.88011261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.88, Y:-140.63, Z:2.88 [[-6.72013172e-01 -7.40529693e-01 3.75102966e-03 4.18798799e+01] [-7.40518115e-01 6.72023640e-01 4.14100772e-03 -1.40628688e+02] [-5.58731978e-03 5.10632385e-06 -9.99984391e-01 2.87993155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.80, Y:-140.69, Z:2.88 [[-6.15823532e-01 -7.87876591e-01 3.44314388e-03 4.17951483e+01] [-7.87864073e-01 6.15833157e-01 4.44135433e-03 -1.40690567e+02] [-5.61964128e-03 2.23611500e-05 -9.99984209e-01 2.88001940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.71, Y:-140.77, Z:2.88 [[-5.54705552e-01 -8.32041987e-01 2.80739602e-03 4.17066849e+01] [-8.32031087e-01 5.54712656e-01 4.25904979e-03 -1.40768653e+02] [-5.10100635e-03 2.66778019e-05 -9.99986989e-01 2.87983571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.63, Y:-140.85, Z:2.88 [[-4.90835935e-01 -8.71249497e-01 2.09728595e-03 4.16305719e+01] [-8.71241269e-01 4.90840415e-01 3.78657275e-03 -1.40845123e+02] [-4.32848231e-03 3.13438990e-05 -9.99990632e-01 2.87891046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.56, Y:-140.93, Z:2.88 [[-4.23016693e-01 -9.06120518e-01 1.57593123e-03 4.15571395e+01] [-9.06113959e-01 4.23019627e-01 3.44803628e-03 -1.40930906e+02] [-3.79098626e-03 3.06036206e-05 -9.99992814e-01 2.87863931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.49, Y:-141.03, Z:2.88 [[-3.52325833e-01 -9.35876669e-01 1.16930359e-03 4.14875918e+01] [-9.35871238e-01 3.52327772e-01 3.18859331e-03 -1.41026487e+02] [-3.39610821e-03 2.91061990e-05 -9.99994233e-01 2.87835727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.43, Y:-141.13, Z:2.88 [[-2.78699973e-01 -9.60377567e-01 1.12015603e-03 4.14260076e+01] [-9.60369305e-01 2.78702222e-01 3.98364557e-03 -1.41126006e+02] [-4.13799381e-03 3.44784481e-05 -9.99991438e-01 2.87956041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.37, Y:-141.24, Z:2.88 [[-2.02912027e-01 -9.79196317e-01 1.13244406e-03 4.13700055e+01] [-9.79179826e-01 2.02915183e-01 5.68305325e-03 -1.41235620e+02] [-5.79461491e-03 4.42934813e-05 -9.99983210e-01 2.88063755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.32, Y:-141.35, Z:2.88 [[-1.25315755e-01 -9.92116562e-01 8.29572038e-04 4.13225865e+01] [-9.92092428e-01 1.25318493e-01 6.92027390e-03 -1.41352461e+02] [-6.96967907e-03 4.42072092e-05 -9.99975711e-01 2.88214639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.28, Y:-141.47, Z:2.88 [[-4.51838806e-02 -9.98978605e-01 4.03855015e-04 4.12838034e+01] [-9.98931829e-01 4.51856730e-02 9.66730995e-03 -1.41466417e+02] [-9.67568427e-03 3.33829490e-05 -9.99953189e-01 2.88477409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.33762800000002 meters Centerline goodness [0,1] 0.9999112905014305 Centerline is valid? [True, True] Translation: X:40.47, Y:-141.55, Z:1.97 [[-1.06993157e-01 9.94259078e-01 1.16165090e-03 4.04684749e+01] [-9.94188138e-01 -1.06999400e-01 1.18774600e-02 -1.41549672e+02] [ 1.19335684e-02 1.15907399e-04 9.99928786e-01 1.97013848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.27, Y:-141.77, Z:2.89 [[-3.17247283e-02 -9.99496559e-01 4.12355842e-04 4.12661777e+01] [-9.99411067e-01 3.17274079e-02 1.30724961e-02 -1.41765884e+02] [-1.30789978e-02 2.60839361e-06 -9.99914466e-01 2.88827485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.24, Y:-141.89, Z:2.89 [[ 4.66454391e-02 -9.98911278e-01 -6.79674688e-04 4.12387684e+01] [-9.98801989e-01 -4.66503895e-02 1.47759150e-02 -1.41887540e+02] [-1.47915352e-02 -1.03686113e-05 -9.99890599e-01 2.88916158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.42762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.22, Y:-142.01, Z:2.89 [[ 1.24203269e-01 -9.92254702e-01 -2.03841737e-03 4.12228035e+01] [-9.92118788e-01 -1.24219994e-01 1.64226461e-02 -1.42007486e+02] [-1.65486600e-02 -1.73941638e-05 -9.99863061e-01 2.89016394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.45762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.22, Y:-142.13, Z:2.89 [[ 2.00067607e-01 -9.79776832e-01 -3.21114614e-03 4.12163019e+01] [-9.79650019e-01 -2.00093375e-01 1.57633042e-02 -1.42131751e+02] [-1.60870493e-02 -7.92716548e-06 -9.99870595e-01 2.88901572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.22, Y:-142.25, Z:2.89 [[ 2.74806338e-01 -9.61492785e-01 -3.61963875e-03 4.12186339e+01] [-9.61409375e-01 -2.74830175e-01 1.26644586e-02 -1.42251619e+02] [-1.31715715e-02 -3.18857113e-07 -9.99913251e-01 2.88649180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.51762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.23, Y:-142.37, Z:2.88 [[ 3.48133071e-01 -9.37436423e-01 -4.03949187e-03 4.12307307e+01] [-9.37373401e-01 -3.48156506e-01 1.08699080e-02 -1.42374988e+02] [-1.15962231e-02 2.33775559e-06 -9.99932762e-01 2.88448164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.25, Y:-142.49, Z:2.88 [[ 4.19220817e-01 -9.07874026e-01 -4.31965237e-03 4.12489515e+01] [-9.07825970e-01 -4.19243071e-01 9.34103447e-03 -1.42488349e+02] [-1.02914669e-02 5.53650857e-06 -9.99947041e-01 2.88339053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.57762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.28, Y:-142.60, Z:2.88 [[ 4.87282460e-01 -8.73235609e-01 -3.92124820e-03 4.12765734e+01] [-8.73207530e-01 -4.87298237e-01 7.00271500e-03 -1.42600479e+02] [-8.02583743e-03 1.17632690e-05 -9.99967792e-01 2.88055245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.60762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.31, Y:-142.71, Z:2.88 [[ 5.52767327e-01 -8.33327830e-01 -3.60699573e-03 4.13122713e+01] [-8.33310231e-01 -5.52779095e-01 5.41580122e-03 -1.42712170e+02] [-6.50700971e-03 1.20684776e-05 -9.99978829e-01 2.87971372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.63762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.36, Y:-142.82, Z:2.88 [[ 6.15248920e-01 -7.88325723e-01 -3.36471296e-03 4.13562124e+01] [-7.88314022e-01 -6.15258120e-01 4.29502162e-03 -1.42821321e+02] [-5.45604300e-03 9.94299297e-06 -9.99985116e-01 2.87916728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.40, Y:-142.92, Z:2.88 [[ 6.74559053e-01 -7.38216426e-01 -2.56755038e-03 4.14029086e+01] [-7.38211098e-01 -6.74563940e-01 2.80457836e-03 -1.42921608e+02] [-3.80236272e-03 3.54046297e-06 -9.99992771e-01 2.87878641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.46, Y:-143.02, Z:2.88 [[ 7.29398750e-01 -6.84081703e-01 -3.11236675e-03 4.14566247e+01] [-6.84075490e-01 -7.29405391e-01 2.91550340e-03 -1.43016793e+02] [-4.26461962e-03 2.52927399e-06 -9.99990906e-01 2.87867106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.45, Y:-143.02, Z:2.88 [[ 7.80638506e-01 -6.24972058e-01 -3.66735890e-03 4.14510201e+01] [-6.24965178e-01 -7.80647120e-01 2.93267711e-03 -1.43024291e+02] [-4.69575442e-03 2.61092939e-06 -9.99988975e-01 2.87945379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.44, Y:-143.03, Z:2.88 [[ 8.26973045e-01 -5.62219804e-01 -4.94727410e-03 4.14448976e+01] [-5.62209777e-01 -8.26987843e-01 3.35780773e-03 -1.43030183e+02] [-5.97916154e-03 4.58938537e-06 -9.99982125e-01 2.88171261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.44, Y:-143.04, Z:2.88 [[ 8.68301903e-01 -4.96000046e-01 -5.98003418e-03 4.14405218e+01] [-4.95988336e-01 -8.68322495e-01 3.40813300e-03 -1.43035636e+02] [-6.88303232e-03 6.73883344e-06 -9.99976312e-01 2.88244129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.44, Y:-143.04, Z:2.88 [[ 9.04149656e-01 -4.27150813e-01 -7.45533740e-03 4.14371438e+01] [-4.27136415e-01 -9.04180393e-01 3.50712991e-03 -1.43040502e+02] [-8.23904329e-03 1.34757870e-05 -9.99966058e-01 2.88345654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.43, Y:-143.04, Z:2.89 [[ 9.33948602e-01 -3.57254331e-01 -1.04571361e-02 4.14339866e+01] [-3.57232463e-01 -9.34007142e-01 3.95297120e-03 -1.43042549e+02] [-1.11792558e-02 4.37565396e-05 -9.99937509e-01 2.88564243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.43, Y:-143.05, Z:2.89 [[ 9.58678081e-01 -2.84219982e-01 -1.24634735e-02 4.14311777e+01] [-2.84196850e-01 -9.58759093e-01 3.62668624e-03 -1.43046030e+02] [-1.29802452e-02 6.52553056e-05 -9.99915751e-01 2.88724898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.43, Y:-143.05, Z:2.89 [[ 9.77827449e-01 -2.08929774e-01 -1.42066502e-02 4.14251194e+01] [-2.08908952e-01 -9.77930643e-01 2.95075436e-03 -1.43053406e+02] [-1.45096190e-02 8.25677881e-05 -9.99894727e-01 2.88808136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.42, Y:-143.06, Z:2.89 [[ 9.91175134e-01 -1.31701236e-01 -1.50545176e-02 4.14178229e+01] [-1.31687368e-01 -9.91289452e-01 1.91314982e-03 -1.43061089e+02] [-1.51753487e-02 8.62232760e-05 -9.99884844e-01 2.89071183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.41, Y:-143.07, Z:2.89 [[ 9.98429558e-01 -5.39989486e-02 -1.49174544e-02 4.14118417e+01] [-5.39942566e-02 -9.98540988e-01 7.17395202e-04 -1.43069066e+02] [-1.49344283e-02 8.91882869e-05 -9.99888471e-01 2.88945067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.41, Y:-143.08, Z:2.89 [[ 9.99612190e-01 2.38686711e-02 -1.43442006e-02 4.14062327e+01] [ 2.38648869e-02 -9.99715098e-01 -4.34955834e-04 -1.43077173e+02] [-1.43504958e-02 9.24644281e-05 -9.99897022e-01 2.88862389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.40, Y:-143.08, Z:2.89 [[ 9.94858324e-01 1.00617812e-01 -1.15313064e-02 4.14007014e+01] [ 1.00609988e-01 -9.94925147e-01 -1.25809336e-03 -1.43084334e+02] [-1.15993733e-02 9.14600578e-05 -9.99932721e-01 2.88618444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.40, Y:-143.09, Z:2.89 [[ 9.84088427e-01 1.77407656e-01 -9.82302636e-03 4.13954239e+01] [ 1.77397938e-01 -9.84137448e-01 -1.85884778e-03 -1.43090024e+02] [-9.99698192e-03 8.66859634e-05 -9.99950025e-01 2.88575191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.39, Y:-143.10, Z:2.88 [[ 9.67367086e-01 2.53268135e-01 -7.49481032e-03 4.13912843e+01] [ 2.53259954e-01 -9.67396117e-01 -2.03691687e-03 -1.43098493e+02] [-7.76633653e-03 7.23110248e-05 -9.99969839e-01 2.88314010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.39, Y:-143.11, Z:2.88 [[ 9.44466443e-01 3.28538309e-01 -6.76143200e-03 4.13877205e+01] [ 3.28529400e-01 -9.44490643e-01 -2.42027816e-03 -1.43106096e+02] [-7.18126335e-03 6.45423011e-05 -9.99974212e-01 2.88272315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.39, Y:-143.12, Z:2.88 [[ 9.15744270e-01 4.01708135e-01 -6.55797429e-03 4.13864548e+01] [ 4.01697345e-01 -9.15767749e-01 -2.94489991e-03 -1.43115647e+02] [-7.18857161e-03 6.24543510e-05 -9.99974160e-01 2.88210001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.17762800000003 meters Centerline goodness [0,1] 0.9998218461195858 Centerline is valid? [True, True] Translation: X:41.39, Y:-143.13, Z:2.89 [[ 8.81210935e-01 4.72673402e-01 -6.86613836e-03 4.13863315e+01] [ 4.72658489e-01 -8.81237681e-01 -3.75523870e-03 -1.43125789e+02] [-7.82570130e-03 6.38188255e-05 -9.99969377e-01 2.88571117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.20762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.39, Y:-143.14, Z:2.88 [[ 8.40634268e-01 5.41564589e-01 -6.46718069e-03 4.13854194e+01] [ 5.41548101e-01 -8.40659142e-01 -4.22622840e-03 -1.43135332e+02] [-7.72547022e-03 5.04229970e-05 -9.99970157e-01 2.88377863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.39, Y:-143.15, Z:2.88 [[ 7.95106127e-01 6.06441056e-01 -5.95756938e-03 4.13871414e+01] [ 6.06423632e-01 -7.95128445e-01 -4.59718053e-03 -1.43147377e+02] [-7.52495189e-03 4.24355471e-05 -9.99971686e-01 2.88392617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.26762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.39, Y:-143.16, Z:2.89 [[ 7.43995756e-01 6.68156770e-01 -6.07005874e-03 4.13889747e+01] [ 6.68134186e-01 -7.44020517e-01 -5.49358864e-03 -1.43158770e+02] [-8.18682668e-03 3.15928822e-05 -9.99966487e-01 2.88506155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.29762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.39, Y:-143.17, Z:2.89 [[ 6.88937364e-01 7.24798165e-01 -5.73843069e-03 4.13919704e+01] [ 7.24772696e-01 -6.88961261e-01 -6.07615603e-03 -1.43169737e+02] [-8.35754319e-03 2.70330340e-05 -9.99965075e-01 2.88552905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.32762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.40, Y:-143.18, Z:2.89 [[ 6.29208142e-01 7.77208027e-01 -6.69311913e-03 4.13973598e+01] [ 7.77163670e-01 -6.29243739e-01 -8.30348836e-03 -1.43180790e+02] [-1.06651411e-02 2.29734557e-05 -9.99943126e-01 2.88746807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.35762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.40, Y:-143.19, Z:2.89 [[ 5.66067030e-01 8.24331592e-01 -6.74857699e-03 4.14009476e+01] [ 8.24272565e-01 -5.66107256e-01 -9.86474300e-03 -1.43191264e+02] [-1.19522377e-02 2.14389013e-05 -9.99928569e-01 2.88964305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.38762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.41, Y:-143.20, Z:2.89 [[ 4.99788947e-01 8.66122989e-01 -6.47897791e-03 4.14052689e+01] [ 8.66049593e-01 -4.99830939e-01 -1.12754372e-02 -1.43199988e+02] [-1.30043090e-02 2.42227236e-05 -9.99915440e-01 2.88951379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.41, Y:-143.21, Z:2.89 [[ 4.30609354e-01 9.02520464e-01 -5.69174773e-03 4.14086483e+01] [ 9.02440781e-01 -4.30646968e-01 -1.19927283e-02 -1.43209226e+02] [-1.32748166e-02 2.77157303e-05 -9.99911885e-01 2.89106926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.41, Y:-143.22, Z:2.89 [[ 3.59021505e-01 9.33316627e-01 -4.86138360e-03 4.14118372e+01] [ 9.33229776e-01 -3.59054415e-01 -1.27322976e-02 -1.43217403e+02] [-1.36287663e-02 3.43807055e-05 -9.99907123e-01 2.89025008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.42, Y:-143.23, Z:2.89 [[ 2.84943443e-01 9.58537191e-01 -3.69969403e-03 4.14163811e+01] [ 9.58454810e-01 -2.84967458e-01 -1.25667897e-02 -1.43225530e+02] [-1.31000277e-02 3.48347815e-05 -9.99914190e-01 2.89044029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.507628 meters Centerline goodness [0,1] 0.99993310141825 Centerline is valid? [True, True] Translation: X:41.42, Y:-143.23, Z:2.89 [[ 2.08251839e-01 9.78071996e-01 -2.51821922e-03 4.14201116e+01] [ 9.77999154e-01 -2.08267063e-01 -1.19367573e-02 -1.43233916e+02] [-1.21994702e-02 2.30354028e-05 -9.99925583e-01 2.88965205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.43, Y:-143.24, Z:2.89 [[ 1.29476411e-01 9.91581529e-01 -1.38962296e-03 4.14267176e+01] [ 9.91524115e-01 -1.29483868e-01 -1.06703497e-02 -1.43242146e+02] [-1.07604554e-02 3.71390866e-06 -9.99942105e-01 2.88646109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.44, Y:-143.25, Z:2.89 [[ 4.95870541e-02 9.98769695e-01 -4.68886689e-04 4.14351181e+01] [ 9.98727614e-01 -4.95892691e-02 -9.16824498e-03 -1.43249292e+02] [-9.18021699e-03 -1.36638241e-05 -9.99957861e-01 2.88545764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.45, Y:-143.26, Z:2.88 [[-3.27027260e-02 9.99465105e-01 1.87859508e-04 4.14455465e+01] [ 9.99441380e-01 3.27032441e-02 -6.88668236e-03 -1.43257229e+02] [-6.88914233e-03 -3.74587201e-05 -9.99976269e-01 2.88482021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.46, Y:-143.26, Z:2.88 [[-1.12548825e-01 9.93645968e-01 6.72839551e-04 4.14560517e+01] [ 9.93625708e-01 1.12550827e-01 -6.34534517e-03 -1.43262413e+02] [-6.38075529e-03 -4.56104660e-05 -9.99979642e-01 2.88433117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.47, Y:-143.27, Z:2.88 [[-1.91473412e-01 9.81497288e-01 1.00344651e-03 4.14657888e+01] [ 9.81482485e-01 1.91476036e-01 -5.39066016e-03 -1.43266783e+02] [-5.48305428e-03 -4.73029266e-05 -9.99984967e-01 2.88410324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.47, Y:-143.27, Z:2.88 [[-2.67281220e-01 9.63617478e-01 1.45130927e-03 4.14736920e+01] [ 9.63602340e-01 2.67285157e-01 -5.40136832e-03 -1.43272561e+02] [-5.59276634e-03 -4.51993105e-05 -9.99984359e-01 2.88395929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.48, Y:-143.28, Z:2.88 [[-3.41184614e-01 9.39994191e-01 1.99506769e-03 4.14832981e+01] [ 9.39977373e-01 3.41190444e-01 -5.62302137e-03 -1.43276006e+02] [-5.96630545e-03 -4.31698827e-05 -9.99982201e-01 2.88388073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.49, Y:-143.28, Z:2.88 [[-4.12887356e-01 9.10778217e-01 2.65910598e-03 4.14935955e+01] [ 9.10758684e-01 4.12895916e-01 -5.96508428e-03 -1.43279308e+02] [-6.53080283e-03 -4.11040187e-05 -9.99978673e-01 2.88495152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.50, Y:-143.28, Z:2.89 [[-4.80872562e-01 8.76783306e-01 3.55147717e-03 4.15019992e+01] [ 8.76758944e-01 4.80885676e-01 -6.53611880e-03 -1.43282006e+02] [-7.43861435e-03 -2.92508188e-05 -9.99972333e-01 2.88603653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.51, Y:-143.28, Z:2.89 [[-5.47324206e-01 8.36908083e-01 4.59056157e-03 4.15121369e+01] [ 8.36878255e-01 5.47343456e-01 -7.06594742e-03 -1.43283326e+02] [-8.42616235e-03 -2.56229091e-05 -9.99964499e-01 2.88560667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.52, Y:-143.28, Z:2.89 [[-6.11205256e-01 7.91455506e-01 5.12999529e-03 4.15237838e+01] [ 7.91427278e-01 6.11226783e-01 -6.68455998e-03 -1.43283275e+02] [-8.42612232e-03 -2.56199863e-05 -9.99964499e-01 2.88560633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.53, Y:-143.28, Z:2.89 [[-6.70765060e-01 7.41648570e-01 5.62421945e-03 4.15343711e+01] [ 7.41622262e-01 6.70788639e-01 -6.24687974e-03 -1.43283510e+02] [-8.40565194e-03 -1.91423208e-05 -9.99964672e-01 2.88624797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.89762800000003 meters Centerline goodness [0,1] 0.9998884327026062 Centerline is valid? [True, True] Translation: X:41.54, Y:-143.28, Z:2.89 [[-7.25533057e-01 6.88148419e-01 7.31685497e-03 4.15439658e+01] [ 6.88113371e-01 7.25569951e-01 -6.94511260e-03 -1.43284230e+02] [-1.00881584e-02 -4.08304045e-06 -9.99949113e-01 2.88954402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.57, Y:-143.27, Z:2.89 [[-7.72633221e-01 6.34806275e-01 7.67456012e-03 4.15680277e+01] [ 6.34774851e-01 7.72671336e-01 -6.31628623e-03 -1.43268439e+02] [-9.93953075e-03 -8.55481500e-06 -9.99950602e-01 2.88709735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.95762800000003 meters Centerline goodness [0,1] 0.9998442402260742 Centerline is valid? [True, True] Translation: X:41.59, Y:-143.25, Z:2.89 [[-8.15481694e-01 5.78712367e-01 9.03346328e-03 4.15941372e+01] [ 5.78676762e-01 8.15531726e-01 -6.41945129e-03 -1.43249651e+02] [-1.10820918e-02 -7.48972832e-06 -9.99938592e-01 2.89056868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.07, Y:-142.60, Z:1.97 [[-7.73052357e-01 -6.34289564e-01 8.17328910e-03 4.20659372e+01] [ 6.34253807e-01 -7.73095562e-01 -6.73494995e-03 -1.42598905e+02] [ 1.05906420e-02 -2.25291986e-05 9.99943917e-01 1.96805105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.01762800000003 meters Centerline goodness [0,1] 0.9999555338165326 Centerline is valid? [True, True] Translation: X:41.56, Y:-143.22, Z:2.89 [[-8.18779757e-01 5.74030469e-01 9.41966998e-03 4.15620466e+01] [ 5.73992034e-01 8.18833939e-01 -6.64262821e-03 -1.43223371e+02] [-1.15262165e-02 -3.20339815e-05 -9.99933570e-01 2.89058566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.58, Y:-143.20, Z:2.89 [[-8.57953628e-01 5.13630874e-01 9.94471149e-03 4.15805100e+01] [ 5.13595745e-01 8.58011260e-01 -6.00732691e-03 -1.43201689e+02] [-1.16182230e-02 -4.64464121e-05 -9.99932505e-01 2.88954260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.07762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.00, Y:-142.52, Z:1.97 [[-8.16640033e-01 -5.77087558e-01 8.30709607e-03 4.19979421e+01] [ 5.77057150e-01 -8.16682282e-01 -5.92427621e-03 -1.42521760e+02] [ 1.02030843e-02 -4.43319400e-05 9.99947946e-01 1.96932200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.55, Y:-143.18, Z:2.89 [[-8.59892093e-01 5.10421980e-01 7.41560309e-03 4.15452574e+01] [ 5.10402643e-01 8.59924067e-01 -4.44316771e-03 -1.43183182e+02] [-8.64474603e-03 -3.57013697e-05 -9.99962633e-01 2.88594446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.13762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.56, Y:-143.16, Z:2.88 [[-8.93645284e-01 4.48728049e-01 6.42211825e-03 4.15631933e+01] [ 4.48716255e-01 8.93668360e-01 -3.25356916e-03 -1.43162706e+02] [-7.19921163e-03 -2.58278871e-05 -9.99974085e-01 2.88443046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.93, Y:-142.45, Z:1.97 [[-8.58482178e-01 -5.12822538e-01 4.62532726e-03 4.19340971e+01] [ 5.12814562e-01 -8.58494634e-01 -2.86142835e-03 -1.42451957e+02] [ 5.43822359e-03 -8.45500634e-05 9.99985209e-01 1.97276872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.52, Y:-143.14, Z:2.88 [[-8.94308022e-01 4.47428818e-01 4.54026668e-03 4.15247873e+01] [ 4.47423014e-01 8.94319547e-01 -2.27901119e-03 -1.43144028e+02] [-5.08014452e-03 -6.71818600e-06 -9.99987096e-01 2.88459462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.54, Y:-143.12, Z:2.88 [[-9.22768217e-01 3.85329026e-01 4.51207363e-03 4.15408881e+01] [ 3.85324452e-01 9.22779248e-01 -1.87761839e-03 -1.43123929e+02] [-4.88714878e-03 6.00572750e-06 -9.99988058e-01 2.88408591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.86, Y:-142.38, Z:1.97 [[-8.96567802e-01 -4.42887961e-01 4.05352560e-03 4.18622875e+01] [ 4.42883301e-01 -8.96576964e-01 -2.03199995e-03 -1.42381592e+02] [ 4.53424600e-03 -2.65869342e-05 9.99989720e-01 1.97356864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.50, Y:-143.11, Z:2.88 [[-9.22877507e-01 3.85075416e-01 3.74574571e-03 4.14968015e+01] [ 3.85072327e-01 9.22885109e-01 -1.54258229e-03 -1.43110761e+02] [-4.05090345e-03 1.87685186e-05 -9.99991795e-01 2.88311213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.51, Y:-143.09, Z:2.88 [[-9.46857650e-01 3.21624684e-01 4.26061062e-03 4.15149954e+01] [ 3.21621591e-01 9.46867235e-01 -1.41088073e-03 -1.43091387e+02] [-4.48800666e-03 3.44011496e-05 -9.99989928e-01 2.88292805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.34762800000001 meters Centerline goodness [0,1] 0.9998657628028726 Centerline is valid? [True, True] Translation: X:41.53, Y:-143.07, Z:2.89 [[-9.66925185e-01 2.55011597e-01 4.97719465e-03 4.15292439e+01] [ 2.55008465e-01 9.66937994e-01 -1.26471267e-03 -1.43067629e+02] [-5.13515501e-03 4.63442339e-05 -9.99986814e-01 2.88562351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.54, Y:-143.04, Z:2.88 [[-9.82426907e-01 1.86594604e-01 4.45271833e-03 4.15400810e+01] [ 1.86592894e-01 9.82436996e-01 -8.00200468e-04 -1.43041382e+02] [-4.52382831e-03 4.47071273e-05 -9.99989766e-01 2.88391837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.55, Y:-143.01, Z:2.89 [[-9.93164148e-01 1.16617647e-01 5.02980627e-03 4.15455046e+01] [ 1.16616412e-01 9.93176884e-01 -5.39064239e-04 -1.43013195e+02] [-5.05835172e-03 5.11786836e-05 -9.99987205e-01 2.88512242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.55, Y:-142.98, Z:2.89 [[-9.98931910e-01 4.57781833e-02 6.27677404e-03 4.15506530e+01] [ 4.57776776e-02 9.98951627e-01 -2.24282272e-04 -1.42983651e+02] [-6.28046088e-03 6.32934203e-05 -9.99980276e-01 2.88745726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.55, Y:-142.96, Z:2.89 [[-9.99638049e-01 -2.59395697e-02 7.13507847e-03 4.15516566e+01] [-2.59384221e-02 9.99663510e-01 2.53348323e-04 -1.42955510e+02] [-7.13924933e-03 6.81839468e-05 -9.99974513e-01 2.88839068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.53, Y:-142.14, Z:1.97 [[-9.99679562e-01 -2.39490579e-02 8.19855263e-03 4.15293973e+01] [ 2.39482022e-02 -9.99713180e-01 -2.02546627e-04 -1.42142432e+02] [ 8.20105192e-03 -6.14112714e-06 9.99966371e-01 1.96773299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.45, Y:-142.96, Z:2.89 [[-9.99355922e-01 -3.47804329e-02 8.83530596e-03 4.14517137e+01] [-3.47785322e-02 9.99394976e-01 3.68731113e-04 -1.42955236e+02] [-8.84278501e-03 6.12146492e-05 -9.99960900e-01 2.88960249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.55762800000002 meters Centerline goodness [0,1] 0.999977752564017 Centerline is valid? [True, True] Translation: X:41.45, Y:-142.93, Z:2.89 [[-9.94248913e-01 -1.06718535e-01 8.95840072e-03 4.14482324e+01] [-1.06713728e-01 9.94289270e-01 1.01423822e-03 -1.42927413e+02] [-9.01547973e-03 5.24209135e-05 -9.99959358e-01 2.89163794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.44, Y:-142.90, Z:2.89 [[-9.83555500e-01 -1.80362234e-01 9.38312834e-03 4.14350654e+01] [-1.80353744e-01 9.83600256e-01 1.75026308e-03 -1.42897638e+02] [-9.54492880e-03 2.91985587e-05 -9.99954446e-01 2.89072601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.41, Y:-142.87, Z:2.89 [[-9.67732993e-01 -2.51808452e-01 9.23894588e-03 4.14059829e+01] [-2.51796796e-01 9.67777094e-01 2.42287371e-03 -1.42874418e+02] [-9.55134027e-03 1.83578493e-05 -9.99954385e-01 2.89146184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.35, Y:-142.86, Z:2.89 [[-9.46258801e-01 -3.23285642e-01 8.98195868e-03 4.13520114e+01] [-3.23271004e-01 9.46301428e-01 3.07641426e-03 -1.42861015e+02] [-9.49420089e-03 7.47726406e-06 -9.99954929e-01 2.89169573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.29, Y:-142.85, Z:2.89 [[-9.19365142e-01 -3.93330109e-01 7.69162351e-03 4.12903458e+01] [-3.93316366e-01 9.19397316e-01 3.28804689e-03 -1.42854877e+02] [-8.36494585e-03 -2.32570704e-06 -9.99965013e-01 2.89108255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.70762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.22, Y:-142.86, Z:2.89 [[-8.87606188e-01 -4.60555273e-01 6.64043585e-03 4.12194555e+01] [-4.60542392e-01 8.87631027e-01 3.44449491e-03 -1.42858123e+02] [-7.48063719e-03 -8.47212511e-07 -9.99972020e-01 2.89086399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.14, Y:-142.87, Z:2.89 [[-8.50899278e-01 -5.25297749e-01 5.71784286e-03 4.11383582e+01] [-5.25285864e-01 8.50918489e-01 3.53354275e-03 -1.42873609e+02] [-6.72158026e-03 3.18695273e-06 -9.99977410e-01 2.89044804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.76762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.06, Y:-142.90, Z:2.89 [[-8.09488596e-01 -5.87117536e-01 4.60562412e-03 4.10555011e+01] [-5.87107973e-01 8.09501698e-01 3.35096384e-03 -1.42897462e+02] [-5.69567018e-03 8.56837559e-06 -9.99983780e-01 2.88937219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.97, Y:-142.93, Z:2.89 [[-7.63736586e-01 -6.45521619e-01 2.87510149e-03 4.09687125e+01] [-6.45516988e-01 7.63741998e-01 2.44516027e-03 -1.42934386e+02] [-3.77423957e-03 1.15315091e-05 -9.99992877e-01 2.88708594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.82762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.88, Y:-142.98, Z:2.89 [[-7.12742246e-01 -7.01422777e-01 2.13982457e-03 4.08802212e+01] [-7.01419570e-01 7.12745458e-01 2.12088198e-03 -1.42979459e+02] [-3.01278517e-03 1.07273562e-05 -9.99995462e-01 2.88624783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.85762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.79, Y:-143.04, Z:2.89 [[-6.57590437e-01 -7.53373831e-01 1.63927439e-03 4.07906978e+01] [-7.53371450e-01 6.57592480e-01 1.89412901e-03 -1.43035781e+02] [-2.50496174e-03 1.05785941e-05 -9.99996863e-01 2.88640005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.88762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.70, Y:-143.10, Z:2.89 [[-5.98882539e-01 -8.00834970e-01 1.74779922e-03 4.07022077e+01] [-8.00831483e-01 5.98885089e-01 2.36331279e-03 -1.43101716e+02] [-2.93935442e-03 1.56541219e-05 -9.99995680e-01 2.88753157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.62, Y:-143.17, Z:2.89 [[-5.35758812e-01 -8.44368803e-01 1.95443005e-03 4.06199084e+01] [-8.44363047e-01 5.35762377e-01 3.11792241e-03 -1.43174075e+02] [-3.67978650e-03 2.02058939e-05 -9.99993229e-01 2.88865578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.54, Y:-143.26, Z:2.89 [[-4.69115764e-01 -8.83134525e-01 1.95210140e-03 4.05397883e+01] [-8.83126679e-01 4.69119825e-01 3.72277874e-03 -1.43258100e+02] [-4.20348390e-03 2.24613615e-05 -9.99991165e-01 2.88915455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.46, Y:-143.35, Z:2.89 [[-3.97916852e-01 -9.17418479e-01 2.34814727e-03 4.04645324e+01] [-9.17402205e-01 3.97923780e-01 5.46443965e-03 -1.43350197e+02] [-5.94756154e-03 2.01971404e-05 -9.99982313e-01 2.89015138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.40, Y:-143.45, Z:2.89 [[-3.24796597e-01 -9.45781545e-01 2.10731351e-03 4.03960945e+01] [-9.45761352e-01 3.24803432e-01 6.18021053e-03 -1.43446691e+02] [-6.52959172e-03 1.42956694e-05 -9.99978682e-01 2.89095720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.037628 meters Centerline goodness [0,1] 0.999866345896819 Centerline is valid? [True, True] Translation: X:40.34, Y:-143.55, Z:2.89 [[-2.49924251e-01 -9.68263372e-01 1.97781901e-03 4.03354042e+01] [-9.68232724e-01 2.49932077e-01 7.70381377e-03 -1.43546628e+02] [-7.95364111e-03 1.03808026e-05 -9.99968369e-01 2.89391678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.067628 meters Centerline goodness [0,1] 0.9997999333111037 Centerline is valid? [True, True] Translation: X:40.28, Y:-143.66, Z:2.90 [[-1.73281354e-01 -9.84871389e-01 1.38555672e-03 4.02810280e+01] [-9.84839832e-01 1.73286894e-01 7.88404155e-03 -1.43656617e+02] [-8.00486577e-03 1.60595567e-06 -9.99967961e-01 2.89516679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.23, Y:-143.77, Z:2.89 [[-9.47295704e-02 -9.95502866e-01 5.94262668e-04 4.02343843e+01] [-9.95483976e-01 9.47314337e-02 6.13256435e-03 -1.43768573e+02] [-6.16128074e-03 -1.06437780e-05 -9.99981019e-01 2.89198318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.20, Y:-143.89, Z:2.89 [[-1.65048348e-02 -9.99863781e-01 9.70806861e-05 4.01990999e+01] [-9.99850935e-01 1.65051149e-02 5.06852884e-03 -1.43888053e+02] [-5.06944074e-03 -1.34109836e-05 -9.99987150e-01 2.89104118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.17, Y:-144.01, Z:2.89 [[ 6.12587632e-02 -9.98121882e-01 -2.69618081e-04 4.01733099e+01] [-9.98111187e-01 -6.12593550e-02 4.62060511e-03 -1.44006958e+02] [-4.62844370e-03 -1.39437321e-05 -9.99989289e-01 2.89058716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.16, Y:-144.13, Z:2.89 [[ 1.38556040e-01 -9.90354444e-01 -5.46252245e-04 4.01580223e+01] [-9.90346368e-01 -1.38557116e-01 3.99951545e-03 -1.44129445e+02] [-4.03662504e-03 -1.31780968e-05 -9.99991853e-01 2.88976172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.15, Y:-144.25, Z:2.89 [[ 2.13043000e-01 -9.77042435e-01 -8.71986829e-04 4.01526713e+01] [-9.77034133e-01 -2.13044785e-01 4.02784983e-03 -1.44249220e+02] [-4.12115245e-03 -6.14431609e-06 -9.99991508e-01 2.89009651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.16, Y:-144.37, Z:2.89 [[ 2.86513829e-01 -9.58075535e-01 -1.04620284e-03 4.01566323e+01] [-9.58069151e-01 -2.86515739e-01 3.49758018e-03 -1.44368272e+02] [-3.65069959e-03 2.29575721e-07 -9.99993336e-01 2.88960353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.17, Y:-144.49, Z:2.89 [[ 3.56487962e-01 -9.34299420e-01 -9.62788274e-04 4.01711952e+01] [-9.34296084e-01 -3.56489262e-01 2.49678449e-03 -1.44486751e+02] [-2.67596798e-03 9.45569859e-06 -9.99996420e-01 2.88919603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.19, Y:-144.60, Z:2.89 [[ 4.25935826e-01 -9.04752796e-01 -1.02511869e-03 4.01930496e+01] [-9.04750247e-01 -4.25937059e-01 2.14747691e-03 -1.44603550e+02] [-2.37957178e-03 1.27890404e-05 -9.99997169e-01 2.88873130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.33762800000002 meters Centerline goodness [0,1] 0.999911117036642 Centerline is valid? [True, True] Translation: X:40.22, Y:-144.72, Z:2.89 [[ 4.92360859e-01 -8.70389948e-01 -1.45696639e-03 4.02246749e+01] [-8.70386274e-01 -4.92363014e-01 2.52933552e-03 -1.44720401e+02] [-2.91886457e-03 2.27777409e-05 -9.99995740e-01 2.89011737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.26, Y:-144.82, Z:2.89 [[ 5.54844501e-01 -8.31951938e-01 -1.88482912e-03 4.02582286e+01] [-8.31947373e-01 -5.54847701e-01 2.75633013e-03 -1.44821618e+02] [-3.33892730e-03 3.87440217e-05 -9.99994425e-01 2.88985092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.39762800000003 meters Centerline goodness [0,1] 0.9999777049472722 Centerline is valid? [True, True] Translation: X:40.30, Y:-144.93, Z:2.89 [[ 6.15702297e-01 -7.87973053e-01 -3.02472523e-03 4.03044250e+01] [-7.87964062e-01 -6.15709723e-01 3.76484576e-03 -1.44928023e+02] [-4.82894974e-03 6.53505999e-05 -9.99988338e-01 2.89186999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.42762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.35, Y:-145.03, Z:2.89 [[ 6.73586337e-01 -7.39095789e-01 -4.34296674e-03 4.03549655e+01] [-7.39081309e-01 -6.73600331e-01 4.62743671e-03 -1.45027626e+02] [-6.34554282e-03 9.28273954e-05 -9.99979863e-01 2.89221288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.45762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.41, Y:-145.12, Z:2.89 [[ 7.27194586e-01 -6.86405158e-01 -5.99938709e-03 4.04117873e+01] [-6.86383272e-01 -7.27219322e-01 5.48285025e-03 -1.45120821e+02] [-8.12632690e-03 1.30779923e-04 -9.99966972e-01 2.89299384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.41, Y:-145.13, Z:2.89 [[ 7.78858118e-01 -6.27166854e-01 -6.46299258e-03 4.04062320e+01] [-6.27146617e-01 -7.78884922e-01 5.03983654e-03 -1.45128279e+02] [-8.19474590e-03 1.27926330e-04 -9.99966414e-01 2.89265772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.51762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.40, Y:-145.14, Z:2.89 [[ 8.25793076e-01 -5.63926964e-01 -7.22320617e-03 4.03995378e+01] [-5.63906764e-01 -8.25824656e-01 4.77487102e-03 -1.45136734e+02] [-8.65778027e-03 1.30159392e-04 -9.99962512e-01 2.89248929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.39, Y:-145.15, Z:2.89 [[ 8.67947774e-01 -4.96591651e-01 -7.96200404e-03 4.03917395e+01] [-4.96572077e-01 -8.67984284e-01 4.41084233e-03 -1.45147245e+02] [-9.10128185e-03 1.25328095e-04 -9.99958575e-01 2.89231983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.57762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.39, Y:-145.16, Z:2.89 [[ 9.04445041e-01 -4.26514959e-01 -8.00987351e-03 4.03853241e+01] [-4.26499351e-01 -9.04480501e-01 3.65057091e-03 -1.45155107e+02] [-8.80179750e-03 1.14465102e-04 -9.99961257e-01 2.89209705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.60762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.38, Y:-145.16, Z:2.89 [[ 9.35298211e-01 -3.53777587e-01 -7.65997492e-03 4.03811957e+01] [-3.53766596e-01 -9.35329572e-01 2.79043326e-03 -1.45162829e+02] [-8.15179381e-03 9.99560185e-05 -9.99966769e-01 2.89113909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.63762800000003 meters Centerline goodness [0,1] 0.9999113042706994 Centerline is valid? [True, True] Translation: X:40.38, Y:-145.17, Z:2.89 [[ 9.60274981e-01 -2.78945293e-01 -7.84121720e-03 4.03770856e+01] [-2.78936796e-01 -9.60306990e-01 2.17929312e-03 -1.45172775e+02] [-8.13787924e-03 9.44833440e-05 -9.99966882e-01 2.89132183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.37, Y:-145.18, Z:2.89 [[ 9.79679144e-01 -2.00459567e-01 -6.68853171e-03 4.03713758e+01] [-2.00455329e-01 -9.79701974e-01 1.30502533e-03 -1.45182145e+02] [-6.81437253e-03 6.22457196e-05 -9.99976780e-01 2.88849652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.36, Y:-145.19, Z:2.89 [[ 9.92508976e-01 -1.21980676e-01 -6.82983557e-03 4.03647287e+01] [-1.21978166e-01 -9.92532474e-01 7.84428319e-04 -1.45190402e+02] [-6.87451869e-03 5.45386665e-05 -9.99976369e-01 2.88861985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.36, Y:-145.20, Z:2.89 [[ 9.99013823e-01 -4.38654802e-02 -6.87029266e-03 4.03588866e+01] [-4.38648183e-02 -9.99037445e-01 2.47069064e-04 -1.45197408e+02] [-6.87451743e-03 5.45387291e-05 -9.99976369e-01 2.88861984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.35, Y:-145.21, Z:2.89 [[ 9.99321928e-01 3.60748564e-02 -7.36805004e-03 4.03541759e+01] [ 3.60735299e-02 -9.99349089e-01 -3.12897835e-04 -1.45207398e+02] [-7.37454184e-03 4.68940943e-05 -9.99972807e-01 2.88878926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.35, Y:-145.22, Z:2.89 [[ 9.93235888e-01 1.15834308e-01 -8.05499379e-03 4.03505275e+01] [ 1.15830188e-01 -9.93268550e-01 -9.77721377e-04 -1.45218226e+02] [-8.11402568e-03 3.80965166e-05 -9.99967080e-01 2.88890454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.35, Y:-145.23, Z:2.89 [[ 9.80372309e-01 1.96972635e-01 -8.48035574e-03 4.03477044e+01] [ 1.96965198e-01 -9.80408987e-01 -1.71159325e-03 -1.45228825e+02] [-8.65135401e-03 7.66367734e-06 -9.99962576e-01 2.88865230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.35, Y:-145.24, Z:2.89 [[ 9.61455638e-01 2.74821043e-01 -8.74356978e-03 4.03450452e+01] [ 2.74809755e-01 -9.61495395e-01 -2.49090974e-03 -1.45238743e+02] [-9.09145649e-03 -7.91905204e-06 -9.99958672e-01 2.88956887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.34, Y:-145.25, Z:2.89 [[ 9.35825210e-01 3.52348107e-01 -9.05468334e-03 4.03443414e+01] [ 3.52332032e-01 -9.35869013e-01 -3.36594358e-03 -1.45249510e+02] [-9.65998141e-03 -4.03201219e-05 -9.99953340e-01 2.89039469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.34, Y:-145.26, Z:2.89 [[ 9.04815507e-01 4.25704187e-01 -9.21098502e-03 4.03431294e+01] [ 4.25682756e-01 -9.04862388e-01 -4.27198916e-03 -1.45257481e+02] [-1.01532776e-02 -5.55954418e-05 -9.99948453e-01 2.89027661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.34, Y:-145.27, Z:2.89 [[ 8.68309701e-01 4.95942585e-01 -8.90035621e-03 4.03411775e+01] [ 4.95917288e-01 -8.68355312e-01 -5.00942743e-03 -1.45265075e+02] [-1.02130600e-02 -6.41060860e-05 -9.99947843e-01 2.89047610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.34, Y:-145.27, Z:2.89 [[ 8.26119537e-01 5.63430593e-01 -8.51336893e-03 4.03389689e+01] [ 5.63401639e-01 -8.26163398e-01 -5.71251365e-03 -1.45270056e+02] [-1.02520388e-02 -7.72268835e-05 -9.99947444e-01 2.88990114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.34, Y:-145.28, Z:2.89 [[ 7.79362957e-01 6.26518310e-01 -8.25768401e-03 4.03388721e+01] [ 6.26484242e-01 -7.79406698e-01 -6.53402587e-03 -1.45276803e+02] [-1.05297811e-02 -8.09311912e-05 -9.99944557e-01 2.88958520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.34, Y:-145.28, Z:2.89 [[ 7.27884708e-01 6.85650368e-01 -8.21123242e-03 4.03384328e+01] [ 6.85608073e-01 -7.27931017e-01 -7.61609191e-03 -1.45283948e+02] [-1.11991870e-02 -8.60503972e-05 -9.99937283e-01 2.88889887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.34, Y:-145.29, Z:2.89 [[ 6.71941072e-01 7.40566662e-01 -7.49770132e-03 4.03391558e+01] [ 7.40521977e-01 -6.71982895e-01 -8.13574668e-03 -1.45291115e+02] [-1.10633898e-02 -8.54702588e-05 -9.99938795e-01 2.88887666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.34, Y:-145.30, Z:2.89 [[ 6.11733282e-01 7.91035024e-01 -6.78105403e-03 4.03410651e+01] [ 7.90988000e-01 -6.11770859e-01 -8.62557230e-03 -1.45299813e+02] [-1.09715810e-02 -8.71827105e-05 -9.99939807e-01 2.88826096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.34, Y:-145.31, Z:2.89 [[ 5.47738006e-01 8.36627269e-01 -6.15553277e-03 4.03435117e+01] [ 8.36576297e-01 -5.47772585e-01 -9.23545472e-03 -1.45308389e+02] [-1.10984654e-02 -9.09632612e-05 -9.99938406e-01 2.88804358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.35, Y:-145.32, Z:2.89 [[ 4.80162816e-01 8.77161783e-01 -5.55666772e-03 4.03477196e+01] [ 8.77105408e-01 -4.80194957e-01 -9.94516685e-03 -1.45317374e+02] [-1.13918041e-02 -9.84839845e-05 -9.99935106e-01 2.88710560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.17762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.35, Y:-145.33, Z:2.89 [[ 4.09379500e-01 9.12353014e-01 -4.51686568e-03 4.03513043e+01] [ 9.12300170e-01 -4.09404406e-01 -9.81997231e-03 -1.45326546e+02] [-1.08085060e-02 -1.00641972e-04 -9.99941581e-01 2.88609610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.20762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.36, Y:-145.33, Z:2.89 [[ 3.36060058e-01 9.41833113e-01 -3.74493423e-03 4.03559946e+01] [ 9.41778166e-01 -3.36080906e-01 -1.01740175e-02 -1.45334534e+02] [-1.08408274e-02 -1.07816392e-04 -9.99941231e-01 2.88530457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.36, Y:-145.34, Z:2.89 [[ 2.60774736e-01 9.65395228e-01 -2.93103835e-03 4.03618056e+01] [ 9.65339025e-01 -2.60791183e-01 -1.04175872e-02 -1.45343493e+02] [-1.08214779e-02 -1.12802151e-04 -9.99941440e-01 2.88547180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.26762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.37, Y:-145.35, Z:2.89 [[ 1.82719859e-01 9.83162469e-01 -2.23909553e-03 4.03697516e+01] [ 9.83097699e-01 -1.82733524e-01 -1.12860217e-02 -1.45351289e+02] [-1.15051507e-02 -1.39069375e-04 -9.99933804e-01 2.88575454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.29762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.38, Y:-145.36, Z:2.89 [[ 1.04483665e-01 9.94525661e-01 -1.36859992e-03 4.03782223e+01] [ 9.94458060e-01 -1.04492521e-01 -1.15965100e-02 -1.45358454e+02] [-1.16760352e-02 -1.49369354e-04 -9.99931822e-01 2.88622106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.32762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.39, Y:-145.37, Z:2.89 [[ 2.58884645e-02 9.99664726e-01 -4.72122240e-04 4.03867192e+01] [ 9.99591762e-01 -2.58922796e-02 -1.20788376e-02 -1.45365414e+02] [-1.20870122e-02 -1.59226943e-04 -9.99926937e-01 2.88633452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.35762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.40, Y:-145.37, Z:2.89 [[-5.16218635e-02 9.98666570e-01 5.15586826e-04 4.03953070e+01] [ 9.98580723e-01 5.16241867e-02 -1.30951487e-02 -1.45371551e+02] [-1.31043040e-02 -1.61140912e-04 -9.99914122e-01 2.88573962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.38762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.40, Y:-145.38, Z:2.89 [[-1.28810785e-01 9.91667979e-01 1.54946213e-03 4.04046729e+01] [ 9.91581512e-01 1.28820016e-01 -1.30961516e-02 -1.45376526e+02] [-1.31866360e-02 -1.50507567e-04 -9.99913041e-01 2.88520453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.41, Y:-145.38, Z:2.89 [[-2.04947763e-01 9.78769495e-01 2.58671049e-03 4.04142871e+01] [ 9.78682971e-01 2.04964041e-01 -1.30147623e-02 -1.45382235e+02] [-1.32686350e-02 -1.35776920e-04 -9.99911959e-01 2.88536654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.42, Y:-145.39, Z:2.89 [[-2.78043048e-01 9.60562410e-01 3.45246159e-03 4.04221704e+01] [ 9.60484272e-01 2.78064467e-01 -1.22521977e-02 -1.45388420e+02] [-1.27290074e-02 -9.06033246e-05 -9.99918979e-01 2.88532146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.43, Y:-145.39, Z:2.88 [[-3.50023536e-01 9.36730977e-01 4.31300389e-03 4.04307859e+01] [ 9.36657862e-01 3.50050103e-01 -1.17036138e-02 -1.45392588e+02] [-1.24729051e-02 -5.67312935e-05 -9.99922209e-01 2.88489554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.44, Y:-145.40, Z:2.89 [[-4.19530919e-01 9.07726513e-01 5.13661426e-03 4.04400125e+01] [ 9.07657971e-01 4.19562363e-01 -1.11548432e-02 -1.45397541e+02] [-1.22806769e-02 -1.75127282e-05 -9.99924590e-01 2.88507328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.45, Y:-145.40, Z:2.89 [[-4.82196714e-01 8.76043382e-01 5.85852755e-03 4.04453745e+01] [ 8.75980771e-01 4.82232296e-01 -1.04739021e-02 -1.45403222e+02] [-1.20007638e-02 8.14762946e-05 -9.99927985e-01 2.88555375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.45, Y:-145.41, Z:2.89 [[-5.45050557e-01 8.38376582e-01 6.67817600e-03 4.04519163e+01] [ 8.38316854e-01 5.45091448e-01 -1.00082451e-02 -1.45408998e+02] [-1.20308949e-02 1.43427960e-04 -9.99927616e-01 2.88553719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.46, Y:-145.41, Z:2.88 [[-6.04947679e-01 7.96229824e-01 7.50818315e-03 4.04587758e+01] [ 7.96172720e-01 6.04994235e-01 -9.53813359e-03 -1.45412845e+02] [-1.21369539e-02 2.07738826e-04 -9.99926323e-01 2.88396090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.46, Y:-145.42, Z:2.88 [[-6.57919269e-01 7.53054438e-01 7.15875263e-03 4.04642742e+01] [ 7.53014533e-01 6.57958153e-01 -7.75775384e-03 -1.45419930e+02] [-1.05521706e-02 2.86669028e-04 -9.99944283e-01 2.88158825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.48, Y:-145.42, Z:2.88 [[-7.11934975e-01 7.02209526e-01 7.09738785e-03 4.04762227e+01] [ 7.02178816e-01 7.11970287e-01 -6.57418637e-03 -1.45418597e+02] [-9.66958557e-03 3.03242191e-04 -9.99953203e-01 2.88006443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.50, Y:-145.40, Z:2.88 [[-7.57729739e-01 6.52531605e-01 6.93881410e-03 4.05010270e+01] [ 6.52507904e-01 7.57761446e-01 -5.57008327e-03 -1.45403936e+02] [-8.89262118e-03 3.07013299e-04 -9.99960413e-01 2.87913075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.52, Y:-145.39, Z:2.88 [[-8.00761361e-01 5.98944927e-01 6.79835018e-03 4.05207380e+01] [ 5.98926506e-01 8.00790162e-01 -4.70716159e-03 -1.45389182e+02] [-8.26338249e-03 3.02398998e-04 -9.99965812e-01 2.87923695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.74762800000002 meters Centerline goodness [0,1] 0.9998210531024918 Centerline is valid? [True, True] Translation: X:40.55, Y:-145.37, Z:2.88 [[-8.40624949e-01 5.41560950e-01 7.83795562e-03 4.05465279e+01] [ 5.41541153e-01 8.40661419e-01 -4.64307284e-03 -1.45365288e+02] [-9.10357383e-03 3.41492657e-04 -9.99958503e-01 2.88194720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.57, Y:-145.34, Z:2.88 [[-8.78863659e-01 4.76990796e-01 8.85717754e-03 4.05666509e+01] [ 4.76970324e-01 8.78908227e-01 -4.43147730e-03 -1.45338935e+02] [-9.89842010e-03 3.29946490e-04 -9.99950955e-01 2.88150863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.95, Y:-144.59, Z:1.97 [[-8.77255564e-01 -4.79938335e-01 9.04818235e-03 4.09484260e+01] [ 4.79909105e-01 -8.77302170e-01 -5.30596409e-03 -1.44594235e+02] [ 1.04845256e-02 -3.12381425e-04 9.99944987e-01 1.97491160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.53, Y:-145.31, Z:2.88 [[-8.83332624e-01 4.68651440e-01 9.45005448e-03 4.05267032e+01] [ 4.68628124e-01 8.83383124e-01 -4.68379749e-03 -1.45311468e+02] [-1.05430871e-02 2.91210174e-04 -9.99944378e-01 2.88200233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.54, Y:-145.28, Z:2.88 [[-9.15696073e-01 4.01746057e-01 1.00402489e-02 4.05414475e+01] [ 4.01725036e-01 9.15751078e-01 -4.11814587e-03 -1.45284359e+02] [-1.08488176e-02 2.62449339e-04 -9.99941115e-01 2.88092229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.89762800000003 meters Centerline goodness [0,1] 0.9999111999111999 Centerline is valid? [True, True] Translation: X:40.55, Y:-145.25, Z:2.88 [[-9.42856738e-01 3.33041177e-01 1.02345706e-02 4.05498599e+01] [ 3.33024177e-01 9.42912256e-01 -3.37272506e-03 -1.45254926e+02] [-1.07735584e-02 2.28362903e-04 -9.99941937e-01 2.88227441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.56, Y:-145.22, Z:2.88 [[-9.65899941e-01 2.58762058e-01 8.91641449e-03 4.05646183e+01] [ 2.58752295e-01 9.65941085e-01 -2.25163674e-03 -1.45223973e+02] [-9.19536924e-03 1.32286921e-04 -9.99957713e-01 2.87941292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.95762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.57, Y:-145.19, Z:2.88 [[-9.82365598e-01 1.86801010e-01 7.95073619e-03 4.05717174e+01] [ 1.86795660e-01 9.82397768e-01 -1.41679946e-03 -1.45193106e+02] [-8.07544506e-03 9.33479673e-05 -9.99967389e-01 2.87862363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.58, Y:-145.16, Z:2.88 [[-9.93443498e-01 1.14081896e-01 7.43887585e-03 4.05795356e+01] [ 1.14079179e-01 9.93471347e-01 -7.90019025e-04 -1.45163219e+02] [-7.48043688e-03 6.37815843e-05 -9.99972019e-01 2.87856570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.01762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.58, Y:-145.13, Z:2.88 [[-9.99139926e-01 4.08957281e-02 6.85183042e-03 4.05847933e+01] [ 4.08950590e-02 9.99163419e-01 -2.37781119e-04 -1.45132602e+02] [-6.85582254e-03 4.26293999e-05 -9.99976498e-01 2.87895088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.58, Y:-145.10, Z:2.88 [[-9.99406758e-01 -3.35812542e-02 7.64404599e-03 4.05820950e+01] [-3.35801046e-02 9.99435990e-01 2.78713102e-04 -1.45101208e+02] [-7.64909421e-03 2.18598934e-05 -9.99970745e-01 2.87988314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.07762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.57, Y:-145.07, Z:2.88 [[-9.94377982e-01 -1.05555410e-01 8.39546471e-03 4.05741221e+01] [-1.05551508e-01 9.94413423e-01 9.07803703e-04 -1.45074153e+02] [-8.44438639e-03 1.65460558e-05 -9.99964345e-01 2.88074742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.56, Y:-145.05, Z:2.88 [[-9.84279532e-01 -1.76413345e-01 8.49319498e-03 4.05616354e+01] [-1.76406633e-01 9.84316175e-01 1.53891487e-03 -1.45048230e+02] [-8.63147431e-03 1.64664793e-05 -9.99962748e-01 2.88048819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.13762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.54, Y:-145.03, Z:2.88 [[-9.69161633e-01 -2.46306783e-01 7.66149834e-03 4.05377924e+01] [-2.46298921e-01 9.69191915e-01 1.96806827e-03 -1.45025533e+02] [-7.91021081e-03 2.03574883e-05 -9.99968714e-01 2.87945980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.49, Y:-145.01, Z:2.88 [[-9.48683892e-01 -3.16159313e-01 6.49322270e-03 4.04870522e+01] [-3.16151760e-01 9.48706113e-01 2.18541218e-03 -1.45011476e+02] [-6.85109848e-03 2.04215444e-05 -9.99976531e-01 2.87866106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.43, Y:-145.00, Z:2.88 [[-9.22828111e-01 -3.85171073e-01 5.61438689e-03 4.04268161e+01] [-3.85163820e-01 9.22845190e-01 2.36375440e-03 -1.45004786e+02] [-6.09165975e-03 1.88803090e-05 -9.99981446e-01 2.87798875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.35, Y:-145.01, Z:2.88 [[-8.91271859e-01 -4.53454290e-01 3.69870345e-03 4.03542661e+01] [-4.53450343e-01 8.91279533e-01 1.89212341e-03 -1.45007435e+02] [-4.15457016e-03 9.21800044e-06 -9.99991370e-01 2.87629687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.28, Y:-145.02, Z:2.88 [[-8.54384493e-01 -5.19633479e-01 2.86099699e-03 4.02755154e+01] [-5.19630548e-01 8.54389283e-01 1.74516981e-03 -1.45018961e+02] [-3.35125383e-03 4.38458964e-06 -9.99994385e-01 2.87597383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.19, Y:-145.04, Z:2.88 [[-8.12137951e-01 -5.83459742e-01 2.58404908e-03 4.01902384e+01] [-5.83456789e-01 8.12142062e-01 1.85634351e-03 -1.45041439e+02] [-3.18171665e-03 -7.39584768e-08 -9.99994938e-01 2.87592134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.10, Y:-145.07, Z:2.88 [[-7.64265768e-01 -6.44893329e-01 3.22952494e-03 4.01010706e+01] [-6.44887626e-01 7.64272591e-01 2.71217381e-03 -1.45073907e+02] [-4.21730019e-03 -9.85907201e-06 -9.99991107e-01 2.87734681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.01, Y:-145.12, Z:2.88 [[-7.12262265e-01 -7.01902426e-01 3.93073360e-03 4.00110504e+01] [-7.01891889e-01 7.12273111e-01 3.84605877e-03 -1.45117952e+02] [-5.49931383e-03 -1.95474962e-05 -9.99984878e-01 2.87839562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.92, Y:-145.17, Z:2.88 [[-6.56081712e-01 -7.54676714e-01 4.45477709e-03 3.99229973e+01] [-7.54659626e-01 6.56096835e-01 5.07858403e-03 -1.45169643e+02] [-6.75545426e-03 -2.98743105e-05 -9.99977181e-01 2.88015484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.84, Y:-145.23, Z:2.88 [[-5.95525184e-01 -8.03323026e-01 4.67664897e-03 3.98360342e+01] [-8.03298840e-01 5.95543545e-01 6.23374795e-03 -1.45234337e+02] [-7.79286137e-03 -4.43927936e-05 -9.99969634e-01 2.87988186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.75, Y:-145.31, Z:2.88 [[-5.32285820e-01 -8.46553057e-01 4.44166215e-03 3.97535754e+01] [-8.46524316e-01 5.32304349e-01 6.97578590e-03 -1.45306289e+02] [-8.26968896e-03 -4.68630956e-05 -9.99965804e-01 2.88043095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.68, Y:-145.39, Z:2.88 [[-4.66067672e-01 -8.84738462e-01 4.33339013e-03 3.96751340e+01] [-8.84701189e-01 4.66087815e-01 8.12127645e-03 -1.45388547e+02] [-9.20494597e-03 -4.86909876e-05 -9.99957632e-01 2.88096157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.60, Y:-145.48, Z:2.88 [[-3.97183289e-01 -9.17730283e-01 4.06964955e-03 3.96038055e+01] [-9.17683321e-01 3.97204135e-01 9.28427676e-03 -1.45475317e+02] [-1.01369436e-02 -4.70899305e-05 -9.99948619e-01 2.88162396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.54, Y:-145.57, Z:2.88 [[-3.27085810e-01 -9.44988601e-01 3.37883770e-03 3.95391688e+01] [-9.44939082e-01 3.27103260e-01 9.67413024e-03 -1.45572838e+02] [-1.02471716e-02 -2.85250755e-05 -9.99947496e-01 2.88311298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.48, Y:-145.67, Z:2.88 [[-2.54557740e-01 -9.67054047e-01 2.61283581e-03 3.94818438e+01] [-9.67003660e-01 2.54571149e-01 9.87181633e-03 -1.45673716e+02] [-1.02117325e-02 -1.36745346e-05 -9.99947859e-01 2.88323203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.43, Y:-145.78, Z:2.88 [[-1.80595336e-01 -9.83555708e-01 1.86928448e-03 3.94320168e+01] [-9.83502938e-01 1.80605010e-01 1.01883239e-02 -1.45782812e+02] [-1.03583863e-02 1.51699633e-06 -9.99946350e-01 2.88288464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.39, Y:-145.90, Z:2.88 [[-1.05529688e-01 -9.94415552e-01 1.09292763e-03 3.93906394e+01] [-9.94360466e-01 1.05535346e-01 1.04668555e-02 -1.45896639e+02] [-1.05237464e-02 1.77999647e-05 -9.99944624e-01 2.88315350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.36, Y:-146.01, Z:2.88 [[-2.83039577e-02 -9.99599324e-01 2.80086073e-04 3.93552446e+01] [-9.99543964e-01 2.83053379e-02 1.05200308e-02 -1.46013394e+02] [-1.05237436e-02 1.78001641e-05 -9.99944624e-01 2.88315336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.33, Y:-146.14, Z:2.88 [[ 4.63928052e-02 -9.98923100e-01 -5.89855187e-04 3.93340941e+01] [-9.98855880e-01 -4.63965263e-02 1.15884628e-02 -1.46136923e+02] [-1.16033504e-02 5.15590228e-05 -9.99932678e-01 2.88429399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.70762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.32, Y:-146.25, Z:2.88 [[ 1.22638642e-01 -9.92450229e-01 -1.51865712e-03 3.93188175e+01] [-9.92380525e-01 -1.22648027e-01 1.17624544e-02 -1.46251214e+02] [-1.18599108e-02 6.45543268e-05 -9.99929667e-01 2.88481779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.31, Y:-146.37, Z:2.88 [[ 1.98954631e-01 -9.80005305e-01 -2.58011599e-03 3.93145060e+01] [-9.79927480e-01 -1.98971347e-01 1.23505724e-02 -1.46372910e+02] [-1.26169957e-02 7.11229829e-05 -9.99920400e-01 2.88497521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.76762800000003 meters Centerline goodness [0,1] 0.9998658948168346 Centerline is valid? [True, True] Translation: X:39.32, Y:-146.50, Z:2.89 [[ 2.74554955e-01 -9.61563953e-01 -3.78702277e-03 3.93178097e+01] [-9.61476048e-01 -2.74581063e-01 1.30019023e-02 -1.46495881e+02] [-1.35420053e-02 7.13949954e-05 -9.99908300e-01 2.88722947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.33, Y:-146.62, Z:2.88 [[ 3.49468953e-01 -9.36938072e-01 -4.30125141e-03 3.93301468e+01] [-9.36868759e-01 -3.49495419e-01 1.13965172e-02 -1.46617342e+02] [-1.21810985e-02 4.69791481e-05 -9.99925807e-01 2.88401419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.82762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.35, Y:-146.74, Z:2.88 [[ 4.21775690e-01 -9.06687033e-01 -4.88793738e-03 3.93512133e+01] [-9.06627037e-01 -4.21804011e-01 1.04303858e-02 -1.46737472e+02] [-1.15188471e-02 3.22530243e-05 -9.99933655e-01 2.88197584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.85762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.38, Y:-146.85, Z:2.88 [[ 4.92758192e-01 -8.70153345e-01 -4.74562274e-03 3.93793494e+01] [-8.70113037e-01 -4.92781043e-01 8.37539367e-03 -1.46852530e+02] [-9.62642974e-03 2.18436682e-06 -9.99953665e-01 2.88038902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.88762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.41, Y:-146.96, Z:2.88 [[ 5.59149524e-01 -8.29051707e-01 -5.00768955e-03 3.94144282e+01] [-8.29018361e-01 -5.59171947e-01 7.43572974e-03 -1.46963363e+02] [-8.96476395e-03 -6.21815637e-06 -9.99959816e-01 2.88039851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.46, Y:-147.07, Z:2.88 [[ 6.22003955e-01 -7.82997029e-01 -5.17035456e-03 3.94580203e+01] [-7.82969802e-01 -6.22025444e-01 6.52969565e-03 -1.47070328e+02] [-8.32882438e-03 -1.32650351e-05 -9.99965315e-01 2.88044210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.51, Y:-147.17, Z:2.88 [[ 6.80959162e-01 -7.32305974e-01 -4.75176014e-03 3.95117278e+01] [-7.32287969e-01 -6.80975741e-01 5.13526005e-03 -1.47172838e+02] [-6.99641500e-03 -1.72455999e-05 -9.99975525e-01 2.87868799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.57, Y:-147.27, Z:2.88 [[ 7.35319406e-01 -6.77706301e-01 -4.42054235e-03 3.95676396e+01] [-6.77693920e-01 -7.35332693e-01 4.09657532e-03 -1.47265788e+02] [-6.02684422e-03 -1.65166567e-05 -9.99981838e-01 2.87757820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.56, Y:-147.27, Z:2.88 [[ 7.86424469e-01 -6.17675799e-01 -3.62798663e-03 3.95633813e+01] [-6.17669133e-01 -7.86432837e-01 2.86976362e-03 -1.47270389e+02] [-4.62575136e-03 -1.59569696e-05 -9.99989301e-01 2.87660437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.56, Y:-147.28, Z:2.88 [[ 8.32663238e-01 -5.53768837e-01 -3.46504204e-03 3.95576013e+01] [-5.53763955e-01 -8.32670448e-01 2.32531731e-03 -1.47277725e+02] [-4.17292637e-03 -1.73908516e-05 -9.99991293e-01 2.87632075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.55, Y:-147.28, Z:2.88 [[ 8.73742933e-01 -4.86379110e-01 -2.94101441e-03 3.95515104e+01] [-4.86376290e-01 -8.73747882e-01 1.65610163e-03 -1.47284766e+02] [-3.37519835e-03 -1.65674204e-05 -9.99994304e-01 2.87671905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.54, Y:-147.29, Z:2.88 [[ 9.09393045e-01 -4.15929550e-01 -2.62673498e-03 3.95447313e+01] [-4.15927763e-01 -9.09396838e-01 1.21933058e-03 -1.47292844e+02] [-2.89590011e-03 -1.63187430e-05 -9.99995807e-01 2.87683494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.12762800000002 meters Centerline goodness [0,1] 0.9999101406299142 Centerline is valid? [True, True] Translation: X:39.54, Y:-147.30, Z:2.88 [[ 9.39460324e-01 -3.42639544e-01 -3.52735481e-03 3.95384505e+01] [-3.42637029e-01 -9.39466946e-01 1.31305970e-03 -1.47303461e+02] [-3.76373943e-03 -2.49651149e-05 -9.99992917e-01 2.87957801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.53, Y:-147.31, Z:2.88 [[ 9.63616812e-01 -2.67262124e-01 -3.68740822e-03 3.95340856e+01] [-2.67260051e-01 -9.63623867e-01 1.05291942e-03 -1.47312548e+02] [-3.83468005e-03 -2.91139489e-05 -9.99992647e-01 2.87847319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.53, Y:-147.32, Z:2.88 [[ 9.81542415e-01 -1.91194750e-01 -4.36518645e-03 3.95300931e+01] [-1.91192707e-01 -9.81552121e-01 8.84360929e-04 -1.47320796e+02] [-4.45374319e-03 -3.34459475e-05 -9.99990081e-01 2.87942081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.52, Y:-147.33, Z:2.88 [[ 9.93395647e-01 -1.14559850e-01 -6.41320062e-03 3.95237007e+01] [-1.14557181e-01 -9.93416347e-01 7.83303022e-04 -1.47327250e+02] [-6.46071341e-03 -4.34516292e-05 -9.99979128e-01 2.88042236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.52, Y:-147.34, Z:2.88 [[ 9.99268596e-01 -3.75657065e-02 -7.14781917e-03 3.95182690e+01] [-3.75644564e-02 -9.99294159e-01 3.09114769e-04 -1.47335119e+02] [-7.15438606e-03 -4.03847400e-05 -9.99974406e-01 2.88116445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.51, Y:-147.34, Z:2.88 [[ 9.99200452e-01 3.92391174e-02 -7.66475722e-03 3.95124350e+01] [ 3.92382051e-02 -9.99229849e-01 -2.69424001e-04 -1.47342455e+02] [-7.66942616e-03 -3.15427326e-05 -9.99970589e-01 2.88165954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.51, Y:-147.35, Z:2.88 [[ 9.93266555e-01 1.15592394e-01 -7.74268244e-03 3.95075970e+01] [ 1.15589026e-01 -9.93296732e-01 -8.82603235e-04 -1.47350109e+02] [-7.79280339e-03 -1.83088504e-05 -9.99969636e-01 2.88170416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.50, Y:-147.36, Z:2.88 [[ 9.82171857e-01 1.87850950e-01 -7.10374626e-03 3.95031278e+01] [ 1.87845883e-01 -9.82197546e-01 -1.37992976e-03 -1.47357071e+02] [-7.23650326e-03 2.09186907e-05 -9.99973816e-01 2.88156536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.50, Y:-147.37, Z:2.88 [[ 9.65215904e-01 2.61368578e-01 -6.68766593e-03 3.94978844e+01] [ 2.61362016e-01 -9.65239071e-01 -1.85253686e-03 -1.47365398e+02] [-6.93939138e-03 4.01961902e-05 -9.99975921e-01 2.88142216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.50, Y:-147.37, Z:2.88 [[ 9.42730296e-01 3.33499865e-01 -6.11798173e-03 3.94950348e+01] [ 3.33492458e-01 -9.42750146e-01 -2.22337433e-03 -1.47374977e+02] [-6.50922321e-03 5.57415693e-05 -9.99978813e-01 2.88121329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.42762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.49, Y:-147.38, Z:2.88 [[ 9.14941273e-01 4.03550515e-01 -5.42663303e-03 3.94910319e+01] [ 4.03542968e-01 -9.14957364e-01 -2.46892126e-03 -1.47384185e+02] [-5.96147230e-03 6.90383580e-05 -9.99982228e-01 2.88131815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.45762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.49, Y:-147.39, Z:2.88 [[ 8.83043052e-01 4.69276893e-01 -3.76378453e-03 3.94866043e+01] [ 4.69272278e-01 -8.83051070e-01 -2.08239267e-03 -1.47391055e+02] [-4.30083272e-03 7.26026433e-05 -9.99990749e-01 2.87989029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.49, Y:-147.40, Z:2.88 [[ 8.44826740e-01 5.35031223e-01 -3.06090831e-03 3.94854165e+01] [ 5.35027409e-01 -8.44832282e-01 -2.02162270e-03 -1.47401739e+02] [-3.66758542e-03 7.02510703e-05 -9.99993272e-01 2.87939122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.51762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.48, Y:-147.41, Z:2.88 [[ 8.01460618e-01 5.98042520e-01 -2.45392039e-03 3.94834130e+01] [ 5.98039465e-01 -8.01464372e-01 -1.91271394e-03 -1.47411552e+02] [-3.11061403e-03 6.54236601e-05 -9.99995160e-01 2.87903374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.48, Y:-147.42, Z:2.88 [[ 7.54035988e-01 6.56829133e-01 -2.28433503e-03 3.94832323e+01] [ 6.56825819e-01 -7.54039445e-01 -2.08788439e-03 -1.47422345e+02] [-3.09386201e-03 7.39297367e-05 -9.99995211e-01 2.87912704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.57762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.49, Y:-147.43, Z:2.88 [[ 7.00939778e-01 7.13215693e-01 -2.60830296e-03 3.94850310e+01] [ 7.13210246e-01 -7.00944624e-01 -2.78917042e-03 -1.47433837e+02] [-3.81755605e-03 9.47720963e-05 -9.99992709e-01 2.87957828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.60762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.49, Y:-147.44, Z:2.88 [[ 6.43414865e-01 7.65512384e-01 -2.84646985e-03 3.94856936e+01] [ 7.65504082e-01 -6.43421151e-01 -3.56692527e-03 -1.47444878e+02] [-4.56200437e-03 1.16028447e-04 -9.99989587e-01 2.88074084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.63762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.49, Y:-147.46, Z:2.88 [[ 5.81536695e-01 8.13511789e-01 -3.69339279e-03 3.94904957e+01] [ 8.13493516e-01 -5.81548399e-01 -5.45512411e-03 -1.47457519e+02] [-6.58569444e-03 1.67803760e-04 -9.99978300e-01 2.88257340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.49, Y:-147.47, Z:2.88 [[ 5.15465338e-01 8.56902602e-01 -3.66277978e-03 3.94945438e+01] [ 8.56878381e-01 -5.15478318e-01 -6.44536774e-03 -1.47468222e+02] [-7.41113595e-03 1.83806854e-04 -9.99972520e-01 2.88321960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.50, Y:-147.48, Z:2.88 [[ 4.45882382e-01 8.95084504e-01 -3.55432115e-03 3.94989883e+01] [ 8.95052414e-01 -4.45896503e-01 -7.58184913e-03 -1.47478579e+02] [-8.37125504e-03 1.99309219e-04 -9.99964941e-01 2.88365714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.51, Y:-147.49, Z:2.88 [[ 3.71569279e-01 9.28400013e-01 -3.11249666e-03 3.95057683e+01] [ 9.28363197e-01 -3.71582269e-01 -8.26992717e-03 -1.47489405e+02] [-8.83434906e-03 1.83323521e-04 -9.99960960e-01 2.88323225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.51, Y:-147.50, Z:2.88 [[ 2.96543168e-01 9.55016495e-01 -2.37571754e-03 3.95132676e+01] [ 9.54981191e-01 -2.96552638e-01 -8.21327536e-03 -1.47499545e+02] [-8.54833874e-03 1.66825130e-04 -9.99963448e-01 2.88300099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.52, Y:-147.51, Z:2.88 [[ 2.19153271e-01 9.75689195e-01 -1.56176171e-03 3.95245551e+01] [ 9.75659759e-01 -2.19158793e-01 -7.58013210e-03 -1.47509986e+02] [-7.73812680e-03 1.37462698e-04 -9.99970051e-01 2.88215420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.53, Y:-147.52, Z:2.88 [[ 1.41952888e-01 9.89872968e-01 -9.40447339e-04 3.95328730e+01] [ 9.89844572e-01 -1.41955940e-01 -7.49899919e-03 -1.47519149e+02] [-7.55655867e-03 1.33607897e-04 -9.99971440e-01 2.88219471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.54, Y:-147.53, Z:2.88 [[ 6.41329912e-02 9.97941309e-01 -3.22212712e-04 3.95433710e+01] [ 9.97917128e-01 -6.41336806e-02 -6.94812044e-03 -1.47527448e+02] [-6.95448109e-03 1.24062162e-04 -9.99975810e-01 2.88171185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.87762800000002 meters Centerline goodness [0,1] 0.9998217111274542 Centerline is valid? [True, True] Translation: X:39.55, Y:-147.54, Z:2.88 [[-1.32088054e-02 9.99912732e-01 2.36354826e-04 3.95522411e+01] [ 9.99885570e-01 1.32101890e-02 -7.37143473e-03 -1.47535292e+02] [-7.37391374e-03 1.38959933e-04 -9.99972803e-01 2.88390489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.56, Y:-147.54, Z:2.88 [[-9.02192418e-02 9.95921768e-01 5.66700906e-04 3.95594433e+01] [ 9.95908669e-01 9.02209623e-02 -5.10887802e-03 -1.47542921e+02] [-5.13917113e-03 1.03463243e-04 -9.99986789e-01 2.88066023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.57, Y:-147.55, Z:2.88 [[-1.66946154e-01 9.85965596e-01 9.07925022e-04 3.95689508e+01] [ 9.85954165e-01 1.66948591e-01 -4.74901077e-03 -1.47548987e+02] [-4.83393804e-03 1.02343375e-04 -9.99988311e-01 2.87992046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.96762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.58, Y:-147.56, Z:2.88 [[-2.42823975e-01 9.70069892e-01 9.59855033e-04 3.95774074e+01] [ 9.70063564e-01 2.42825859e-01 -3.50485253e-03 -1.47555962e+02] [-3.63302954e-03 8.00581701e-05 -9.99993397e-01 2.87952037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.58, Y:-147.56, Z:2.88 [[-3.17600987e-01 9.48223799e-01 1.11318257e-03 3.95841234e+01] [ 9.48218766e-01 3.17602929e-01 -3.09043294e-03 -1.47562787e+02] [-3.28397211e-03 7.40160493e-05 -9.99994605e-01 2.87889136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.60, Y:-147.57, Z:2.88 [[-3.91500896e-01 9.20177465e-01 6.93548383e-04 3.95960269e+01] [ 9.20176184e-01 3.91501508e-01 -1.53583292e-03 -1.47565605e+02] [-1.68476408e-03 3.69067411e-05 -9.99998580e-01 2.87726082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.05762800000002 meters Centerline goodness [0,1] 0.9998661968690067 Centerline is valid? [True, True] Translation: X:39.61, Y:-147.57, Z:2.88 [[-4.62798454e-01 8.86462752e-01 1.17438923e-03 3.96052294e+01] [ 8.86460179e-01 4.62799942e-01 -2.13651751e-03 -1.47570351e+02] [-2.43745046e-03 5.22722818e-05 -9.99997028e-01 2.87994858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.62, Y:-147.57, Z:2.88 [[-5.32446143e-01 8.46462728e-01 1.39852945e-03 3.96198091e+01] [ 8.46460049e-01 5.32447977e-01 -2.12993454e-03 -1.47570096e+02] [-2.54755438e-03 4.97238769e-05 -9.99996754e-01 2.87771975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.63, Y:-147.57, Z:2.88 [[-5.97495492e-01 8.01869601e-01 2.06868310e-03 3.96326206e+01] [ 8.01865163e-01 5.97499070e-01 -2.66865793e-03 -1.47568670e+02] [-3.37595190e-03 6.42938266e-05 -9.99994299e-01 2.87860306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.64, Y:-147.57, Z:2.88 [[-6.58864685e-01 7.52254953e-01 3.13257970e-03 3.96439328e+01] [ 7.52247066e-01 6.58872126e-01 -3.44567604e-03 -1.47569687e+02] [-4.65599631e-03 8.62396311e-05 -9.99989157e-01 2.88078713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.17762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.66, Y:-147.57, Z:2.88 [[-7.16015997e-01 6.98052559e-01 6.61192689e-03 3.96555851e+01] [ 6.98024899e-01 7.16046506e-01 -6.21632363e-03 -1.47566800e+02] [-9.07376777e-03 1.64302439e-04 -9.99958819e-01 2.88432510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.20762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.67, Y:-147.55, Z:2.89 [[-7.63170331e-01 6.46144261e-01 8.28498604e-03 3.96741305e+01] [ 6.46109004e-01 7.63215274e-01 -6.75275478e-03 -1.47547293e+02] [-1.06864816e-02 1.99501983e-04 -9.99942878e-01 2.88543051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.70, Y:-147.53, Z:2.89 [[-8.06204408e-01 5.91561505e-01 9.45712861e-03 3.97009573e+01] [ 5.91524132e-01 8.06259842e-01 -6.65345064e-03 -1.47534934e+02] [-1.15608283e-02 2.30078561e-04 -9.99933145e-01 2.88616704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.26762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.19, Y:-146.86, Z:1.97 [[-7.92271371e-01 -6.10096330e-01 9.40974831e-03 4.01913375e+01] [ 6.10050085e-01 -7.92327220e-01 -7.51467895e-03 -1.46864519e+02] [ 1.20402778e-02 -2.13247235e-04 9.99927491e-01 1.97024784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.29762800000003 meters Centerline goodness [0,1] 0.9998204949850786 Centerline is valid? [True, True] Translation: X:39.67, Y:-147.52, Z:2.89 [[-8.03589520e-01 5.95093999e-01 1.03448560e-02 3.96699877e+01] [ 5.95050223e-01 8.03656028e-01 -7.22644528e-03 -1.47520928e+02] [-1.26141201e-02 3.48613165e-04 -9.99920378e-01 2.88860467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.32762800000003 meters Centerline goodness [0,1] 0.9998653803006506 Centerline is valid? [True, True] Translation: X:39.69, Y:-147.50, Z:2.89 [[-8.42215032e-01 5.39037959e-01 1.05791528e-02 3.96906840e+01] [ 5.39000969e-01 8.42281389e-01 -6.32584945e-03 -1.47504166e+02] [-1.23204965e-02 3.74448111e-04 -9.99924030e-01 2.88793594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.35762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.71, Y:-147.49, Z:2.88 [[-8.75417278e-01 4.83271146e-01 9.67411405e-03 3.97142237e+01] [ 4.83246524e-01 8.75470643e-01 -4.89384649e-03 -1.47491420e+02] [-1.08344576e-02 3.90824217e-04 -9.99941229e-01 2.88372574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.38762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.11, Y:-146.73, Z:1.97 [[-8.78860941e-01 -4.77003226e-01 8.44796294e-03 4.01079341e+01] [ 4.76976622e-01 -8.78901446e-01 -5.05470598e-03 -1.46730198e+02] [ 9.83603790e-03 -4.12902830e-04 9.99951540e-01 1.97414151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.68, Y:-147.48, Z:2.88 [[-8.75269715e-01 4.83561908e-01 8.41464192e-03 3.96753195e+01] [ 4.83543662e-01 8.75310081e-01 -4.21765829e-03 -1.47475691e+02] [-9.40491979e-03 3.77258193e-04 -9.99955702e-01 2.88159814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.07, Y:-146.71, Z:1.98 [[-8.81944268e-01 -4.71290922e-01 7.69251186e-03 4.00701286e+01] [ 4.71269128e-01 -8.81977731e-01 -4.54878583e-03 -1.46712056e+02] [ 8.92842563e-03 -3.86532234e-04 9.99960066e-01 1.97612442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.63, Y:-147.46, Z:2.88 [[-8.76567666e-01 4.81219272e-01 7.55899867e-03 3.96343299e+01] [ 4.81204755e-01 8.76600189e-01 -3.75392319e-03 -1.47456306e+02] [-8.43267985e-03 3.46858414e-04 -9.99964384e-01 2.88092886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.65, Y:-147.43, Z:2.88 [[-9.09082195e-01 4.16537797e-01 8.11329367e-03 3.96535279e+01] [ 4.16524587e-01 9.09118333e-01 -3.33553283e-03 -1.47432763e+02] [-8.76531951e-03 3.47112785e-04 -9.99961524e-01 2.88102492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.67, Y:-147.41, Z:2.88 [[-9.36310391e-01 3.51074745e-01 8.32923699e-03 3.96687070e+01] [ 3.51064128e-01 9.36347373e-01 -2.75227473e-03 -1.47408385e+02] [-8.76531332e-03 3.47112895e-04 -9.99961524e-01 2.88102486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.94, Y:-146.60, Z:1.98 [[-9.39657191e-01 -3.42018973e-01 8.20886113e-03 3.99439523e+01] [ 3.42002695e-01 -9.39692984e-01 -3.35461835e-03 -1.46600304e+02] [ 8.86115233e-03 -3.44738636e-04 9.99960680e-01 1.97600371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.62, Y:-147.39, Z:2.88 [[-9.40460796e-01 3.39813156e-01 7.77884745e-03 3.96171139e+01] [ 3.39803777e-01 9.40492931e-01 -2.53773292e-03 -1.47388429e+02] [-8.17830607e-03 2.56643420e-04 -9.99966524e-01 2.88050998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.63, Y:-147.35, Z:2.88 [[-9.63115308e-01 2.68996835e-01 7.04315391e-03 3.96282540e+01] [ 2.68991174e-01 9.63141039e-01 -1.75688585e-03 -1.47354774e+02] [-7.25614731e-03 2.02462579e-04 -9.99973653e-01 2.87887620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.65762800000002 meters Centerline goodness [0,1] 0.9998886091741485 Centerline is valid? [True, True] Translation: X:39.84, Y:-146.55, Z:1.98 [[-9.59103762e-01 -2.82972701e-01 6.81361083e-03 3.98411157e+01] [ 2.82964028e-01 -9.59127942e-01 -2.22494674e-03 -1.46548949e+02] [ 7.16472372e-03 -2.05948021e-04 9.99974312e-01 1.97543568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.68762800000002 meters Centerline goodness [0,1] 0.9999555318392032 Centerline is valid? [True, True] Translation: X:39.58, Y:-147.34, Z:2.88 [[-9.65834722e-01 2.59085110e-01 6.18027632e-03 3.95827761e+01] [ 2.59080713e-01 9.65854485e-01 -1.51576667e-03 -1.47337159e+02] [-6.36196017e-03 1.37210315e-04 -9.99979753e-01 2.87989905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.59, Y:-147.31, Z:2.88 [[-9.82863588e-01 1.84224514e-01 6.36355171e-03 3.95889553e+01] [ 1.84221321e-01 9.82884183e-01 -1.08943333e-03 -1.47305632e+02] [-6.45533465e-03 1.01537549e-04 -9.99979159e-01 2.87859198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.73, Y:-146.51, Z:1.98 [[-9.75043803e-01 -2.21914652e-01 6.59319572e-03 3.97298264e+01] [ 2.21908988e-01 -9.75066090e-01 -1.58777809e-03 -1.46508074e+02] [ 6.78115280e-03 -8.50638014e-05 9.99977004e-01 1.97860677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.53, Y:-147.29, Z:2.88 [[-9.84534111e-01 1.75072913e-01 6.48527481e-03 3.95317468e+01] [ 1.75069583e-01 9.84555468e-01 -1.08214014e-03 -1.47290919e+02] [-6.57456620e-03 6.99704717e-05 -9.99978385e-01 2.87895632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.67, Y:-146.50, Z:1.98 [[-9.74921400e-01 -2.22462871e-01 6.20768704e-03 3.96701155e+01] [ 2.22457835e-01 -9.74941160e-01 -1.49898851e-03 -1.46502415e+02] [ 6.38559889e-03 -8.04473517e-05 9.99979609e-01 1.97786667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.48, Y:-147.28, Z:2.88 [[-9.86220658e-01 1.65330152e-01 5.89531093e-03 3.94750984e+01] [ 1.65327379e-01 9.86238278e-01 -9.57997183e-04 -1.47278007e+02] [-5.97256712e-03 2.98596924e-05 -9.99982164e-01 2.87845147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.48, Y:-147.25, Z:2.88 [[-9.95590355e-01 9.36538137e-02 5.36736806e-03 3.94800225e+01] [ 9.36525616e-02 9.95604823e-01 -4.84692599e-04 -1.47249651e+02] [-5.38917083e-03 2.01124911e-05 -9.99985478e-01 2.87767433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.48, Y:-147.22, Z:2.88 [[-9.99747562e-01 2.19462045e-02 4.81429033e-03 3.94791304e+01] [ 2.19460189e-02 9.99759153e-01 -9.13849003e-05 -1.47221324e+02] [-4.81513638e-03 1.42926753e-05 -9.99988407e-01 2.87705490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.48, Y:-147.19, Z:2.88 [[-9.98777747e-01 -4.92973339e-02 3.57571091e-03 3.94803450e+01] [-4.92969804e-02 9.98784147e-01 1.86979898e-04 -1.47193787e+02] [-3.58058098e-03 1.04796106e-05 -9.99993590e-01 2.87612722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.95762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.45, Y:-146.40, Z:1.98 [[-9.99929140e-01 -1.15380777e-02 2.93043324e-03 3.94455419e+01] [ 1.15378778e-02 -9.99933433e-01 -8.51300716e-05 -1.46403071e+02] [ 2.93122040e-03 -5.13130589e-05 9.99995703e-01 1.98112610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.38, Y:-147.20, Z:2.88 [[-9.98548380e-01 -5.38167080e-02 2.21229468e-03 3.93803013e+01] [-5.38165524e-02 9.98550831e-01 1.29858823e-04 -1.47198394e+02] [-2.21607727e-03 1.06122447e-05 -9.99997544e-01 2.87577952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.01762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.38, Y:-147.17, Z:2.87 [[-9.92414750e-01 -1.22934727e-01 1.30154495e-04 3.93755565e+01] [-1.22934726e-01 9.92414759e-01 1.73186828e-05 -1.47172283e+02] [-1.31296310e-04 1.18680902e-06 -9.99999991e-01 2.87445741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.36, Y:-147.15, Z:2.87 [[-9.81171147e-01 -1.93138792e-01 -7.67020377e-04 3.93611161e+01] [-1.93138728e-01 9.81171446e-01 -1.56552616e-04 -1.47148064e+02] [ 7.82814875e-04 -5.46356941e-06 -9.99999694e-01 2.87361021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.07762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.33, Y:-147.13, Z:2.87 [[-9.64975196e-01 -2.62336490e-01 -1.56134991e-03 3.93287563e+01] [-2.62336123e-01 9.64976459e-01 -4.38825013e-04 -1.47129006e+02] [ 1.62178572e-03 -1.38567715e-05 -9.99998685e-01 2.87244686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.27, Y:-147.12, Z:2.87 [[-9.43244730e-01 -3.32096946e-01 -9.98877241e-04 3.92674737e+01] [-3.32096749e-01 9.43245259e-01 -3.61860067e-04 -1.47118918e+02] [ 1.06235885e-03 -9.59871678e-06 -9.99999436e-01 2.87346515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.13762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.20, Y:-147.12, Z:2.87 [[-9.16366157e-01 -4.00341187e-01 2.52757890e-05 3.92025987e+01] [-4.00341187e-01 9.16366157e-01 1.17122363e-05 -1.47115465e+02] [-2.78507681e-05 6.13757562e-07 -1.00000000e+00 2.87477134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.13, Y:-147.12, Z:2.88 [[-8.85269951e-01 -4.65072785e-01 2.10226241e-03 3.91288317e+01] [-4.65071388e-01 8.85272446e-01 1.14036909e-03 -1.47122821e+02] [-2.39142961e-03 3.18323916e-05 -9.99997140e-01 2.87703632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.05, Y:-147.14, Z:2.88 [[-8.48800089e-01 -5.28705188e-01 3.03870473e-03 3.90464749e+01] [-5.28701568e-01 8.48805526e-01 1.95735423e-03 -1.47140833e+02] [-3.61413270e-03 5.48344894e-05 -9.99993468e-01 2.87740796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.96, Y:-147.17, Z:2.88 [[-8.07797852e-01 -5.89450264e-01 3.31908195e-03 3.89591033e+01] [-5.89444915e-01 8.07804668e-01 2.51207165e-03 -1.47168581e+02] [-4.16191118e-03 7.28301046e-05 -9.99991337e-01 2.87725724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.87, Y:-147.21, Z:2.88 [[-7.62212294e-01 -6.47317461e-01 3.53889621e-03 3.88708645e+01] [-6.47309911e-01 7.62220503e-01 3.12790564e-03 -1.47209301e+02] [-4.72216719e-03 9.33655398e-05 -9.99988846e-01 2.87743566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.78, Y:-147.26, Z:2.88 [[-7.14808442e-01 -6.99310754e-01 3.65522958e-03 3.87815526e+01] [-6.99300632e-01 7.14817775e-01 3.76495025e-03 -1.47258531e+02] [-5.24569327e-03 1.35113873e-04 -9.99986232e-01 2.87660428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.70, Y:-147.32, Z:2.88 [[-6.61835676e-01 -7.49640890e-01 3.47483709e-03 3.86961125e+01] [-7.49629276e-01 6.61844779e-01 4.17592305e-03 -1.47318774e+02] [-5.43024545e-03 1.58935242e-04 -9.99985243e-01 2.87727311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.61, Y:-147.38, Z:2.88 [[-6.08247562e-01 -7.93741767e-01 2.98507209e-03 3.86107380e+01] [-7.93730645e-01 6.08254858e-01 4.20605271e-03 -1.47384321e+02] [-5.15420431e-03 1.88978106e-04 -9.99986699e-01 2.87707718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.53, Y:-147.46, Z:2.88 [[-5.48351112e-01 -8.36244586e-01 2.45990887e-03 3.85290562e+01] [-8.36234551e-01 5.48356596e-01 4.10113998e-03 -1.47462985e+02] [-4.77846336e-03 1.91803877e-04 -9.99988565e-01 2.87676937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.45, Y:-147.55, Z:2.88 [[-4.84958249e-01 -8.74534995e-01 2.00990742e-03 3.84518159e+01] [-8.74525753e-01 4.84962375e-01 4.02522715e-03 -1.47547022e+02] [-4.49493148e-03 1.94351308e-04 -9.99989879e-01 2.87532711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.38, Y:-147.64, Z:2.87 [[-4.20320125e-01 -9.07375195e-01 1.11737363e-03 3.83801724e+01] [-9.07371036e-01 4.20321586e-01 2.75091766e-03 -1.47639918e+02] [-2.96577070e-03 1.42393583e-04 -9.99995592e-01 2.87305147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.31, Y:-147.74, Z:2.87 [[-3.50134948e-01 -9.36698920e-01 8.06881612e-04 3.83119000e+01] [-9.36695508e-01 3.50135853e-01 2.53189574e-03 -1.47740877e+02] [-2.65414219e-03 1.30702802e-04 -9.99996469e-01 2.87262901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.25, Y:-147.85, Z:2.87 [[-2.77243400e-01 -9.60799584e-01 5.06766633e-04 3.82529266e+01] [-9.60797177e-01 2.77243841e-01 2.15354626e-03 -1.47850989e+02] [-2.20962428e-03 1.10156538e-04 -9.99997553e-01 2.87267024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.20, Y:-147.96, Z:2.87 [[-2.01700599e-01 -9.79447179e-01 3.04306680e-04 3.81987378e+01] [-9.79445213e-01 2.01700804e-01 1.96489076e-03 -1.47963688e+02] [-1.98588561e-03 9.82679211e-05 -9.99998023e-01 2.87248211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.15, Y:-148.08, Z:2.87 [[-1.21876135e-01 -9.92545307e-01 1.43029647e-04 3.81531729e+01] [-9.92543544e-01 1.21876189e-01 1.87302899e-03 -1.48083119e+02] [-1.87649804e-03 8.63143824e-05 -9.99998236e-01 2.87217897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.12, Y:-148.20, Z:2.87 [[-4.12456169e-02 -9.99149037e-01 -2.18149226e-06 3.81163426e+01] [-9.99147595e-01 4.12455537e-02 1.69951879e-03 -1.48204263e+02] [-1.69798259e-03 7.22773337e-05 -9.99998556e-01 2.87198959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.08, Y:-148.33, Z:2.87 [[ 4.54640517e-02 -9.98965966e-01 -1.40482952e-04 3.80829642e+01] [-9.98964378e-01 -4.54642300e-02 1.78197695e-03 -1.48330034e+02] [-1.78652127e-03 5.93215732e-05 -9.99998402e-01 2.87201893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.07, Y:-148.46, Z:2.87 [[ 1.27733956e-01 -9.91808411e-01 -3.35604333e-04 3.80655558e+01] [-9.91806118e-01 -1.27734382e-01 2.13367923e-03 -1.48458259e+02] [-2.15906922e-03 6.03111429e-05 -9.99997667e-01 2.87230680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.06, Y:-148.58, Z:2.87 [[ 2.09025215e-01 -9.77910096e-01 -5.51746267e-04 3.80573641e+01] [-9.77907340e-01 -2.09025937e-01 2.32213402e-03 -1.48584573e+02] [-2.38616758e-03 5.41721612e-05 -9.99997152e-01 2.87275893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.70762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.05, Y:-148.71, Z:2.87 [[ 2.92681275e-01 -9.56209629e-01 -9.03281958e-04 3.80526099e+01] [-9.56205477e-01 -2.92682666e-01 2.81826830e-03 -1.48707737e+02] [-2.95923026e-03 3.88687965e-05 -9.99995621e-01 2.87335587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.06, Y:-148.83, Z:2.87 [[ 3.69642419e-01 -9.29173582e-01 -9.68438351e-04 3.80638212e+01] [-9.29170549e-01 -3.69643686e-01 2.37394625e-03 -1.48832068e+02] [-2.56378526e-03 2.23331628e-05 -9.99996713e-01 2.87347925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.76762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.08, Y:-148.95, Z:2.87 [[ 4.46326045e-01 -8.94870056e-01 -8.02943454e-04 3.80813139e+01] [-8.94868620e-01 -4.46326767e-01 1.60276334e-03 -1.48954229e+02] [-1.79264008e-03 3.17387704e-06 -9.99998393e-01 2.87359339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.11, Y:-149.07, Z:2.87 [[ 5.16452742e-01 -8.56315233e-01 -8.87518003e-04 3.81099858e+01] [-8.56313961e-01 -5.16453504e-01 1.47596997e-03 -1.49070652e+02] [-1.72225735e-03 -2.27467923e-06 -9.99998517e-01 2.87422629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.82762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.15, Y:-149.18, Z:2.87 [[ 5.82840368e-01 -8.12585854e-01 -1.15596184e-03 3.81462140e+01] [-8.12584228e-01 -5.82841514e-01 1.62538716e-03 -1.49180735e+02] [-1.99450916e-03 -8.02488827e-06 -9.99998011e-01 2.87474934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.85762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.19, Y:-149.29, Z:2.88 [[ 6.45155875e-01 -7.64049336e-01 -1.58371902e-03 3.81946772e+01] [-7.64046974e-01 -6.45157819e-01 1.90002376e-03 -1.49291157e+02] [-2.47346061e-03 -1.57757679e-05 -9.99996941e-01 2.87542086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.88762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.24, Y:-149.38, Z:2.88 [[ 7.03124833e-01 -7.11063275e-01 -2.11862201e-03 3.82410012e+01] [-7.11059937e-01 -7.03128025e-01 2.17871660e-03 -1.49383916e+02] [-3.03886787e-03 -2.54425091e-05 -9.99995382e-01 2.87631224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.30, Y:-149.47, Z:2.88 [[ 7.55187433e-01 -6.55504572e-01 -2.38672077e-03 3.82974285e+01] [-6.55501189e-01 -7.55191204e-01 2.10601864e-03 -1.49474180e+02] [-3.18293538e-03 -2.59405070e-05 -9.99994934e-01 2.87680046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.29, Y:-149.48, Z:2.88 [[ 8.03615855e-01 -5.95140338e-01 -3.08808247e-03 3.82949041e+01] [-5.95135808e-01 -8.03621788e-01 2.32210864e-03 -1.49481341e+02] [-3.86363088e-03 -2.82548678e-05 -9.99992536e-01 2.87709172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.29, Y:-149.49, Z:2.88 [[ 8.47030962e-01 -5.31530353e-01 -3.74617733e-03 3.82925818e+01] [-5.31525012e-01 -8.47039246e-01 2.38282012e-03 -1.49487205e+02] [-4.43970044e-03 -2.71354650e-05 -9.99990144e-01 2.87783817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.29, Y:-149.49, Z:2.88 [[ 8.84240213e-01 -4.67008320e-01 -4.74066324e-03 3.82916894e+01] [-4.67001530e-01 -8.84252921e-01 2.51838290e-03 -1.49488622e+02] [-5.36805109e-03 -1.29584465e-05 -9.99985592e-01 2.87871264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.29, Y:-149.49, Z:2.88 [[ 9.17209786e-01 -3.98372501e-01 -5.05567263e-03 3.82907486e+01] [-3.98366438e-01 -9.17223719e-01 2.19789699e-03 -1.49492082e+02] [-5.51276457e-03 -1.92232840e-06 -9.99984805e-01 2.87862196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.29, Y:-149.50, Z:2.88 [[ 9.44726012e-01 -3.27821790e-01 -5.06330098e-03 3.82894579e+01] [-3.27817147e-01 -9.44739580e-01 1.74476045e-03 -1.49497782e+02] [-5.35547133e-03 1.15163060e-05 -9.99985659e-01 2.87865085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.29, Y:-149.50, Z:2.88 [[ 9.66056233e-01 -2.58275798e-01 -5.38201434e-03 3.82895121e+01] [-2.58272033e-01 -9.66071224e-01 1.39508125e-03 -1.49500015e+02] [-5.55972491e-03 4.22968493e-05 -9.99984544e-01 2.87915523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.12762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.29, Y:-149.50, Z:2.88 [[ 9.82717194e-01 -1.85004989e-01 -6.33015659e-03 3.82850672e+01] [-1.85001604e-01 -9.82737579e-01 1.12115607e-03 -1.49504645e+02] [-6.42830222e-03 6.93097743e-05 -9.99979336e-01 2.87954190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.28, Y:-149.51, Z:2.88 [[ 9.93828900e-01 -1.10676505e-01 -7.40468249e-03 3.82793746e+01] [-1.10674214e-01 -9.93856479e-01 7.19726533e-04 -1.49507925e+02] [-7.43884848e-03 1.04222383e-04 -9.99972326e-01 2.88048111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.28, Y:-149.51, Z:2.88 [[ 9.99172228e-01 -3.98146356e-02 -8.34584675e-03 3.82753113e+01] [-3.98147329e-02 -9.99207067e-01 1.54551332e-04 -1.49509131e+02] [-8.34538246e-03 1.77864260e-04 -9.99965161e-01 2.88076974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.27, Y:-149.51, Z:2.88 [[ 9.99346724e-01 3.50857016e-02 -8.66715139e-03 3.82690246e+01] [ 3.50825160e-02 -9.99384284e-01 -5.19356293e-04 -1.49513296e+02] [-8.68003687e-03 2.14951532e-04 -9.99962305e-01 2.88131474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.26, Y:-149.52, Z:2.88 [[ 9.93905201e-01 1.09916471e-01 -8.41550555e-03 3.82644430e+01] [ 1.09910498e-01 -9.93940799e-01 -1.17037768e-03 -1.49519706e+02] [-8.49315810e-03 2.38292061e-04 -9.99963904e-01 2.88118159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.26, Y:-149.52, Z:2.88 [[ 9.83254082e-01 1.82022713e-01 -8.89622226e-03 3.82587463e+01] [ 1.82012447e-01 -9.83294279e-01 -1.95718597e-03 -1.49522968e+02] [-9.10385675e-03 3.05187917e-04 -9.99958512e-01 2.88160824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.25, Y:-149.53, Z:2.88 [[ 9.66445138e-01 2.56731701e-01 -8.52223438e-03 3.82544661e+01] [ 2.56718837e-01 -9.66482661e-01 -2.58921280e-03 -1.49531556e+02] [-8.90132477e-03 3.14514019e-04 -9.99960333e-01 2.88164386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.25, Y:-149.54, Z:2.88 [[ 9.43769712e-01 3.30494662e-01 -8.48586253e-03 3.82508347e+01] [ 3.30478113e-01 -9.43807802e-01 -3.32397137e-03 -1.49540570e+02] [-9.10757806e-03 3.32671659e-04 -9.99958470e-01 2.88164786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.25, Y:-149.55, Z:2.88 [[ 9.14737232e-01 4.03990225e-01 -6.90618571e-03 3.82485530e+01] [ 4.03976422e-01 -9.14763260e-01 -3.35089418e-03 -1.49552119e+02] [-7.67125345e-03 2.75251472e-04 -9.99970538e-01 2.88106088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.25, Y:-149.57, Z:2.88 [[ 8.79964664e-01 4.74999784e-01 -6.11518017e-03 3.82487357e+01] [ 4.74986328e-01 -8.79985877e-01 -3.58399827e-03 -1.49565229e+02] [-7.08367059e-03 2.49164861e-04 -9.99974879e-01 2.88062459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.42762800000003 meters Centerline goodness [0,1] 0.9999106324984919 Centerline is valid? [True, True] Translation: X:38.25, Y:-149.58, Z:2.88 [[ 8.39960348e-01 5.42619057e-01 -5.58319234e-03 3.82468633e+01] [ 5.42605169e-01 -8.39978870e-01 -3.88952726e-03 -1.49576056e+02] [-6.80029520e-03 2.37579651e-04 -9.99976850e-01 2.88265778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.45762800000003 meters Centerline goodness [0,1] 0.9999106324984919 Centerline is valid? [True, True] Translation: X:38.25, Y:-149.59, Z:2.88 [[ 7.94889241e-01 6.06731745e-01 -5.26146597e-03 3.82457245e+01] [ 6.06716449e-01 -7.94906619e-01 -4.31481150e-03 -1.49586675e+02] [-6.80030724e-03 2.37579290e-04 -9.99976849e-01 2.88265788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.48762800000003 meters Centerline goodness [0,1] 0.9999106305018097 Centerline is valid? [True, True] Translation: X:38.25, Y:-149.60, Z:2.88 [[ 7.44165680e-01 6.67974315e-01 -5.26825824e-03 3.82482723e+01] [ 6.67955193e-01 -7.44184287e-01 -5.06027432e-03 -1.49600040e+02] [-7.30068827e-03 2.46722031e-04 -9.99973319e-01 2.88241961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.51762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.25, Y:-149.61, Z:2.88 [[ 6.89166370e-01 7.24588864e-01 -4.54889152e-03 3.82484672e+01] [ 7.24570866e-01 -6.89181345e-01 -5.11218144e-03 -1.49611643e+02] [-6.83924092e-03 2.27149255e-04 -9.99976586e-01 2.88101050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.54762800000003 meters Centerline goodness [0,1] 0.999910720264268 Centerline is valid? [True, True] Translation: X:38.25, Y:-149.62, Z:2.88 [[ 6.30827195e-01 7.75912178e-01 -4.16435787e-03 3.82527830e+01] [ 7.75892777e-01 -6.30840897e-01 -5.49187285e-03 -1.49624090e+02] [-6.88825828e-03 2.33327555e-04 -9.99976248e-01 2.88198379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.57762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.26, Y:-149.64, Z:2.88 [[ 5.67922389e-01 8.23075279e-01 -3.35334782e-03 3.82565274e+01] [ 8.23058708e-01 -5.67932251e-01 -5.22705081e-03 -1.49636170e+02] [-6.20673068e-03 2.08557057e-04 -9.99980716e-01 2.87932652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.60762800000003 meters Centerline goodness [0,1] 0.9998886190995968 Centerline is valid? [True, True] Translation: X:38.26, Y:-149.65, Z:2.88 [[ 5.02459992e-01 8.64596134e-01 -2.73530091e-03 3.82570158e+01] [ 8.64581097e-01 -5.02467397e-01 -5.10308644e-03 -1.49646026e+02] [-5.78650833e-03 1.99207307e-04 -9.99983238e-01 2.88175012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.63762800000003 meters Centerline goodness [0,1] 0.9999110082762304 Centerline is valid? [True, True] Translation: X:38.27, Y:-149.66, Z:2.88 [[ 4.33666954e-01 9.01071399e-01 -1.81877198e-03 3.82682646e+01] [ 9.01061886e-01 -4.33670739e-01 -4.14340932e-03 -1.49659817e+02] [-4.52225582e-03 1.58033585e-04 -9.99989762e-01 2.88037639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.667628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.28, Y:-149.67, Z:2.88 [[ 3.61951755e-01 9.32196503e-01 -7.79603461e-04 3.82793799e+01] [ 9.32193819e-01 -3.61952585e-01 -2.23823622e-03 -1.49671392e+02] [-2.36865546e-03 8.33919983e-05 -9.99997191e-01 2.87715732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.29, Y:-149.68, Z:2.88 [[ 2.87691374e-01 9.57723082e-01 -4.12873618e-04 3.82874094e+01] [ 9.57721793e-01 -2.87691665e-01 -1.57278921e-03 -1.49682243e+02] [-1.62507683e-03 5.70598279e-05 -9.99998678e-01 2.87707666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.30, Y:-149.69, Z:2.88 [[ 2.09999132e-01 9.77701565e-01 -1.23817093e-04 3.82963457e+01] [ 9.77701323e-01 -2.09999167e-01 -6.87953011e-04 -1.49692281e+02] [-6.98614221e-04 2.34133993e-05 -9.99999756e-01 2.87636229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.31, Y:-149.70, Z:2.88 [[ 1.31023687e-01 9.91379238e-01 2.48113182e-05 3.83095312e+01] [ 9.91379208e-01 -1.31023689e-01 2.44029473e-04 -1.49700764e+02] [ 2.45176624e-04 -7.37621631e-06 -9.99999970e-01 2.87572573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.32, Y:-149.71, Z:2.88 [[ 5.11050163e-02 9.98693284e-01 3.21493413e-05 3.83208984e+01] [ 9.98692207e-01 -5.11050084e-02 1.46744089e-03 -1.49708285e+02] [ 1.46716636e-03 -4.28862941e-05 -9.99998923e-01 2.87532064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.33, Y:-149.72, Z:2.87 [[-2.94381599e-02 9.99566597e-01 -1.17961165e-04 3.83323202e+01] [ 9.99564425e-01 2.94383419e-02 2.08422222e-03 -1.49715499e+02] [ 2.08679149e-03 -5.65541166e-05 -9.99997821e-01 2.87471623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.35, Y:-149.72, Z:2.88 [[-1.12511610e-01 9.93650350e-01 -3.46735422e-04 3.83470848e+01] [ 9.93647073e-01 1.12512130e-01 2.55260241e-03 -1.49721861e+02] [ 2.57540622e-03 -5.73352293e-05 -9.99996682e-01 2.87513176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.36, Y:-149.73, Z:2.88 [[-1.92569698e-01 9.81283210e-01 -4.16877520e-04 3.83582945e+01] [ 9.81281325e-01 1.92570145e-01 1.92383713e-03 -1.49725804e+02] [ 1.96810724e-03 -3.86013891e-05 -9.99998063e-01 2.87603513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.37, Y:-149.73, Z:2.88 [[-2.71596803e-01 9.62411041e-01 -4.05599427e-04 3.83690785e+01] [ 9.62410094e-01 2.71597105e-01 1.35055520e-03 -1.49729196e+02] [ 1.40994887e-03 -2.35465080e-05 -9.99999006e-01 2.87710670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.38, Y:-149.73, Z:2.88 [[-3.50960695e-01 9.36390192e-01 -2.11885969e-06 3.83821831e+01] [ 9.36390192e-01 3.50960695e-01 6.26307850e-06 -1.49730430e+02] [ 6.60832180e-06 2.14014948e-07 -1.00000000e+00 2.87811811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.96762800000002 meters Centerline goodness [0,1] 0.9998244150827444 Centerline is valid? [True, True] Translation: X:38.39, Y:-149.73, Z:2.88 [[-4.24572853e-01 9.05393706e-01 3.59826621e-04 3.83931760e+01] [ 9.05393398e-01 4.24573006e-01 -7.46585537e-04 -1.49731608e+02] [-8.28726516e-04 8.80469550e-06 -9.99999657e-01 2.88182850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.40, Y:-149.73, Z:2.88 [[-4.97589742e-01 8.67412445e-01 3.15476967e-04 3.84037158e+01] [ 8.67412276e-01 4.97589842e-01 -5.41399815e-04 -1.49732135e+02] [-6.26595071e-04 4.25360012e-06 -9.99999804e-01 2.87943752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.41, Y:-149.73, Z:2.88 [[-5.65093276e-01 8.25026888e-01 4.73193412e-04 3.84130251e+01] [ 8.25026605e-01 5.65093474e-01 -6.82992924e-04 -1.49732183e+02] [-8.30886035e-04 4.44244572e-06 -9.99999655e-01 2.88019623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.42, Y:-149.73, Z:2.88 [[-6.28846116e-01 7.77529624e-01 4.96446179e-04 3.84215585e+01] [ 7.77529386e-01 6.28846312e-01 -6.08478661e-04 -1.49732913e+02] [-7.85298533e-04 3.36204994e-06 -9.99999692e-01 2.88065578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.43, Y:-149.73, Z:2.88 [[-6.88669462e-01 7.25075121e-01 6.64430340e-04 3.84301914e+01] [ 7.25074787e-01 6.88669783e-01 -6.95325038e-04 -1.49732044e+02] [-9.61735984e-04 2.91256747e-06 -9.99999538e-01 2.88124541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.11762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.44, Y:-149.73, Z:2.88 [[-7.43378842e-01 6.68870342e-01 6.01644633e-04 3.84384534e+01] [ 6.68870126e-01 7.43379086e-01 -5.38052165e-04 -1.49730365e+02] [-8.07137173e-04 2.44552581e-06 -9.99999674e-01 2.88083876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.98, Y:-149.15, Z:1.98 [[-7.00372716e-01 -7.13777062e-01 6.03557574e-04 3.89778477e+01] [ 7.13776798e-01 -7.00372976e-01 -6.14292603e-04 -1.49147337e+02] [ 8.61183384e-04 5.71613361e-07 9.99999629e-01 1.97684984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.17762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.96, Y:-149.13, Z:1.98 [[-7.00315434e-01 -7.13832617e-01 1.13460717e-03 3.89618568e+01] [ 7.13831673e-01 -7.00316353e-01 -1.16117609e-03 -1.49126670e+02] [ 1.62346933e-03 -3.27100133e-06 9.99998682e-01 1.97592501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.20762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.94, Y:-149.11, Z:1.97 [[-7.00421963e-01 -7.13726452e-01 1.90414071e-03 3.89434842e+01] [ 7.13723795e-01 -7.00424551e-01 -1.94750004e-03 -1.49106008e+02] [ 2.72368920e-03 -5.04126454e-06 9.99996291e-01 1.97483269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.93, Y:-149.09, Z:1.97 [[-7.00683888e-01 -7.13467442e-01 2.50984311e-03 3.89276961e+01] [ 7.13462830e-01 -7.00688383e-01 -2.56530051e-03 -1.49085024e+02] [ 3.58887630e-03 -6.78496149e-06 9.99993560e-01 1.97393667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.26762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.91, Y:-149.06, Z:1.97 [[-7.01252347e-01 -7.12907670e-01 2.79270519e-03 3.89101621e+01] [ 7.12901963e-01 -7.01257908e-01 -2.85261748e-03 -1.49064466e+02] [ 3.99205948e-03 -9.47969053e-06 9.99992032e-01 1.97391404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.29762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.89, Y:-149.04, Z:1.97 [[-7.02229128e-01 -7.11946164e-01 2.62901235e-03 3.88934103e+01] [ 7.11941106e-01 -7.02234049e-01 -2.68364285e-03 -1.49044496e+02] [ 3.75679122e-03 -1.28302222e-05 9.99992943e-01 1.97355807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.32762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.87, Y:-149.02, Z:1.97 [[-7.03225629e-01 -7.10962290e-01 2.51743030e-03 3.88749129e+01] [ 7.10957651e-01 -7.03230135e-01 -2.56816820e-03 -1.49023838e+02] [ 3.59620360e-03 -1.62153644e-05 9.99993534e-01 1.97346967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.35762800000003 meters Centerline goodness [0,1] 0.9999777683910984 Centerline is valid? [True, True] Translation: X:38.85, Y:-149.01, Z:1.97 [[-7.03948393e-01 -7.10248085e-01 2.07789913e-03 3.88549517e+01] [ 7.10244926e-01 -7.03951459e-01 -2.11843613e-03 -1.49005158e+02] [ 2.96735534e-03 -1.54523939e-05 9.99995597e-01 1.97315052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.38762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.84, Y:-148.99, Z:1.97 [[-7.04588345e-01 -7.09612867e-01 2.20065314e-03 3.88368180e+01] [ 7.09609325e-01 -7.04591781e-01 -2.24209691e-03 -1.48986591e+02] [ 3.14158293e-03 -1.81513617e-05 9.99995065e-01 1.97337653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.417628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.82, Y:-148.97, Z:1.97 [[-7.05939281e-01 -7.08268793e-01 2.24676344e-03 3.88177193e+01] [ 7.08265099e-01 -7.05942856e-01 -2.28762721e-03 -1.48967548e+02] [ 3.20634156e-03 -2.36217818e-05 9.99994859e-01 1.97357173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.80, Y:-148.95, Z:1.97 [[-7.07421037e-01 -7.06787580e-01 2.60633788e-03 3.87993123e+01] [ 7.06782605e-01 -7.07425837e-01 -2.65216736e-03 -1.48947440e+02] [ 3.71830970e-03 -3.40847029e-05 9.99993087e-01 1.97379734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.78, Y:-148.93, Z:1.97 [[-7.09191334e-01 -7.05010271e-01 2.85831462e-03 3.87813407e+01] [ 7.05004280e-01 -7.09197092e-01 -2.90686652e-03 -1.48926953e+02] [ 4.07647917e-03 -4.64004974e-05 9.99991690e-01 1.97421615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.76, Y:-148.91, Z:1.97 [[-7.13723850e-01 -7.00423910e-01 2.14772030e-03 3.87639940e+01] [ 7.00420510e-01 -7.13727079e-01 -2.18294184e-03 -1.48905779e+02] [ 3.06187079e-03 -5.37103035e-05 9.99995311e-01 1.97460958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.74, Y:-148.88, Z:1.97 [[-7.16266442e-01 -6.97824117e-01 1.97118379e-03 3.87449342e+01] [ 6.97821246e-01 -7.16269152e-01 -2.00242992e-03 -1.48884568e+02] [ 2.80924203e-03 -5.87394200e-05 9.99996052e-01 1.97464090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.73, Y:-148.86, Z:1.97 [[-7.19030228e-01 -6.94976285e-01 1.86914746e-03 3.87258006e+01] [ 6.94973697e-01 -7.19032655e-01 -1.89774040e-03 -1.48863636e+02] [ 2.66286263e-03 -6.55243906e-05 9.99996452e-01 1.97474656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.59762800000001 meters Centerline goodness [0,1] 0.9998212649969839 Centerline is valid? [True, True] Translation: X:38.71, Y:-148.84, Z:1.97 [[-7.24474863e-01 -6.89295493e-01 2.81011267e-03 3.87101323e+01] [ 6.89289608e-01 -7.24480301e-01 -2.85131726e-03 -1.48842258e+02] [ 4.00127141e-03 -1.28726223e-04 9.99991987e-01 1.96984029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.69, Y:-148.82, Z:1.97 [[-7.26431990e-01 -6.87234076e-01 2.42677438e-03 3.86908008e+01] [ 6.87229679e-01 -7.26436034e-01 -2.46104130e-03 -1.48821437e+02] [ 3.45420780e-03 -1.20027754e-04 9.99994027e-01 1.97345014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.67, Y:-148.80, Z:1.97 [[-7.28134103e-01 -6.85429934e-01 2.55609944e-03 3.86715189e+01] [ 6.85425051e-01 -7.28138577e-01 -2.59081182e-03 -1.48800850e+02] [ 3.63701458e-03 -1.34443849e-04 9.99993377e-01 1.97304792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.65, Y:-148.78, Z:1.97 [[-7.29084712e-01 -6.84416624e-01 3.06064590e-03 3.86529955e+01] [ 6.84409619e-01 -7.29091118e-01 -3.10100578e-03 -1.48781167e+02] [ 4.35386964e-03 -1.66160417e-04 9.99990508e-01 1.97311229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.63, Y:-148.76, Z:1.97 [[-7.28915224e-01 -6.84597266e-01 3.02974080e-03 3.86298975e+01] [ 6.84590411e-01 -7.28921503e-01 -3.06790330e-03 -1.48764949e+02] [ 4.30872143e-03 -1.62109922e-04 9.99990704e-01 1.97395078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.74762800000002 meters Centerline goodness [0,1] 0.9999110419214945 Centerline is valid? [True, True] Translation: X:38.61, Y:-148.74, Z:1.97 [[-7.27802881e-01 -6.85779960e-01 2.96867552e-03 3.86121302e+01] [ 6.85773393e-01 -7.27808920e-01 -3.00485846e-03 -1.48744162e+02] [ 4.22130024e-03 -1.51105958e-04 9.99991079e-01 1.97154331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.59, Y:-148.73, Z:1.97 [[-7.25819318e-01 -6.87880445e-01 2.60984179e-03 3.85895425e+01] [ 6.87875389e-01 -7.25824000e-01 -2.64011544e-03 -1.48727841e+02] [ 3.71036959e-03 -1.21000854e-04 9.99993109e-01 1.97416735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.56, Y:-148.72, Z:1.98 [[-7.20697727e-01 -6.93248404e-01 1.19858851e-03 3.85604899e+01] [ 6.93247347e-01 -7.20698722e-01 -1.21177634e-03 -1.48717484e+02] [ 1.70388322e-03 -4.24061525e-05 9.99998548e-01 1.97588991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.54, Y:-148.70, Z:1.98 [[-7.17734676e-01 -6.96316525e-01 4.82349329e-04 3.85386657e+01] [ 6.96316354e-01 -7.17734838e-01 -4.87451232e-04 -1.48700864e+02] [ 6.85619265e-04 -1.39929262e-05 9.99999765e-01 1.97665407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.52, Y:-148.68, Z:1.98 [[-7.14792057e-01 -6.99337053e-01 4.31230133e-05 3.85160330e+01] [ 6.99337052e-01 -7.14792058e-01 -4.35558088e-05 -1.48684012e+02] [ 6.12841783e-05 -9.75825228e-07 9.99999998e-01 1.97735489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.49, Y:-148.67, Z:1.98 [[-7.09040489e-01 -7.05167273e-01 -8.37816268e-04 3.84923636e+01] [ 7.05166766e-01 -7.09040984e-01 8.45770093e-04 -1.48669768e+02] [-1.19045546e-03 8.88505208e-06 9.99999291e-01 1.97841107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.47, Y:-148.65, Z:1.98 [[-7.06624579e-01 -7.07587666e-01 -1.18296970e-03 3.84714919e+01] [ 7.07586659e-01 -7.06625569e-01 1.19344964e-03 -1.48652644e+02] [-1.68038689e-03 6.26727067e-06 9.99998588e-01 1.97869017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.95762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.45, Y:-148.63, Z:1.98 [[-7.04632452e-01 -7.09571307e-01 -1.29141262e-03 3.84501035e+01] [ 7.09570112e-01 -7.04633635e-01 1.30211497e-03 -1.48634197e+02] [-1.83391619e-03 1.16466261e-06 9.99998318e-01 1.97861546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.43, Y:-148.62, Z:1.98 [[-7.01947222e-01 -7.12228330e-01 -9.50482798e-04 3.84290300e+01] [ 7.12227686e-01 -7.01947866e-01 9.57718328e-04 -1.48617898e+02] [-1.34930350e-03 -4.69244347e-06 9.99999090e-01 1.97794560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.01762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.41, Y:-148.60, Z:1.98 [[-7.01300818e-01 -7.12865214e-01 -5.91866466e-04 3.84095177e+01] [ 7.12864965e-01 -7.01301067e-01 5.95976496e-04 -1.48600325e+02] [-8.39927497e-04 -3.96206344e-06 9.99999647e-01 1.97705850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.39, Y:-148.58, Z:1.97 [[-7.00345000e-01 -7.13804192e-01 6.75505656e-04 3.83898804e+01] [ 7.13803869e-01 -7.00345326e-01 -6.79773054e-04 -1.48581727e+02] [ 9.58312084e-04 6.10289075e-06 9.99999541e-01 1.97478128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.07762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.37, Y:-148.56, Z:1.97 [[-7.00508326e-01 -7.13642477e-01 1.58155292e-03 3.83712739e+01] [ 7.13640704e-01 -7.00510111e-01 -1.59055070e-03 -1.48562102e+02] [ 2.24297835e-03 1.44665336e-05 9.99997484e-01 1.97396461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.35, Y:-148.54, Z:1.97 [[-7.00942874e-01 -7.13213490e-01 2.36769520e-03 3.83534357e+01] [ 7.13209520e-01 -7.00946872e-01 -2.37967644e-03 -1.48541998e+02] [ 3.35684588e-03 2.06455149e-05 9.99994366e-01 1.97327572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.13762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.34, Y:-148.52, Z:1.97 [[-7.01570987e-01 -7.12593448e-01 2.95427038e-03 3.83352845e+01] [ 7.12587269e-01 -7.01577207e-01 -2.96753985e-03 -1.48520803e+02] [ 4.18729822e-03 2.32356017e-05 9.99991233e-01 1.97297226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.167628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.32, Y:-148.50, Z:1.97 [[-7.03782861e-01 -7.10403879e-01 4.00157050e-03 3.83201608e+01] [ 7.10392523e-01 -7.03794237e-01 -4.01686415e-03 -1.48499319e+02] [ 5.66987813e-03 1.56856158e-05 9.99983926e-01 1.97120822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.30, Y:-148.48, Z:1.97 [[-7.05302746e-01 -7.08891975e-01 4.49490065e-03 3.83033649e+01] [ 7.08877633e-01 -7.05317069e-01 -4.50925179e-03 -1.48478180e+02] [ 6.36690256e-03 5.94686112e-06 9.99979731e-01 1.97104972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.29, Y:-148.45, Z:1.97 [[-7.08464240e-01 -7.05730652e-01 4.76104335e-03 3.82882843e+01] [ 7.05714510e-01 -7.08480237e-01 -4.77325248e-03 -1.48454702e+02] [ 6.74173571e-03 -2.17413132e-05 9.99977274e-01 1.97073248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.27, Y:-148.43, Z:1.97 [[-7.10251105e-01 -7.03933897e-01 4.52077488e-03 3.82720551e+01] [ 7.03919320e-01 -7.10265491e-01 -4.53017478e-03 -1.48434312e+02] [ 6.39989397e-03 -3.53008610e-05 9.99979520e-01 1.97099778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.26, Y:-148.41, Z:1.97 [[-7.12147818e-01 -7.02016850e-01 4.22227208e-03 3.82551417e+01] [ 7.02004118e-01 -7.12160334e-01 -4.22825515e-03 -1.48413375e+02] [ 5.97524105e-03 -4.70903004e-05 9.99982147e-01 1.97110325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.24, Y:-148.39, Z:1.97 [[-7.16115877e-01 -6.97970908e-01 3.82914733e-03 3.82405226e+01] [ 6.97960390e-01 -7.16126110e-01 -3.83243087e-03 -1.48388014e+02] [ 5.41707764e-03 -7.18714253e-05 9.99985325e-01 1.97204755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.22, Y:-148.37, Z:1.97 [[-7.16334960e-01 -6.97746052e-01 3.83035021e-03 3.82215180e+01] [ 6.97735538e-01 -7.16345197e-01 -3.83122864e-03 -1.48369138e+02] [ 5.41707763e-03 -7.18715452e-05 9.99985325e-01 1.97204765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.21, Y:-148.35, Z:1.97 [[-7.18476115e-01 -6.95543593e-01 3.34398462e-03 3.82051736e+01] [ 6.95535564e-01 -7.18483893e-01 -3.34278351e-03 -1.48347346e+02] [ 4.72765074e-03 -7.58498751e-05 9.99988822e-01 1.97332992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.62, Y:-148.94, Z:2.88 [[-7.44389593e-01 6.67741880e-01 2.21687749e-03 3.76215092e+01] [ 6.67739116e-01 7.44392893e-01 -1.92206379e-03 -1.48938398e+02] [-2.93367034e-03 4.95315299e-05 -9.99995696e-01 2.88219912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.64, Y:-148.92, Z:2.88 [[-7.88028861e-01 6.15636595e-01 1.44786081e-03 3.76421121e+01] [ 6.15635639e-01 7.88030191e-01 -1.08580449e-03 -1.48922397e+02] [-1.80941900e-03 3.57094374e-05 -9.99998362e-01 2.88187889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.66, Y:-148.90, Z:2.88 [[-8.28862080e-01 5.59451731e-01 1.18835120e-03 3.76647289e+01] [ 5.59451207e-01 8.28862932e-01 -7.66134339e-04 -1.48902644e+02] [-1.41359544e-03 2.98048121e-05 -9.99999000e-01 2.88208332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.69, Y:-148.88, Z:2.88 [[-8.65378288e-01 5.01117649e-01 1.23311088e-03 3.76880288e+01] [ 5.01117193e-01 8.65379166e-01 -6.76496521e-04 -1.48884801e+02] [-1.40611281e-03 3.25076604e-05 -9.99999011e-01 2.88232494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.10, Y:-148.16, Z:1.97 [[-8.54777696e-01 -5.18990782e-01 1.91289089e-03 3.80964605e+01] [ 5.18989477e-01 -8.54779836e-01 -1.16387762e-03 -1.48160727e+02] [ 2.23914232e-03 -2.08638497e-06 9.99997493e-01 1.97460400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.65, Y:-148.86, Z:2.88 [[-8.66887998e-01 4.98493764e-01 3.02755566e-03 3.76521582e+01] [ 4.98491045e-01 8.66893281e-01 -1.64842899e-03 -1.48863520e+02] [-3.44629923e-03 8.02060805e-05 -9.99994058e-01 2.88391459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.05, Y:-148.14, Z:1.97 [[-8.56111102e-01 -5.16777338e-01 3.86831286e-03 3.80520026e+01] [ 5.16771855e-01 -8.56119840e-01 -2.38095976e-03 -1.48141632e+02] [ 4.54216543e-03 -3.93308695e-05 9.99989684e-01 1.97263317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.61, Y:-148.84, Z:2.89 [[-8.69047355e-01 4.94710024e-01 4.32281236e-03 3.76145530e+01] [ 4.94704533e-01 8.69058099e-01 -2.33350457e-03 -1.48840429e+02] [-4.91118320e-03 1.10588892e-04 -9.99987934e-01 2.88532207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.63, Y:-148.82, Z:2.89 [[-9.02058312e-01 4.31587933e-01 4.76006162e-03 3.76341682e+01] [ 4.31582598e-01 9.02070863e-01 -2.14921428e-03 -1.48816399e+02] [-5.22148785e-03 1.15643154e-04 -9.99986361e-01 2.88542666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.65, Y:-148.79, Z:2.89 [[-9.30615283e-01 3.65964887e-01 4.98954456e-03 3.76501182e+01] [ 3.65960282e-01 9.30628652e-01 -1.83949307e-03 -1.48790913e+02] [-5.31660300e-03 1.14114769e-04 -9.99985860e-01 2.88570401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.70762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.66, Y:-148.76, Z:2.89 [[-9.54852146e-01 2.97036059e-01 5.19227471e-03 3.76589296e+01] [ 2.97032262e-01 9.54866257e-01 -1.50552960e-03 -1.48760405e+02] [-5.40512450e-03 1.04714929e-04 -9.99985387e-01 2.88526709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.67, Y:-148.73, Z:2.88 [[-9.73896500e-01 2.26931406e-01 5.26727985e-03 3.76670460e+01] [ 2.26928615e-01 9.73910739e-01 -1.12958211e-03 -1.48732179e+02] [-5.38619807e-03 9.52004567e-05 -9.99985490e-01 2.88483759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.76762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.84, Y:-147.96, Z:1.97 [[-9.65205128e-01 -2.61469657e-01 3.56082398e-03 3.78406868e+01] [ 2.61467199e-01 -9.65211680e-01 -1.14739780e-03 -1.47955080e+02] [ 3.73695861e-03 -1.76435573e-04 9.99993002e-01 1.97390969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.62, Y:-148.72, Z:2.88 [[-9.75944591e-01 2.18005288e-01 2.41874823e-03 3.76182349e+01] [ 2.18004698e-01 9.75947588e-01 -5.08132600e-04 -1.48715118e+02] [-2.47134709e-03 3.13892141e-05 -9.99996946e-01 2.88284362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.82762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.62, Y:-148.69, Z:2.88 [[-9.89114107e-01 1.47141536e-01 1.62818238e-03 3.76219470e+01] [ 1.47141369e-01 9.89115447e-01 -2.22816697e-04 -1.48685396e+02] [-1.64324594e-03 1.91818456e-05 -9.99998650e-01 2.88271578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.85762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.63, Y:-148.66, Z:2.88 [[-9.97094787e-01 7.61696065e-02 4.21611834e-04 3.76285130e+01] [ 7.61696018e-02 9.97094876e-01 -2.71947288e-05 -1.48656009e+02] [-4.22458411e-04 4.99828325e-06 -9.99999911e-01 2.88270593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.88762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.63, Y:-148.63, Z:2.88 [[-9.99980868e-01 6.13557951e-03 -7.86891879e-04 3.76305735e+01] [ 6.13558494e-03 9.99981177e-01 -4.48376530e-06 -1.48628427e+02] [ 7.86849557e-04 -9.31172147e-06 -9.99999690e-01 2.88150700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.917628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.63, Y:-148.60, Z:2.88 [[-9.97977187e-01 -6.35334242e-02 -2.24448079e-03 3.76268294e+01] [-6.35331943e-02 9.97979711e-01 -1.73620544e-04 -1.48602964e+02] [ 2.25097700e-03 -3.06703079e-05 -9.99997466e-01 2.87999119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.62, Y:-148.58, Z:2.88 [[-9.91459197e-01 -1.30389701e-01 -2.68076101e-03 3.76226466e+01] [-1.30389091e-01 9.91462820e-01 -4.01779533e-04 -1.48577967e+02] [ 2.71026279e-03 -4.88060219e-05 -9.99996326e-01 2.87887377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.60, Y:-148.56, Z:2.88 [[-9.79908172e-01 -1.99428982e-01 -2.83819438e-03 3.75978989e+01] [-1.99427973e-01 9.79912281e-01 -6.37048825e-04 -1.48556158e+02] [ 2.90822753e-03 -5.82339966e-05 -9.99995769e-01 2.87875789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.55, Y:-148.54, Z:2.88 [[-9.63183483e-01 -2.68833378e-01 -2.48876731e-03 3.75527390e+01] [-2.68832327e-01 9.63186696e-01 -7.53682402e-04 -1.48542239e+02] [ 2.59976255e-03 -5.68733311e-05 -9.99996619e-01 2.87872522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.037628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.49, Y:-148.53, Z:2.88 [[-9.41631109e-01 -3.36644276e-01 -1.21920499e-03 3.74934113e+01] [-3.36643949e-01 9.41631898e-01 -4.69709728e-04 -1.48532373e+02] [ 1.30616740e-03 -3.18553072e-05 -9.99999146e-01 2.88084001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.42, Y:-148.53, Z:2.88 [[-9.14437908e-01 -4.04726188e-01 -1.58969751e-04 3.74221065e+01] [-4.04726181e-01 9.14437922e-01 -7.49589647e-05 -1.48532780e+02] [ 1.75705825e-04 -4.20609877e-06 -9.99999985e-01 2.88238784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.09762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.34, Y:-148.54, Z:2.88 [[-8.81880682e-01 -4.71472479e-01 4.06262160e-04 3.73419338e+01] [-4.71472422e-01 8.81880775e-01 2.31435715e-04 -1.48540911e+02] [-4.67390359e-04 1.25572818e-05 -9.99999891e-01 2.88333648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.12762800000002 meters Centerline goodness [0,1] 0.9998903364477782 Centerline is valid? [True, True] Translation: X:37.26, Y:-148.56, Z:2.89 [[-8.44327743e-01 -5.35824324e-01 1.71943718e-03 3.72568826e+01] [-5.35823076e-01 8.44329492e-01 1.15798154e-03 -1.48562669e+02] [-2.07224620e-03 5.64018236e-05 -9.99997851e-01 2.88682965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.15762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.17, Y:-148.59, Z:2.88 [[-8.00502424e-01 -5.99328589e-01 1.05482748e-03 3.71675983e+01] [-5.99328011e-01 8.00503118e-01 8.33042260e-04 -1.48593279e+02] [-1.34365873e-03 3.46646940e-05 -9.99999097e-01 2.88359647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.18762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.08, Y:-148.63, Z:2.88 [[-7.52192430e-01 -6.58943321e-01 4.97316306e-04 3.70763554e+01] [-6.58943162e-01 7.52192595e-01 4.58394810e-04 -1.48634209e+02] [-6.76133841e-04 1.70979272e-05 -9.99999771e-01 2.88286419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.21762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.98, Y:-148.69, Z:2.88 [[-6.99076195e-01 -7.15046972e-01 5.50188233e-04 3.69827922e+01] [-7.15046728e-01 6.99076411e-01 5.90663116e-04 -1.48686541e+02] [-8.06975487e-04 1.95082275e-05 -9.99999674e-01 2.88208929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.24762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.89, Y:-148.75, Z:2.88 [[-6.40265608e-01 -7.68153570e-01 -2.09048994e-04 3.68932800e+01] [-7.68153526e-01 6.40265642e-01 -2.61302174e-04 -1.48746466e+02] [ 3.34567086e-04 -6.72107385e-06 -9.99999944e-01 2.88249956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.27762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.80, Y:-148.81, Z:2.88 [[-5.78145099e-01 -8.15933969e-01 -5.94503146e-05 3.68047336e+01] [-8.15933964e-01 5.78145102e-01 -8.68881746e-05 -1.48813762e+02] [ 1.05265921e-04 -1.72644145e-06 -9.99999994e-01 2.88318419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.30762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.72, Y:-148.90, Z:2.88 [[-5.12023910e-01 -8.58971180e-01 -1.65845232e-04 3.67184171e+01] [-8.58971131e-01 5.12023937e-01 -2.88763254e-04 -1.48895931e+02] [ 3.32956042e-04 -5.39742382e-06 -9.99999945e-01 2.88353848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.33762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.64, Y:-148.98, Z:2.88 [[-4.39742282e-01 -8.98123980e-01 -2.07271251e-04 3.66392042e+01] [-8.98123874e-01 4.39742330e-01 -4.35464002e-04 -1.48981742e+02] [ 4.82246605e-04 -5.33667521e-06 -9.99999884e-01 2.88346764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.36762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.57, Y:-149.07, Z:2.88 [[-3.66813377e-01 -9.30294547e-01 -4.44800257e-05 3.65680142e+01] [-9.30294540e-01 3.66813380e-01 -1.15016702e-04 -1.49073489e+02] [ 1.23315280e-04 -8.10139907e-07 -9.99999992e-01 2.88393428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.39762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.50, Y:-149.18, Z:2.88 [[-2.91256652e-01 -9.56644926e-01 2.17699660e-04 3.65021067e+01] [-9.56644646e-01 2.91256733e-01 7.31933087e-04 -1.49175243e+02] [-7.63606566e-04 4.91916586e-06 -9.99999708e-01 2.88462328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.42762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.44, Y:-149.28, Z:2.89 [[-2.11202032e-01 -9.77442347e-01 4.00641165e-04 3.64439142e+01] [-9.77440577e-01 2.11202412e-01 1.86002830e-03 -1.49282439e+02] [-1.90268680e-03 1.23882514e-06 -9.99998190e-01 2.88576760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.45762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.39, Y:-149.39, Z:2.89 [[-1.32716700e-01 -9.91153963e-01 3.14686321e-04 3.63948861e+01] [-9.91151251e-01 1.32717073e-01 2.31871026e-03 -1.49393660e+02] [-2.33996311e-03 -4.17016707e-06 -9.99997262e-01 2.88607761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.35, Y:-149.51, Z:2.89 [[-5.34812373e-02 -9.98568843e-01 1.52904012e-04 3.63546217e+01] [-9.98565326e-01 5.34814547e-02 2.65027268e-03 -1.49509274e+02] [-2.65465725e-03 -1.09447828e-05 -9.99996476e-01 2.88689737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.51762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.32, Y:-149.63, Z:2.89 [[ 2.76865401e-02 -9.99616652e-01 -6.02522350e-05 3.63233900e+01] [-9.99611969e-01 -2.76865948e-02 3.06013031e-03 -1.49631807e+02] [-3.06062540e-03 -2.44955654e-05 -9.99995316e-01 2.88808499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.54762800000003 meters Centerline goodness [0,1] 0.9998676402461891 Centerline is valid? [True, True] Translation: X:36.30, Y:-149.75, Z:2.89 [[ 1.05528838e-01 -9.94416149e-01 -4.32446090e-04 3.63035254e+01] [-9.94406220e-01 -1.05529716e-01 4.44396734e-03 -1.49751848e+02] [-4.46478880e-03 -3.89396252e-05 -9.99990032e-01 2.89085630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.57762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.29, Y:-149.87, Z:2.89 [[ 1.83719489e-01 -9.82978553e-01 -5.59864601e-04 3.62923031e+01] [-9.82973417e-01 -1.83720339e-01 3.17791052e-03 -1.49869981e+02] [-3.22667640e-03 -3.35120765e-05 -9.99994794e-01 2.88775535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.60762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.29, Y:-149.99, Z:2.89 [[ 2.60137533e-01 -9.65571461e-01 -4.67207501e-04 3.62921027e+01] [-9.65569753e-01 -2.60137951e-01 1.81634456e-03 -1.49993561e+02] [-1.87534887e-03 -2.13779603e-05 -9.99998241e-01 2.88671183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.63762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.30, Y:-150.12, Z:2.89 [[ 3.33968422e-01 -9.42584215e-01 -3.02092742e-04 3.63011012e+01] [-9.42583800e-01 -3.33968559e-01 8.84131018e-04 -1.50116166e+02] [-9.34257418e-04 -1.05241164e-05 -9.99999564e-01 2.88635889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.66762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.32, Y:-150.23, Z:2.89 [[ 4.05471032e-01 -9.14107894e-01 3.00982419e-05 3.63172099e+01] [-9.14107891e-01 -4.05471033e-01 -7.07048487e-05 -1.50229568e+02] [ 7.68358256e-05 1.15572760e-06 -9.99999997e-01 2.88562854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.34, Y:-150.34, Z:2.88 [[ 4.74073459e-01 -8.80485201e-01 4.07690936e-04 3.63426783e+01] [-8.80484858e-01 -4.74073634e-01 -7.77104949e-04 -1.50342063e+02] [ 8.77504931e-04 9.43913489e-06 -9.99999615e-01 2.88474703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.727628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.38, Y:-150.45, Z:2.88 [[ 5.37822267e-01 -8.43057715e-01 9.47506739e-04 3.63793072e+01] [-8.43056364e-01 -5.37823101e-01 -1.50963478e-03 -1.50454354e+02] [ 1.78230026e-03 1.31136110e-05 -9.99998412e-01 2.88407265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.42, Y:-150.56, Z:2.88 [[ 5.99672578e-01 -8.00243996e-01 1.53173561e-03 3.64187721e+01] [-8.00241324e-01 -5.99674535e-01 -2.06781690e-03 -1.50559576e+02] [ 2.57330090e-03 1.42549639e-05 -9.99996689e-01 2.88411850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.787628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.46, Y:-150.66, Z:2.89 [[ 6.57284694e-01 -7.53640227e-01 1.80006678e-03 3.64645913e+01] [-7.53637369e-01 -6.57287159e-01 -2.07549557e-03 -1.50659766e+02] [ 2.74733773e-03 7.59387582e-06 -9.99996226e-01 2.88528607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.52, Y:-150.76, Z:2.89 [[ 7.12293416e-01 -7.01879336e-01 1.86736439e-03 3.65204989e+01] [-7.01876909e-01 -7.12295864e-01 -1.84601176e-03 -1.50759965e+02] [ 2.62579344e-03 4.24207674e-06 -9.99996553e-01 2.88574255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.84762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.52, Y:-150.77, Z:2.89 [[ 7.64372260e-01 -6.44772884e-01 1.72511484e-03 3.65153754e+01] [-6.44771237e-01 -7.64374207e-01 -1.45744839e-03 -1.50765799e+02] [ 2.25835649e-03 1.72869195e-06 -9.99997450e-01 2.88647914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.87762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.51, Y:-150.77, Z:2.89 [[ 8.12011389e-01 -5.83641401e-01 4.68509709e-04 3.65107236e+01] [-5.83641304e-01 -8.12011524e-01 -3.37081005e-04 -1.50773809e+02] [ 5.77169714e-04 2.71997649e-07 -9.99999833e-01 2.88863480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.90762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.51, Y:-150.78, Z:2.89 [[ 8.55263981e-01 -5.18192360e-01 -4.47021317e-04 3.65058890e+01] [-5.18192290e-01 -8.55264098e-01 2.70621564e-04 -1.50782901e+02] [-5.22555310e-04 1.90122965e-07 -9.99999863e-01 2.89024268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.93762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.50, Y:-150.79, Z:2.89 [[ 8.93486549e-01 -4.49086478e-01 -1.76694586e-03 3.65006015e+01] [-4.49085596e-01 -8.93488296e-01 8.89799373e-04 -1.50790506e+02] [-1.97834231e-03 -1.51383593e-06 -9.99998043e-01 2.89143005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.96762800000002 meters Centerline goodness [0,1] 0.9998448134435897 Centerline is valid? [True, True] Translation: X:36.50, Y:-150.80, Z:2.90 [[ 9.25917312e-01 -3.77707575e-01 -3.75745529e-03 3.64964657e+01] [-3.77704447e-01 -9.25924936e-01 1.53709797e-03 -1.50796685e+02] [-4.05969509e-03 -4.01805087e-06 -9.99991759e-01 2.89572715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.99762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.49, Y:-150.80, Z:2.89 [[ 9.52937136e-01 -3.03133743e-01 -4.55508304e-03 3.64936318e+01] [-3.03130230e-01 -9.52948022e-01 1.45950796e-03 -1.50803132e+02] [-4.78318349e-03 -1.00359689e-05 -9.99988560e-01 2.89362197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.02762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.49, Y:-150.81, Z:2.89 [[ 9.73683719e-01 -2.27835191e-01 -5.58038410e-03 3.64915696e+01] [-2.27831382e-01 -9.73699710e-01 1.31743902e-03 -1.50810806e+02] [-5.73377735e-03 -1.13823010e-05 -9.99983562e-01 2.89394881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.05762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.49, Y:-150.82, Z:2.89 [[ 9.88423093e-01 -1.51607834e-01 -5.90373128e-03 3.64859367e+01] [-1.51605084e-01 -9.88440724e-01 9.13082425e-04 -1.50818652e+02] [-5.97391887e-03 -7.47607613e-06 -9.99982156e-01 2.89384670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.08762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.48, Y:-150.83, Z:2.89 [[ 9.97122554e-01 -7.55398190e-02 -6.35206140e-03 3.64801705e+01] [-7.55383090e-02 -9.97142786e-01 4.77643790e-04 -1.50826805e+02] [-6.36999333e-03 3.55458100e-06 -9.99979711e-01 2.89467288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.11762800000002 meters Centerline goodness [0,1] 0.9998453722111774 Centerline is valid? [True, True] Translation: X:36.47, Y:-150.83, Z:2.90 [[ 9.99973844e-01 1.73007849e-03 -7.02266387e-03 3.64748965e+01] [ 1.72995788e-03 -9.99998503e-01 -2.32492655e-05 -1.50833695e+02] [-7.02269358e-03 1.10997447e-05 -9.99975341e-01 2.89819763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.14762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.47, Y:-150.84, Z:2.89 [[ 9.96824972e-01 7.94422162e-02 -5.37674026e-03 3.64712488e+01] [ 7.94409984e-02 -9.96839473e-01 -4.40018374e-04 -1.50840198e+02] [-5.39470296e-03 1.14876892e-05 -9.99985448e-01 2.89427292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.17762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.47, Y:-150.85, Z:2.89 [[ 9.87653914e-01 1.56576311e-01 -4.85840379e-03 3.64683950e+01] [ 1.56574348e-01 -9.87665864e-01 -7.84270416e-04 -1.50849178e+02] [-4.92127775e-03 1.38863409e-05 -9.99987890e-01 2.89328272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.20762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.47, Y:-150.86, Z:2.89 [[ 9.72515839e-01 2.32812163e-01 -3.38223426e-03 3.64651992e+01] [ 2.32810712e-01 -9.72521720e-01 -8.21951384e-04 -1.50857241e+02] [-3.48065656e-03 1.19403736e-05 -9.99993942e-01 2.89204834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.46, Y:-150.86, Z:2.89 [[ 9.51248513e-01 3.08413753e-01 -2.68775123e-03 3.64625886e+01] [ 3.08412495e-01 -9.51252310e-01 -8.80998672e-04 -1.50864838e+02] [-2.82844167e-03 9.11261396e-06 -9.99996000e-01 2.89137152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.26762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.46, Y:-150.87, Z:2.89 [[ 9.24174935e-01 3.81960566e-01 -2.61051497e-03 3.64604647e+01] [ 3.81959014e-01 -9.24178622e-01 -1.08877843e-03 -1.50871978e+02] [-2.82845256e-03 9.11201376e-06 -9.99996000e-01 2.89137161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.29762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.46, Y:-150.88, Z:2.89 [[ 8.90733736e-01 4.54523230e-01 -1.42967213e-03 3.64599012e+01] [ 4.54522640e-01 -8.90734884e-01 -7.32716553e-04 -1.50880307e+02] [-1.60649554e-03 2.83700131e-06 -9.99998710e-01 2.89025022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.32762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.46, Y:-150.89, Z:2.89 [[ 8.51714381e-01 5.24004900e-01 -1.21599979e-03 3.64589489e+01] [ 5.24004365e-01 -8.51715249e-01 -7.48915812e-04 -1.50888646e+02] [-1.42812112e-03 6.73168520e-07 -9.99998980e-01 2.89050227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.35762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.46, Y:-150.90, Z:2.89 [[ 8.07449052e-01 5.89935982e-01 -1.25098839e-03 3.64604130e+01] [ 5.89935276e-01 -8.07450021e-01 -9.12860548e-04 -1.50898204e+02] [-1.54863988e-03 -9.13795868e-07 -9.99998801e-01 2.89136730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.38762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.46, Y:-150.91, Z:2.89 [[ 7.57687864e-01 6.52614087e-01 -1.98862798e-03 3.64613686e+01] [ 6.52611860e-01 -7.57690473e-01 -1.70486462e-03 -1.50906558e+02] [-2.61938314e-03 -6.04697963e-06 -9.99996569e-01 2.89346776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.41762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.46, Y:-150.91, Z:2.89 [[ 7.03809310e-01 7.10384963e-01 -2.37885837e-03 3.64610660e+01] [ 7.10380954e-01 -7.03813330e-01 -2.38685262e-03 -1.50912831e+02] [-3.36985644e-03 -1.00065850e-05 -9.99994322e-01 2.89402800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.46, Y:-150.92, Z:2.89 [[ 6.45707623e-01 7.63579994e-01 -2.69407571e-03 3.64596018e+01] [ 7.63573440e-01 -6.45713243e-01 -3.16385163e-03 -1.50919334e+02] [-4.15545417e-03 -1.42015466e-05 -9.99991366e-01 2.89461559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.477628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.46, Y:-150.93, Z:2.89 [[ 5.82252810e-01 8.13003714e-01 -2.57412190e-03 3.64607651e+01] [ 8.12995951e-01 -5.82258500e-01 -3.55294449e-03 -1.50925482e+02] [-4.38736142e-03 -2.40387715e-05 -9.99990375e-01 2.89409846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.507628 meters Centerline goodness [0,1] 0.9998003947747788 Centerline is valid? [True, True] Translation: X:36.47, Y:-150.93, Z:2.90 [[ 5.15997501e-01 8.56584296e-01 -3.15006998e-03 3.64663952e+01] [ 8.56568791e-01 -5.16007115e-01 -5.15392714e-03 -1.50934954e+02] [-6.04023157e-03 -3.88381120e-05 -9.99981757e-01 2.89773191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.537628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.47, Y:-150.94, Z:2.89 [[ 4.45818132e-01 8.95120852e-01 -2.20299692e-03 3.64727729e+01] [ 8.95110357e-01 -4.45823573e-01 -4.33484047e-03 -1.50944684e+02] [-4.86235406e-03 -3.93748793e-05 -9.99988178e-01 2.89440483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.48, Y:-150.95, Z:2.90 [[ 3.72203343e-01 9.28149025e-01 -2.01445953e-03 3.64822356e+01] [ 9.28136220e-01 -3.72208791e-01 -4.87576742e-03 -1.50954220e+02] [-5.27523832e-03 -5.49159169e-05 -9.99986084e-01 2.89517068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.59762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.49, Y:-150.96, Z:2.90 [[ 2.97758631e-01 9.54639968e-01 -1.52639491e-03 3.64905079e+01] [ 9.54628348e-01 -2.97762539e-01 -4.71047707e-03 -1.50963466e+02] [-4.95131290e-03 -5.45546436e-05 -9.99987741e-01 2.89604084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.62762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.50, Y:-150.97, Z:2.90 [[ 2.21868611e-01 9.75075950e-01 -1.10097724e-03 3.64987275e+01] [ 9.75065107e-01 -2.21871336e-01 -4.59868071e-03 -1.50970644e+02] [-4.72833826e-03 -5.32215910e-05 -9.99988820e-01 2.89602015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.65762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.51, Y:-150.98, Z:2.90 [[ 1.45257185e-01 9.89393716e-01 -6.51447654e-04 3.65062909e+01] [ 9.89385110e-01 -1.45258639e-01 -4.12708591e-03 -1.50977430e+02] [-4.17794126e-03 -4.50437277e-05 -9.99991271e-01 2.89559886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.68762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.51, Y:-150.98, Z:2.89 [[ 6.96333085e-02 9.97572638e-01 -1.87172711e-04 3.65120616e+01] [ 9.97569773e-01 -6.96335571e-02 -2.39074439e-03 -1.50983198e+02] [-2.39797469e-03 -2.02423970e-05 -9.99997125e-01 2.89420394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.71762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.52, Y:-150.99, Z:2.89 [[-6.99821824e-03 9.99975512e-01 5.54327774e-07 3.65184028e+01] [ 9.99973802e-01 6.99820730e-03 -1.84930458e-03 -1.50988090e+02] [-1.84926317e-03 -1.23875238e-05 -9.99998290e-01 2.89401396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.74762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.52, Y:-150.99, Z:2.89 [[-8.34735014e-02 9.96509990e-01 1.16885363e-04 3.65245301e+01] [ 9.96508890e-01 8.34735830e-02 -1.48119670e-03 -1.50993358e+02] [-1.48578415e-03 -7.16337146e-06 -9.99998896e-01 2.89437307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.77762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.53, Y:-151.00, Z:2.89 [[-1.59808695e-01 9.87147950e-01 3.24252835e-04 3.65313823e+01] [ 9.87145828e-01 1.59809024e-01 -2.04721305e-03 -1.50997496e+02] [-2.07272070e-03 -7.07761222e-06 -9.99997852e-01 2.89490478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.80762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.54, Y:-151.00, Z:2.90 [[-2.34821161e-01 9.72038169e-01 9.05743475e-04 3.65360954e+01] [ 9.72030836e-01 2.34822908e-01 -3.77577547e-03 -1.51002997e+02] [-3.88288719e-03 -6.22139522e-06 -9.99992462e-01 2.89752434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.83762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.55, Y:-151.01, Z:2.90 [[-3.10051366e-01 9.50718508e-01 1.57135320e-03 3.65452137e+01] [ 9.50706182e-01 3.10055348e-01 -4.84104732e-03 -1.51005779e+02] [-5.08967974e-03 -7.07813313e-06 -9.99987047e-01 2.89862327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.86762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.55, Y:-151.01, Z:2.90 [[-3.84176536e-01 9.23256471e-01 2.42443422e-03 3.65549068e+01] [ 9.23237875e-01 3.84184186e-01 -5.85987936e-03 -1.51009217e+02] [-6.34160082e-03 -1.28986586e-05 -9.99979892e-01 2.90012107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.89762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.57, Y:-151.01, Z:2.90 [[-4.57167698e-01 8.89372314e-01 3.81876921e-03 3.65657343e+01] [ 8.89340653e-01 4.57183645e-01 -7.50449908e-03 -1.51010037e+02] [-8.42017255e-03 -3.46278632e-05 -9.99964549e-01 2.90235097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.92762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.57, Y:-151.01, Z:2.90 [[-5.26355007e-01 8.50249230e-01 5.16277657e-03 3.65748290e+01] [ 8.50207365e-01 5.26380323e-01 -8.43748363e-03 -1.51010378e+02] [-9.89154796e-03 -5.16810871e-05 -9.99951076e-01 2.90338348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.95762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.59, Y:-151.01, Z:2.91 [[-5.92864978e-01 8.05267957e-01 7.39156833e-03 3.65868170e+01] [ 8.05203478e-01 5.92911046e-01 -1.01907051e-02 -1.51008227e+02] [-1.25887908e-02 -8.99956516e-05 -9.99920754e-01 2.90504365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.60, Y:-151.01, Z:2.91 [[-6.54790203e-01 7.55759761e-01 8.77347363e-03 3.65973888e+01] [ 7.55689684e-01 6.54848969e-01 -1.02922334e-02 -1.51007481e+02] [-1.35237560e-02 -1.09230093e-04 -9.99908544e-01 2.90622195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.01762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.61, Y:-151.00, Z:2.91 [[-7.12130257e-01 7.01974732e-01 1.00981862e-02 3.66068287e+01] [ 7.01901797e-01 7.12201841e-01 -1.01195786e-02 -1.51003970e+02] [-1.42956353e-02 -1.18523096e-04 -9.99897805e-01 2.90619800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.62, Y:-151.00, Z:2.91 [[-7.64104690e-01 6.44997323e-01 1.10668947e-02 3.66156484e+01] [ 6.44927737e-01 7.64184823e-01 -9.47470261e-03 -1.51000462e+02] [-1.45683108e-02 -1.02317315e-04 -9.99893871e-01 2.90667633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.07762800000003 meters Centerline goodness [0,1] 0.9999336341916645 Centerline is valid? [True, True] Translation: X:36.63, Y:-150.98, Z:2.91 [[-8.06676356e-01 5.90865120e-01 1.23153312e-02 3.66326520e+01] [ 5.90794783e-01 8.06770354e-01 -9.11699743e-03 -1.50980406e+02] [-1.53225599e-02 -7.86328298e-05 -9.99882600e-01 2.90859263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.65, Y:-150.96, Z:2.91 [[-8.45501711e-01 5.33833158e-01 1.22072111e-02 3.66549466e+01] [ 5.33776685e-01 8.45589828e-01 -7.76489026e-03 -1.50963393e+02] [-1.44674494e-02 -4.93033279e-05 -9.99895340e-01 2.90790041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.13762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.67, Y:-150.95, Z:2.91 [[-8.78901566e-01 4.76854003e-01 1.19288759e-02 3.66736922e+01] [ 4.76810338e-01 8.78982514e-01 -6.45303061e-03 -1.50945784e+02] [-1.35624268e-02 1.62326371e-05 -9.99908026e-01 2.90661118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.16762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.70, Y:-150.93, Z:2.91 [[-9.09366604e-01 4.15830067e-01 1.17360901e-02 3.66987388e+01] [ 4.15796082e-01 9.09442331e-01 -5.31646761e-03 -1.50929364e+02] [-1.28840442e-02 4.52021597e-05 -9.99916996e-01 2.90583398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.71, Y:-150.91, Z:2.90 [[-9.35401761e-01 3.53435626e-01 1.03345741e-02 3.67128135e+01] [ 3.53414944e-01 9.35458846e-01 -3.82418248e-03 -1.50908156e+02] [-1.10191711e-02 7.52459069e-05 -9.99939284e-01 2.90358344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.227628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.99, Y:-150.18, Z:1.95 [[-9.15604822e-01 -4.01967595e-01 9.47958220e-03 3.69931541e+01] [ 4.01944823e-01 -9.15653887e-01 -4.28000093e-03 -1.50178884e+02] [ 1.04004380e-02 -1.08520503e-04 9.99945908e-01 1.95405054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.67, Y:-150.89, Z:2.90 [[-9.36095520e-01 3.51622147e-01 9.32967937e-03 3.66657149e+01] [ 3.51605597e-01 9.36142007e-01 -3.41260768e-03 -1.50892935e+02] [-9.93385321e-03 8.58407249e-05 -9.99950654e-01 2.90267596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.287628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.68, Y:-150.87, Z:2.90 [[-9.58611502e-01 2.84564751e-01 9.32153975e-03 3.66784230e+01] [ 2.84552161e-01 9.58656818e-01 -2.67814635e-03 -1.50868447e+02] [-9.69826369e-03 8.51623845e-05 -9.99952967e-01 2.90237298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.69, Y:-150.84, Z:2.90 [[-9.76498997e-01 2.15259638e-01 1.06300245e-02 3.66914127e+01] [ 2.15247868e-01 9.76556850e-01 -2.25276460e-03 -1.50844557e+02] [-1.08657525e-02 8.82677324e-05 -9.99940962e-01 2.90363429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.34762800000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.86, Y:-150.08, Z:1.95 [[-9.63920123e-01 -2.65989382e-01 1.03751919e-02 3.68601232e+01] [ 2.65972940e-01 -9.63975954e-01 -2.95890096e-03 -1.50076226e+02] [ 1.07884717e-02 -9.26238873e-05 9.99941798e-01 1.95345270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.37762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.64, Y:-150.83, Z:2.90 [[-9.77810785e-01 2.09238635e-01 1.02597469e-02 3.66389349e+01] [ 2.09227786e-01 9.77864607e-01 -2.13156910e-03 -1.50834094e+02] [-1.04786500e-02 6.23528772e-05 -9.99945096e-01 2.90360644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.40762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.64, Y:-150.81, Z:2.90 [[-9.90759072e-01 1.35206729e-01 1.07518248e-02 3.66442229e+01] [ 1.35198983e-01 9.90817410e-01 -1.44736993e-03 -1.50806308e+02] [-1.08487894e-02 1.96408993e-05 -9.99941150e-01 2.90285939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.43762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.65, Y:-150.78, Z:2.90 [[-9.98035583e-01 6.17499527e-02 1.05791575e-02 3.66458724e+01] [ 6.17463743e-02 9.98091651e-01 -6.64845519e-04 -1.50777102e+02] [-1.06000229e-02 -1.03148689e-05 -9.99943818e-01 2.90356901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.46762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.64, Y:-150.75, Z:2.90 [[-9.99867331e-01 -1.24422521e-02 1.05124410e-02 3.66426109e+01] [-1.24420192e-02 9.99922591e-01 8.75545177e-05 -1.50747545e+02] [-1.05127166e-02 -4.32530910e-05 -9.99944739e-01 2.90338809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.49762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.64, Y:-150.72, Z:2.90 [[-9.96171490e-01 -8.68431599e-02 1.00313466e-02 3.66367963e+01] [-8.68395111e-02 9.96221993e-01 7.99564210e-04 -1.50718044e+02] [-1.00628848e-02 -7.46141657e-05 -9.99949365e-01 2.90361192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.52762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.63, Y:-150.69, Z:2.90 [[-9.86472375e-01 -1.63712608e-01 8.39258341e-03 3.66327479e+01] [-1.63707674e-01 9.86508068e-01 1.27623442e-03 -1.50688016e+02] [-8.48828691e-03 -1.14960307e-04 -9.99963967e-01 2.90216801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.55762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.61, Y:-150.66, Z:2.90 [[-9.71614464e-01 -2.36454189e-01 7.39933175e-03 3.66144376e+01] [-2.36448287e-01 9.71642631e-01 1.67505346e-03 -1.50662389e+02] [-7.58557957e-03 -1.22053143e-04 -9.99971222e-01 2.90177421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.58762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.58, Y:-150.64, Z:2.90 [[-9.51253523e-01 -3.08344721e-01 6.34574553e-03 3.65824336e+01] [-3.08338720e-01 9.51274681e-01 1.92757693e-03 -1.50642427e+02] [-6.63090523e-03 -1.23024711e-04 -9.99978008e-01 2.90038010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.61762800000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.53, Y:-150.63, Z:2.90 [[-9.26105171e-01 -3.77221780e-01 5.73948354e-03 3.65253550e+01] [-3.77215289e-01 9.26122949e-01 2.21578327e-03 -1.50634045e+02] [-6.15130913e-03 -1.12972594e-04 -9.99981074e-01 2.90011121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.64762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.46, Y:-150.63, Z:2.90 [[-8.96273214e-01 -4.43466796e-01 5.61480277e-03 3.64626483e+01] [-4.43458824e-01 8.96290795e-01 2.66102972e-03 -1.50632240e+02] [-6.21257436e-03 -1.04924172e-04 -9.99980696e-01 2.90029771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.67762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.39, Y:-150.64, Z:2.90 [[-8.63322803e-01 -5.04618470e-01 5.82560724e-03 3.63910364e+01] [-5.04607591e-01 8.63342454e-01 3.31439615e-03 -1.50641790e+02] [-6.70199956e-03 -7.82518656e-05 -9.99977538e-01 2.90154135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.70762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.31, Y:-150.66, Z:2.90 [[-8.24828322e-01 -5.65352605e-01 5.88828843e-03 3.63108776e+01] [-5.65338715e-01 8.24849337e-01 3.96349108e-03 -1.50662594e+02] [-7.09772081e-03 -5.96777154e-05 -9.99974809e-01 2.90142567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.23, Y:-150.69, Z:2.90 [[-7.83548687e-01 -6.21300389e-01 6.10585814e-03 3.62287669e+01] [-6.21281702e-01 7.83572477e-01 4.81877466e-03 -1.50693272e+02] [-7.77828896e-03 -1.77133814e-05 -9.99969749e-01 2.90178607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.76762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.14, Y:-150.73, Z:2.90 [[-7.35915065e-01 -6.77047436e-01 5.98218074e-03 3.61390076e+01] [-6.77025039e-01 7.35939379e-01 5.50700659e-03 -1.50734970e+02] [-8.13102707e-03 2.60296330e-06 -9.99966943e-01 2.90058358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.05, Y:-150.79, Z:2.90 [[-6.83677041e-01 -7.29763430e-01 5.57136004e-03 3.60502755e+01] [-7.29738975e-01 6.83699741e-01 5.97438234e-03 -1.50785027e+02] [-8.16902317e-03 1.89094755e-05 -9.99966633e-01 2.90178868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.82762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.97, Y:-150.84, Z:2.90 [[-6.27539966e-01 -7.78567398e-01 5.13790300e-03 3.59654038e+01] [-7.78540821e-01 6.27560998e-01 6.43309267e-03 -1.50841307e+02] [-8.23294375e-03 3.69555367e-05 -9.99966108e-01 2.90132576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.85762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.88, Y:-150.91, Z:2.90 [[-5.67344351e-01 -8.23465247e-01 5.03719825e-03 3.58799430e+01] [-8.23431940e-01 5.67366710e-01 7.40648508e-03 -1.50909788e+02] [-8.95692166e-03 5.42375460e-05 -9.99959885e-01 2.90070341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.88762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.80, Y:-150.99, Z:2.90 [[-5.05317862e-01 -8.62918731e-01 5.01224241e-03 3.57978973e+01] [-8.62874401e-01 5.05342711e-01 8.74718959e-03 -1.50986678e+02] [-1.00810139e-02 9.51754787e-05 -9.99949181e-01 2.90156806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.91762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.72, Y:-151.07, Z:2.90 [[-4.39364581e-01 -8.98297192e-01 4.57380779e-03 3.57201146e+01] [-8.98245582e-01 4.39388370e-01 9.62990442e-03 -1.51074709e+02] [-1.06601941e-02 1.22636286e-04 -9.99943171e-01 2.90203331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.65, Y:-151.17, Z:2.90 [[-3.70768891e-01 -9.28716710e-01 3.96252043e-03 3.56516355e+01] [-9.28659257e-01 3.70790034e-01 1.03312501e-02 -1.51165014e+02] [-1.10640677e-02 1.50674846e-04 -9.99938780e-01 2.90235354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.977628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.59, Y:-151.26, Z:2.90 [[-3.02007791e-01 -9.53300307e-01 3.13355444e-03 3.55886829e+01] [-9.53242084e-01 3.02023983e-01 1.05376596e-02 -1.51264249e+02] [-1.09919627e-02 1.95419320e-04 -9.99939567e-01 2.90053083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.53, Y:-151.37, Z:2.90 [[-2.29226753e-01 -9.73370400e-01 2.27179344e-03 3.55325224e+01] [-9.73313072e-01 2.29237913e-01 1.05661395e-02 -1.51374554e+02] [-1.08055486e-02 2.10875596e-04 -9.99941596e-01 2.89974522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.03762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.48, Y:-151.48, Z:2.90 [[-1.54745858e-01 -9.87953276e-01 1.42935100e-03 3.54842855e+01] [-9.87896748e-01 1.54752298e-01 1.05708155e-02 -1.51480913e+02] [-1.06646672e-02 2.23738720e-04 -9.99943106e-01 2.89788422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.44, Y:-151.60, Z:2.90 [[-7.97454381e-02 -9.96815102e-01 5.64341910e-04 3.54447899e+01] [-9.96766095e-01 7.97471149e-02 9.88688423e-03 -1.51602945e+02] [-9.90040015e-03 2.25917032e-04 -9.99950964e-01 2.89749739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.09762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.41, Y:-151.72, Z:2.90 [[-2.69854876e-03 -9.99996340e-01 -1.96954150e-04 3.54140273e+01] [-9.99949758e-01 2.69652154e-03 9.65459037e-03 -1.51718664e+02] [-9.65402394e-03 2.22997637e-04 -9.99953374e-01 2.89736681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.39, Y:-151.84, Z:2.90 [[ 7.51905295e-02 -9.97168707e-01 -9.76515331e-04 3.53889068e+01] [-9.97119059e-01 -7.51965328e-02 9.95310854e-03 -1.51838636e+02] [-9.99835894e-03 2.25322546e-04 -9.99949990e-01 2.89609992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.15762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.38, Y:-151.96, Z:2.90 [[ 1.52046771e-01 -9.88371763e-01 -1.74300931e-03 3.53774553e+01] [-9.88322727e-01 -1.52056595e-01 9.84785269e-03 -1.51961200e+02] [-9.99837558e-03 2.25321510e-04 -9.99949990e-01 2.89610076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.37, Y:-152.08, Z:2.90 [[ 2.28661862e-01 -9.73503072e-01 -2.34991129e-03 3.53749080e+01] [-9.73460500e-01 -2.28673844e-01 9.10653050e-03 -1.52083009e+02] [-9.40259866e-03 2.05229603e-04 -9.99955774e-01 2.89608387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.21762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.38, Y:-152.21, Z:2.90 [[ 3.03999396e-01 -9.52667827e-01 -2.89453270e-03 3.53818018e+01] [-9.52630319e-01 -3.04013119e-01 8.45572555e-03 -1.52206113e+02] [-8.93547360e-03 1.86884151e-04 -9.99960060e-01 2.89555148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.40, Y:-152.33, Z:2.89 [[ 3.78103165e-01 -9.25756277e-01 -3.64865783e-03 3.53970525e+01] [-9.25717597e-01 -3.78120728e-01 8.46439090e-03 -1.52325683e+02] [-9.21559616e-03 1.77213767e-04 -9.99957520e-01 2.89482216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.27762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.42, Y:-152.44, Z:2.89 [[ 4.49020666e-01 -8.93511945e-01 -4.10442327e-03 3.54204849e+01] [-8.93477863e-01 -4.49039395e-01 7.80580852e-03 -1.52444398e+02] [-8.81763090e-03 1.62241992e-04 -9.99961111e-01 2.89455919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.307628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.45, Y:-152.56, Z:2.89 [[ 5.17467769e-01 -8.55691044e-01 -4.46594781e-03 3.54512028e+01] [-8.55661550e-01 -5.17487020e-01 7.10601768e-03 -1.52556687e+02] [-8.39162572e-03 1.44204707e-04 -9.99964779e-01 2.89489806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.337628 meters Centerline goodness [0,1] 0.9999344376939552 Centerline is valid? [True, True] Translation: X:35.49, Y:-152.67, Z:2.90 [[ 5.82030942e-01 -8.13149139e-01 -5.33485075e-03 3.54901526e+01] [-8.13117310e-01 -5.82055371e-01 7.19620825e-03 -1.52666363e+02] [-8.95676907e-03 1.49443625e-04 -9.99959876e-01 2.89631334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.53, Y:-152.77, Z:2.90 [[ 6.45191864e-01 -7.64003576e-01 -5.09853539e-03 3.55342229e+01] [-7.63980986e-01 -6.45212000e-01 5.87603564e-03 -1.52771835e+02] [-7.77894845e-03 1.04013709e-04 -9.99969738e-01 2.89534312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.397628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.59, Y:-152.87, Z:2.90 [[ 7.02698014e-01 -7.11466464e-01 -5.56528169e-03 3.55892936e+01] [-7.11445200e-01 -7.02720045e-01 5.50141195e-03 -1.52873304e+02] [-7.82490511e-03 9.35616989e-05 -9.99969381e-01 2.89581548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.427628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.59, Y:-152.88, Z:2.90 [[ 7.57128503e-01 -6.53239823e-01 -5.84497268e-03 3.55854782e+01] [-6.53221171e-01 -7.57151060e-01 4.93707773e-03 -1.52878952e+02] [-7.65062304e-03 8.00576287e-05 -9.99970730e-01 2.89563341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.58, Y:-152.88, Z:2.90 [[ 8.06726734e-01 -5.90890993e-01 -6.30966248e-03 3.55827633e+01] [-5.90873599e-01 -8.06751405e-01 4.53436949e-03 -1.52884721e+02] [-7.76964716e-03 7.02158848e-05 -9.99969813e-01 2.89546756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.58, Y:-152.89, Z:2.90 [[ 8.51991088e-01 -5.23510415e-01 -6.93037990e-03 3.55786016e+01] [-5.23493564e-01 -8.52019274e-01 4.20072316e-03 -1.52890901e+02] [-8.10393957e-03 4.90305741e-05 -9.99967161e-01 2.89568963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.58, Y:-152.90, Z:2.90 [[ 8.90795127e-01 -4.54344381e-01 -7.43137189e-03 3.55765962e+01] [-4.54328961e-01 -8.90826123e-01 3.74338158e-03 -1.52896688e+02] [-8.32084460e-03 4.17013998e-05 -9.99965380e-01 2.89623077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.57, Y:-152.91, Z:2.90 [[ 9.24018422e-01 -3.82263022e-01 -8.05843479e-03 3.55733953e+01] [-3.82248802e-01 -9.24053560e-01 3.29728846e-03 -1.52907588e+02] [-8.70685680e-03 3.35717653e-05 -9.99962094e-01 2.89649896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.57, Y:-152.91, Z:2.90 [[ 9.51125373e-01 -3.08683614e-01 -8.65742515e-03 3.55713799e+01] [-3.08671144e-01 -9.51164773e-01 2.77470908e-03 -1.52914605e+02] [-9.09114505e-03 3.32011229e-05 -9.99958674e-01 2.89797016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.60762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.57, Y:-152.92, Z:2.90 [[ 9.72380537e-01 -2.33217578e-01 -9.25484373e-03 3.55729444e+01] [-2.33207340e-01 -9.72424578e-01 2.18548907e-03 -1.52917073e+02] [-9.50933197e-03 3.31704459e-05 -9.99954785e-01 2.89822764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.57, Y:-152.93, Z:2.90 [[ 9.87598461e-01 -1.56630690e-01 -1.07752904e-02 3.55697312e+01] [-1.56621824e-01 -9.87657241e-01 1.66702262e-03 -1.52925855e+02] [-1.09034005e-02 4.12966644e-05 -9.99940555e-01 2.89827737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.66762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.57, Y:-152.93, Z:2.90 [[ 9.96789888e-01 -7.91984978e-02 -1.17268121e-02 3.55662014e+01] [-7.91935918e-02 -9.96858864e-01 8.82862151e-04 -1.52932714e+02] [-1.17598979e-02 4.86603051e-05 -9.99930849e-01 2.89931390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.56, Y:-152.94, Z:2.90 [[ 9.99925077e-01 -1.27362649e-03 -1.21744992e-02 3.55630363e+01] [-1.27419801e-03 -9.99999187e-01 -3.91870384e-05 -1.52938298e+02] [-1.21744394e-02 5.46968250e-05 -9.99925887e-01 2.89998341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.72762800000004 meters Centerline goodness [0,1] 0.9998254151845143 Centerline is valid? [True, True] Translation: X:35.56, Y:-152.95, Z:2.90 [[ 9.97050269e-01 7.54680457e-02 -1.39762330e-02 3.55616397e+01] [ 7.54594357e-02 -9.97148217e-01 -1.14312442e-03 -1.52945228e+02] [-1.40226451e-02 8.51138551e-05 -9.99901674e-01 2.90199057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.56, Y:-152.95, Z:2.90 [[ 9.88006684e-01 1.53952666e-01 -1.18898987e-02 3.55591690e+01] [ 1.53940723e-01 -9.88078222e-01 -1.91864583e-03 -1.52952637e+02] [-1.20435306e-02 6.52953032e-05 -9.99927472e-01 2.89917764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.78762800000004 meters Centerline goodness [0,1] 0.9998906147451324 Centerline is valid? [True, True] Translation: X:35.56, Y:-152.96, Z:2.90 [[ 9.73066783e-01 2.30198106e-01 -1.22420822e-02 3.55590592e+01] [ 2.30178904e-01 -9.73143785e-01 -2.97421170e-03 -1.52963773e+02] [-1.25979641e-02 7.62375564e-05 -9.99920640e-01 2.90008096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.56, Y:-152.97, Z:2.90 [[ 9.51391633e-01 3.07783295e-01 -1.11087072e-02 3.55590347e+01] [ 3.07761762e-01 -9.51456484e-01 -3.64096842e-03 -1.52974770e+02] [-1.16900808e-02 4.51515895e-05 -9.99931668e-01 2.89889864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.84762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.56, Y:-152.98, Z:2.90 [[ 9.23957456e-01 3.82326270e-01 -1.13685350e-02 3.55600628e+01] [ 3.82296875e-01 -9.24027393e-01 -4.74100238e-03 -1.52984735e+02] [-1.23174476e-02 3.43290739e-05 -9.99924137e-01 2.89964866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.877628 meters Centerline goodness [0,1] 0.9998684210526316 Centerline is valid? [True, True] Translation: X:35.56, Y:-152.99, Z:2.90 [[ 8.90890567e-01 4.54041572e-01 -1.26589510e-02 3.55599606e+01] [ 4.53995252e-01 -8.90980499e-01 -6.48542192e-03 -1.52992471e+02] [-1.42235296e-02 3.06975654e-05 -9.99898840e-01 2.90285229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.90762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.56, Y:-153.00, Z:2.90 [[ 8.52026602e-01 5.23376110e-01 -1.13188450e-02 3.55624779e+01] [ 5.23329724e-01 -8.52101782e-01 -6.96797622e-03 -1.53000839e+02] [-1.32916803e-02 1.34130809e-05 -9.99911662e-01 2.90012884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.56, Y:-153.01, Z:2.90 [[ 8.08233325e-01 5.88768492e-01 -1.05145639e-02 3.55635791e+01] [ 5.88718541e-01 -8.08301715e-01 -7.66921864e-03 -1.53008705e+02] [-1.30143343e-02 8.39937858e-06 -9.99915310e-01 2.90063429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.96762800000005 meters Centerline goodness [0,1] 0.9999780427288496 Centerline is valid? [True, True] Translation: X:35.57, Y:-153.02, Z:2.90 [[ 7.59731747e-01 6.50163076e-01 -9.77996145e-03 3.55660680e+01] [ 6.50109053e-01 -7.59794693e-01 -8.38118826e-03 -1.53016017e+02] [-1.28799019e-02 9.41331521e-06 -9.99917051e-01 2.90086706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.57, Y:-153.02, Z:2.90 [[ 7.06133358e-01 7.08023349e-01 -8.86668543e-03 3.55706634e+01] [ 7.07967489e-01 -7.06189024e-01 -8.89365544e-03 -1.53024584e+02] [-1.25584716e-02 2.78175997e-06 -9.99921139e-01 2.90009973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.02762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.57, Y:-153.03, Z:2.90 [[ 6.48201942e-01 7.61422937e-01 -8.32784475e-03 3.55747953e+01] [ 7.61360166e-01 -6.48255436e-01 -9.77687974e-03 -1.53032194e+02] [-1.28429111e-02 -3.09682628e-06 -9.99917526e-01 2.90059165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.057628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.58, Y:-153.04, Z:2.90 [[ 5.86133133e-01 8.10179002e-01 -7.61145985e-03 3.55794829e+01] [ 8.10110927e-01 -5.86182552e-01 -1.05024586e-02 -1.53039664e+02] [-1.29705764e-02 -1.02878125e-05 -9.99915879e-01 2.90025317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.087628 meters Centerline goodness [0,1] 0.9998233566649738 Centerline is valid? [True, True] Translation: X:35.58, Y:-153.05, Z:2.90 [[ 5.20908316e-01 8.53580483e-01 -7.40848732e-03 3.55829867e+01] [ 8.53494456e-01 -5.20960996e-01 -1.21183886e-02 -1.53046715e+02] [-1.42035529e-02 -1.05334803e-05 -9.99899124e-01 2.90118304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.59, Y:-153.06, Z:2.90 [[ 4.51788207e-01 8.92109779e-01 -5.24966559e-03 3.55885746e+01] [ 8.92049997e-01 -4.51818706e-01 -1.03276147e-02 -1.53055149e+02] [-1.15852632e-02 -1.70696283e-05 -9.99932888e-01 2.89902250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.147628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.59, Y:-153.06, Z:2.90 [[ 3.81700060e-01 9.24277297e-01 -4.06718195e-03 3.55909329e+01] [ 9.24224895e-01 -3.81721729e-01 -9.84198576e-03 -1.53060825e+02] [-1.06492557e-02 -2.30424785e-06 -9.99943295e-01 2.89842498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.177628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.59, Y:-153.07, Z:2.90 [[ 3.09160176e-01 9.51004612e-01 -3.19580324e-03 3.55935494e+01] [ 9.50953525e-01 -3.09176693e-01 -9.85724109e-03 -1.53068205e+02] [-1.03623496e-02 8.40603316e-06 -9.99946309e-01 2.89868000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.207628 meters Centerline goodness [0,1] 0.9998893633969863 Centerline is valid? [True, True] Translation: X:35.60, Y:-153.07, Z:2.90 [[ 2.37463446e-01 9.71393313e-01 -2.47863706e-03 3.55974409e+01] [ 9.71338213e-01 -2.37476376e-01 -1.03463383e-02 -1.53074026e+02] [-1.06389816e-02 4.92822487e-05 -9.99943403e-01 2.90028694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.60, Y:-153.08, Z:2.90 [[ 1.61626161e-01 9.86850905e-01 -1.50821878e-03 3.56033091e+01] [ 9.86804736e-01 -1.61633189e-01 -9.54593495e-03 -1.53080104e+02] [-9.66419276e-03 5.45553845e-05 -9.99953299e-01 2.89860998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.61, Y:-153.09, Z:2.90 [[ 8.50000637e-02 9.96380648e-01 -7.70926530e-04 3.56079829e+01] [ 9.96332171e-01 -8.50035330e-02 -9.82877181e-03 -1.53087266e+02] [-9.85872950e-03 6.73473269e-05 -9.99951399e-01 2.89854872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.29762800000003 meters Centerline goodness [0,1] 0.9998661610528664 Centerline is valid? [True, True] Translation: X:35.61, Y:-153.09, Z:2.90 [[ 8.90908329e-03 9.99960313e-01 1.72596287e-06 3.56141105e+01] [ 9.99897590e-01 -8.90850513e-03 -1.12003800e-02 -1.53093218e+02] [-1.11999201e-02 1.01510905e-04 -9.99937274e-01 2.89909169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.62, Y:-153.10, Z:2.90 [[-6.99296648e-02 9.97551582e-01 8.26327005e-04 3.56233859e+01] [ 9.97496379e-01 6.99344884e-02 -1.04947731e-02 -1.53100033e+02] [-1.05268663e-02 9.03622295e-05 -9.99944587e-01 2.89797308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.35762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.63, Y:-153.11, Z:2.90 [[-1.48027813e-01 9.88981757e-01 1.68834807e-03 3.56330469e+01] [ 9.88924226e-01 1.48037414e-01 -1.06676596e-02 -1.53105132e+02] [-1.08000594e-02 9.05379845e-05 -9.99941674e-01 2.89797066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.64, Y:-153.11, Z:2.90 [[-2.26158098e-01 9.74087787e-01 2.34464362e-03 3.56448651e+01] [ 9.74038741e-01 2.26170239e-01 -9.77513992e-03 -1.53108409e+02] [-1.00521330e-02 7.30466727e-05 -9.99949473e-01 2.89866904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.41762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.66, Y:-153.11, Z:2.90 [[-3.02838589e-01 9.53036868e-01 3.08503238e-03 3.56580358e+01] [ 9.52989481e-01 3.02854296e-01 -9.50396487e-03 -1.53110921e+02] [-9.99194422e-03 6.18360955e-05 -9.99950077e-01 2.89881576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.447628 meters Centerline goodness [0,1] 0.9998440250451214 Centerline is valid? [True, True] Translation: X:35.67, Y:-153.11, Z:2.90 [[-3.76901889e-01 9.26244204e-01 4.07924946e-03 3.56701968e+01] [ 9.26191726e-01 3.76923959e-01 -9.85986700e-03 -1.53112369e+02] [-1.06702115e-02 6.19645932e-05 -9.99943070e-01 2.90098386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.47762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.68, Y:-153.11, Z:2.90 [[-4.50256205e-01 8.92889246e-01 4.25961445e-03 3.56822077e+01] [ 8.92850005e-01 4.50276353e-01 -8.37102331e-03 -1.53113857e+02] [-9.39240035e-03 3.40915934e-05 -9.99955890e-01 2.89959943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.69, Y:-153.11, Z:2.90 [[-5.20413341e-01 8.53901123e-01 4.77775001e-03 3.56930280e+01] [ 8.53865427e-01 5.20435272e-01 -7.80772349e-03 -1.53113857e+02] [-9.15353348e-03 1.63120820e-05 -9.99958105e-01 2.89800458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.53762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.70, Y:-153.11, Z:2.90 [[-5.86395867e-01 8.10008342e-01 5.13542300e-03 3.57035113e+01] [ 8.09977407e-01 5.86418354e-01 -7.07911819e-03 -1.53113564e+02] [-8.74565109e-03 8.41095744e-06 -9.99961756e-01 2.89782410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.71, Y:-153.11, Z:2.90 [[-6.48964184e-01 7.60803905e-01 4.78611906e-03 3.57143808e+01] [ 7.60783198e-01 6.48981832e-01 -5.61313376e-03 -1.53111639e+02] [-7.37659840e-03 -1.52381108e-06 -9.99972793e-01 2.89809546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.59762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.72, Y:-153.11, Z:2.90 [[-7.06934144e-01 7.07262012e-01 4.95603261e-03 3.57231997e+01] [ 7.07244580e-01 7.06951517e-01 -4.96557773e-03 -1.53110232e+02] [-7.01563927e-03 -5.20923923e-06 -9.99975390e-01 2.89837462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.627628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.73, Y:-153.11, Z:2.90 [[-7.60436679e-01 6.49390844e-01 5.25248488e-03 3.57319732e+01] [ 6.49375283e-01 7.60454819e-01 -4.49565162e-03 -1.53107965e+02] [-6.91371244e-03 -7.82453576e-06 -9.99976100e-01 2.89797573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.65762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.75, Y:-153.09, Z:2.90 [[-8.04623007e-01 5.93762539e-01 5.27864428e-03 3.57516603e+01] [ 5.93749688e-01 8.04640322e-01 -3.90638764e-03 -1.53088002e+02] [-6.56687667e-03 -8.97597043e-06 -9.99978438e-01 2.89766457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.22, Y:-152.47, Z:1.96 [[-7.60646611e-01 -6.49154930e-01 3.82228322e-03 3.62240496e+01] [ 6.49146195e-01 -7.60656210e-01 -3.36856062e-03 -1.52469300e+02] [ 5.09416120e-03 -8.10636117e-05 9.99987021e-01 1.96052874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.71762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.72, Y:-153.07, Z:2.90 [[-8.07136257e-01 5.90356697e-01 3.16732995e-03 3.57220250e+01] [ 5.90352112e-01 8.07142472e-01 -2.32678962e-03 -1.53067255e+02] [-3.93012236e-03 -8.19634136e-06 -9.99992277e-01 2.89592433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.74, Y:-153.05, Z:2.90 [[-8.47210837e-01 5.31245950e-01 3.39671485e-03 3.57387869e+01] [ 5.31241629e-01 8.47217646e-01 -2.14292369e-03 -1.53045769e+02] [-4.01617629e-03 -1.10318480e-05 -9.99991935e-01 2.89597075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.77762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.76, Y:-153.02, Z:2.90 [[-8.83054664e-01 4.69252511e-01 4.06722205e-03 3.57566684e+01] [ 4.69247449e-01 8.83064030e-01 -2.17971378e-03 -1.53023887e+02] [-4.61445366e-03 -1.62728449e-05 -9.99989353e-01 2.89678270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.807628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.77, Y:-153.00, Z:2.90 [[-9.14453711e-01 4.04660067e-01 4.96396459e-03 3.57748463e+01] [ 4.04653958e-01 9.14467183e-01 -2.22362173e-03 -1.53000858e+02] [-5.43919364e-03 -2.47112235e-05 -9.99985207e-01 2.89861186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.837628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.10, Y:-152.29, Z:1.96 [[-8.79961743e-01 -4.75000598e-01 6.46247946e-03 3.60961913e+01] [ 4.74989013e-01 -8.79985460e-01 -3.32075295e-03 -1.52293998e+02] [ 7.26424760e-03 1.47471190e-04 9.99973604e-01 1.95624456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.73, Y:-152.98, Z:2.90 [[-9.16850840e-01 3.99161363e-01 7.39892245e-03 3.57285821e+01] [ 3.99147864e-01 9.16880692e-01 -3.28314934e-03 -1.52981127e+02] [-8.09443550e-03 -5.68941335e-05 -9.99967238e-01 2.90206795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.897628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.75, Y:-152.96, Z:2.90 [[-9.43013004e-01 3.32661174e-01 7.93830882e-03 3.57476236e+01] [ 3.32648817e-01 9.43046414e-01 -2.86798210e-03 -1.52959427e+02] [-8.44025996e-03 -6.38753743e-05 -9.99964378e-01 2.90254108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.927628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.01, Y:-152.23, Z:1.95 [[-9.12179875e-01 -4.09701047e-01 8.53982446e-03 3.60122093e+01] [ 4.09684364e-01 -9.12219840e-01 -3.69935836e-03 -1.52228225e+02] [ 9.30582829e-03 1.24152301e-04 9.99956692e-01 1.95413274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.957628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.69, Y:-152.94, Z:2.90 [[-9.44328314e-01 3.28878675e-01 9.10232939e-03 3.56898927e+01] [ 3.28862617e-01 9.44372178e-01 -3.25084831e-03 -1.52939093e+02] [-9.66512132e-03 -7.64522422e-05 -9.99953289e-01 2.90318560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.97, Y:-152.21, Z:1.96 [[-9.14480276e-01 -4.04541521e-01 8.48430264e-03 3.59732708e+01] [ 4.04524603e-01 -9.14519631e-01 -3.70005703e-03 -1.52214203e+02] [ 9.25588802e-03 4.84799843e-05 9.99957162e-01 1.95543868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.66, Y:-152.93, Z:2.90 [[-9.43613746e-01 3.30949749e-01 8.08464713e-03 3.56638942e+01] [ 3.30937451e-01 9.43648379e-01 -2.85304640e-03 -1.52932955e+02] [-8.57327915e-03 -1.66612897e-05 -9.99963249e-01 2.90193832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.68, Y:-152.91, Z:2.90 [[-9.64696679e-01 2.63233702e-01 8.26653460e-03 3.56753546e+01] [ 2.63223890e-01 9.64732097e-01 -2.27285027e-03 -1.52907653e+02] [-8.57328205e-03 -1.66617113e-05 -9.99963249e-01 2.90193835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.68, Y:-152.88, Z:2.90 [[-9.80937283e-01 1.94142653e-01 8.40692903e-03 3.56844683e+01] [ 1.94135378e-01 9.80973307e-01 -1.68078453e-03 -1.52881492e+02] [-8.57328495e-03 -1.66618630e-05 -9.99963249e-01 2.90193838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.69, Y:-152.86, Z:2.90 [[-9.91439805e-01 1.30317487e-01 8.02899311e-03 3.56922136e+01] [ 1.30313504e-01 9.91472315e-01 -1.01955598e-03 -1.52858425e+02] [-8.09339035e-03 3.54578448e-05 -9.99967247e-01 2.90252153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.137628 meters Centerline goodness [0,1] 0.9997991564571199 Centerline is valid? [True, True] Translation: X:35.70, Y:-152.83, Z:2.90 [[-9.97913133e-01 6.39034073e-02 9.25926518e-03 3.57007793e+01] [ 6.39014116e-02 9.97956085e-01 -5.11523448e-04 -1.52834671e+02] [-9.27302812e-03 8.12241494e-05 -9.99957001e-01 2.90452033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.16762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.70, Y:-152.81, Z:2.90 [[-9.99960938e-01 -3.71712518e-03 8.01901019e-03 3.57040274e+01] [-3.71621717e-03 9.99993087e-01 1.28129699e-04 -1.52809621e+02] [-8.01943102e-03 9.83243109e-05 -9.99967839e-01 2.90176652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.197628 meters Centerline goodness [0,1] 0.9998882531736099 Centerline is valid? [True, True] Translation: X:35.70, Y:-152.79, Z:2.90 [[-9.97749895e-01 -6.65710524e-02 7.96506299e-03 3.57031081e+01] [-6.65676078e-02 9.97781673e-01 6.97096846e-04 -1.52787395e+02] [-7.99380034e-03 1.65313116e-04 -9.99968035e-01 2.90334295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.22762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.69, Y:-152.76, Z:2.90 [[-9.90792070e-01 -1.35225266e-01 6.72326435e-03 3.56933940e+01] [-1.35221059e-01 9.90814868e-01 1.07848651e-03 -1.52761322e+02] [-6.80734890e-03 1.59428957e-04 -9.99976817e-01 2.90089106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.257628 meters Centerline goodness [0,1] 0.9998214524840423 Centerline is valid? [True, True] Translation: X:35.66, Y:-152.74, Z:2.90 [[-9.79726667e-01 -2.00240379e-01 6.28081721e-03 3.56622696e+01] [-2.00234991e-01 9.79746780e-01 1.48168657e-03 -1.52738754e+02] [-6.45030392e-03 1.94008463e-04 -9.99979178e-01 2.90243281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.28762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.61, Y:-152.73, Z:2.90 [[-9.62824266e-01 -2.70074504e-01 5.40330400e-03 3.56056945e+01] [-2.70069193e-01 9.62839410e-01 1.70331019e-03 -1.52725141e+02] [-5.66253469e-03 1.80722436e-04 -9.99983951e-01 2.90109011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.54, Y:-152.72, Z:2.90 [[-9.40866735e-01 -3.38730766e-01 5.59059334e-03 3.55397415e+01] [-3.38723494e-01 9.40883323e-01 2.22884011e-03 -1.52720021e+02] [-6.01507276e-03 2.03376213e-04 -9.99981889e-01 2.90209079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.34762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.46, Y:-152.72, Z:2.90 [[-9.13681895e-01 -4.06388580e-01 5.80656908e-03 3.54646729e+01] [-4.06378763e-01 9.13700317e-01 2.83401429e-03 -1.52717746e+02] [-6.45717505e-03 2.29721193e-04 -9.99979126e-01 2.90154779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.38, Y:-152.73, Z:2.90 [[-8.80495268e-01 -4.74022681e-01 5.53011093e-03 3.53811310e+01] [-4.74011708e-01 8.80512605e-01 3.23316522e-03 -1.52730199e+02] [-6.40192602e-03 2.25449353e-04 -9.99979482e-01 2.90128147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.40762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.29, Y:-152.75, Z:2.90 [[-8.40662697e-01 -5.41534130e-01 5.19770760e-03 3.52888608e+01] [-5.41522273e-01 8.40678741e-01 3.58921102e-03 -1.52749736e+02] [-6.31328254e-03 2.02641382e-04 -9.99980051e-01 2.90084011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.20, Y:-152.78, Z:2.90 [[-7.96078676e-01 -6.05173153e-01 4.91893728e-03 3.51978358e+01] [-6.05160105e-01 7.96093850e-01 3.97861742e-03 -1.52777975e+02] [-6.32368817e-03 1.90547884e-04 -9.99979987e-01 2.90095835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.46762800000005 meters Centerline goodness [0,1] 0.9998233254565932 Centerline is valid? [True, True] Translation: X:35.10, Y:-152.82, Z:2.90 [[-7.46619732e-01 -6.65231376e-01 5.11782357e-03 3.51044289e+01] [-6.65213897e-01 7.46637246e-01 4.82641949e-03 -1.52819398e+02] [-7.03184337e-03 1.99052659e-04 -9.99975256e-01 2.90280906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.01, Y:-152.87, Z:2.90 [[-6.91318854e-01 -7.22540349e-01 3.69956169e-03 3.50099692e+01] [-7.22528933e-01 6.91328739e-01 4.06394081e-03 -1.52869415e+02] [-5.49397453e-03 1.36438538e-04 -9.99984899e-01 2.90028896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.52762800000005 meters Centerline goodness [0,1] 0.9998464676595091 Centerline is valid? [True, True] Translation: X:34.92, Y:-152.93, Z:2.90 [[-6.30203518e-01 -7.76424651e-01 2.87895708e-03 3.49156039e+01] [-7.76415872e-01 6.30210087e-01 3.69329911e-03 -1.52929114e+02] [-4.68191626e-03 9.22621201e-05 -9.99989036e-01 2.90065466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.557628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.83, Y:-153.00, Z:2.90 [[-5.66066766e-01 -8.24358531e-01 1.19516909e-03 3.48262194e+01] [-8.24356562e-01 5.66068027e-01 1.80192969e-03 -1.52998685e+02] [-2.16198312e-03 3.47670312e-05 -9.99997662e-01 2.89750808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.587628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.74, Y:-153.07, Z:2.90 [[-4.98897490e-01 -8.66660959e-01 2.76211088e-04 3.47447451e+01] [-8.66660818e-01 4.98897567e-01 4.95081364e-04 -1.53074996e+02] [-5.66868730e-04 7.61352273e-06 -9.99999839e-01 2.89640838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.66, Y:-153.16, Z:2.89 [[-4.26397416e-01 -9.04535424e-01 -9.54246961e-04 3.46613770e+01] [-9.04533060e-01 4.26398483e-01 -2.06783895e-03 -1.53159956e+02] [ 2.27732304e-03 -1.85732605e-05 -9.99997407e-01 2.89450748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.647628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.59, Y:-153.25, Z:2.89 [[-3.53623001e-01 -9.35387456e-01 -1.03949172e-03 3.45884681e+01] [-9.35383266e-01 3.53624528e-01 -2.79988834e-03 -1.53253827e+02] [ 2.98657020e-03 -1.77817532e-05 -9.99995540e-01 2.89417751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.677628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.52, Y:-153.36, Z:2.89 [[-2.77361125e-01 -9.60765452e-01 -7.42990002e-04 3.45201643e+01] [-9.60761941e-01 2.77362120e-01 -2.59737207e-03 -1.53355045e+02] [ 2.70154263e-03 -6.57352250e-06 -9.99996351e-01 2.89433921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.707628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.46, Y:-153.46, Z:2.89 [[-2.00910206e-01 -9.79609539e-01 -4.91282391e-04 3.44640011e+01] [-9.79606589e-01 2.00910806e-01 -2.40406246e-03 -1.53457376e+02] [ 2.45374646e-03 -1.73721537e-06 -9.99996990e-01 2.89444790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.42, Y:-153.56, Z:2.89 [[-1.23685104e-01 -9.92321471e-01 -3.04050224e-04 3.44160449e+01] [-9.92318508e-01 1.23685477e-01 -2.42518398e-03 -1.53564281e+02] [ 2.44416873e-03 1.75553357e-06 -9.99997013e-01 2.89447666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.37, Y:-153.68, Z:2.89 [[-4.48268630e-02 -9.98994767e-01 -9.31111308e-05 3.43748734e+01] [-9.98992860e-01 4.48269593e-02 -1.95178136e-03 -1.53679142e+02] [ 1.95399325e-03 5.52511938e-06 -9.99998091e-01 2.89436192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.34, Y:-153.80, Z:2.89 [[ 3.29734015e-02 -9.99456229e-01 3.78343259e-05 3.43447205e+01] [-9.99455401e-01 -3.29734229e-02 -1.28667313e-03 -1.53796718e+02] [ 1.28722100e-03 4.61226844e-06 -9.99999172e-01 2.89453112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.32, Y:-153.92, Z:2.90 [[ 1.10394038e-01 -9.93887897e-01 7.29714400e-05 3.43233634e+01] [-9.93887662e-01 -1.10394062e-01 -6.82884987e-04 -1.53916433e+02] [ 6.86766737e-04 2.86101697e-06 -9.99999764e-01 2.89539075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.85762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.31, Y:-154.04, Z:2.90 [[ 1.87417854e-01 -9.82280230e-01 -3.12530566e-04 3.43108097e+01] [-9.82278790e-01 -1.87418114e-01 1.68199387e-03 -1.54039407e+02] [-1.71076321e-03 -8.24353422e-06 -9.99998537e-01 2.89756675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.31, Y:-154.16, Z:2.90 [[ 2.62689938e-01 -9.64880048e-01 -7.00022682e-04 3.43082911e+01] [-9.64876480e-01 -2.62690870e-01 2.62403693e-03 -1.54156545e+02] [-2.71577044e-03 -1.38726765e-05 -9.99996312e-01 2.89775200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.91762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.32, Y:-154.27, Z:2.90 [[ 3.36625407e-01 -9.41638021e-01 -1.08263861e-03 3.43158493e+01] [-9.41632975e-01 -3.36627147e-01 3.08289828e-03 -1.54274942e+02] [-3.26741978e-03 -1.83336699e-05 -9.99994662e-01 2.89722427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.33, Y:-154.39, Z:2.90 [[ 4.08187100e-01 -9.12897339e-01 -1.31897596e-03 3.43315555e+01] [-9.12892422e-01 -4.08189231e-01 2.99646652e-03 -1.54390458e+02] [-3.27385810e-03 -1.90358259e-05 -9.99994641e-01 2.89599004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.97762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.36, Y:-154.51, Z:2.89 [[ 4.77304662e-01 -8.78736696e-01 -1.44182147e-03 3.43578632e+01] [-8.78732569e-01 -4.77306839e-01 2.69314635e-03 -1.54505964e+02] [-3.05475777e-03 -1.84758250e-05 -9.99995334e-01 2.89448724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.39, Y:-154.61, Z:2.89 [[ 5.42224056e-01 -8.40231421e-01 -2.05730576e-03 3.43895446e+01] [-8.40225245e-01 -5.42227959e-01 3.22164384e-03 -1.54614707e+02] [-3.82245508e-03 -1.82525511e-05 -9.99992694e-01 2.89330292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.03762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.43, Y:-154.72, Z:2.89 [[ 6.04031822e-01 -7.96955792e-01 -2.65020889e-03 3.44292288e+01] [-7.96948005e-01 -6.04037636e-01 3.52300680e-03 -1.54719707e+02] [-4.40850659e-03 -1.59295310e-05 -9.99990282e-01 2.89298042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.067628 meters Centerline goodness [0,1] 0.9998926485743731 Centerline is valid? [True, True] Translation: X:34.47, Y:-154.82, Z:2.89 [[ 6.59991314e-01 -7.51256343e-01 -5.03705287e-03 3.44745952e+01] [-7.51234523e-01 -6.60010535e-01 5.72577194e-03 -1.54815569e+02] [-7.62603045e-03 5.04826515e-06 -9.99970921e-01 2.89459021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.09762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.53, Y:-154.91, Z:2.89 [[ 7.13443172e-01 -7.00690411e-01 -5.63812684e-03 3.45270471e+01] [-7.00668829e-01 -7.13465450e-01 5.49949601e-03 -1.54909664e+02] [-7.87605282e-03 2.68818514e-05 -9.99968983e-01 2.89379341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.52, Y:-154.92, Z:2.89 [[ 7.64273810e-01 -6.44855203e-01 -6.87828904e-03 3.45237640e+01] [-6.44829736e-01 -7.64304758e-01 5.73126952e-03 -1.54918127e+02] [-8.95294801e-03 5.50661123e-05 -9.99959920e-01 2.89394364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.15762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.52, Y:-154.92, Z:2.89 [[ 8.09236509e-01 -5.87425936e-01 -8.18792801e-03 3.45221227e+01] [-5.87397298e-01 -8.09277923e-01 5.80159166e-03 -1.54923999e+02] [-1.00343148e-02 1.14707002e-04 -9.99949648e-01 2.89364958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.52, Y:-154.93, Z:2.89 [[ 8.51417060e-01 -5.24402589e-01 -9.53490725e-03 3.45189251e+01] [-5.24371717e-01 -8.51470435e-01 5.69213349e-03 -1.54932957e+02] [-1.11036612e-02 1.53456127e-04 -9.99938341e-01 2.89290787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.21762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.52, Y:-154.94, Z:2.89 [[ 8.87648152e-01 -4.60393998e-01 -1.08685501e-02 3.45169730e+01] [-4.60362566e-01 -8.87714660e-01 5.38433397e-03 -1.54943204e+02] [-1.21270863e-02 2.24079523e-04 -9.99926439e-01 2.89267200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.52, Y:-154.95, Z:2.89 [[ 9.19841354e-01 -3.92102424e-01 -1.21479647e-02 3.45154384e+01] [-3.92072203e-01 -9.19921525e-01 4.87601390e-03 -1.54953796e+02] [-1.30870711e-02 2.77720055e-04 -9.99914322e-01 2.89288818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.27762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.51, Y:-154.96, Z:2.89 [[ 9.46843900e-01 -3.21423367e-01 -1.31775592e-02 3.45136461e+01] [-3.21397043e-01 -9.46935537e-01 4.12666212e-03 -1.54961957e+02] [-1.38047048e-02 3.27923707e-04 -9.99904657e-01 2.89322643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.307628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.51, Y:-154.97, Z:2.89 [[ 9.68448653e-01 -2.48821468e-01 -1.39672484e-02 3.45131115e+01] [-2.48801168e-01 -9.68549295e-01 3.20048581e-03 -1.54968211e+02] [-1.43243181e-02 3.75561525e-04 -9.99897331e-01 2.89282675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.337628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.51, Y:-154.97, Z:2.89 [[ 9.84033164e-01 -1.77382854e-01 -1.46306280e-02 3.45105204e+01] [-1.77370264e-01 -9.84141812e-01 2.16403049e-03 -1.54974591e+02] [-1.47824746e-02 4.65560585e-04 -9.99890625e-01 2.89084556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.51, Y:-154.98, Z:2.89 [[ 9.94641997e-01 -1.02325107e-01 -1.47265094e-02 3.45076988e+01] [-1.02321347e-01 -9.94750884e-01 1.01058548e-03 -1.54980038e+02] [-1.47526165e-02 5.01665508e-04 -9.99891048e-01 2.89118959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.397628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.51, Y:-155.00, Z:2.89 [[ 9.99511639e-01 -2.74146240e-02 -1.49973719e-02 3.45052570e+01] [-2.74199315e-02 -9.99623992e-01 -1.48350853e-04 -1.54996239e+02] [-1.49876657e-02 5.59505314e-04 -9.99887522e-01 2.88911796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.427628 meters Centerline goodness [0,1] 0.9998711838206878 Centerline is valid? [True, True] Translation: X:34.50, Y:-155.01, Z:2.89 [[ 9.98655989e-01 4.96174519e-02 -1.49774283e-02 3.45034985e+01] [ 4.96031412e-02 -9.98768127e-01 -1.32569068e-03 -1.55007723e+02] [-1.50247554e-02 5.80981448e-04 -9.99886953e-01 2.89062835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.50, Y:-155.02, Z:2.89 [[ 9.91704291e-01 1.27824621e-01 -1.35449591e-02 3.45021449e+01] [ 1.27805400e-01 -9.91796646e-01 -2.27881536e-03 -1.55017872e+02] [-1.37251337e-02 5.28792054e-04 -9.99905666e-01 2.88934533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.48762800000003 meters Centerline goodness [0,1] 0.9998713385083844 Centerline is valid? [True, True] Translation: X:34.50, Y:-155.03, Z:2.89 [[ 9.78528672e-01 2.05681803e-01 -1.32903694e-02 3.45035331e+01] [ 2.05655600e-01 -9.78618785e-01 -3.32382955e-03 -1.55030780e+02] [-1.36898564e-02 5.19223628e-04 -9.99906155e-01 2.88844944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.517628 meters Centerline goodness [0,1] 0.9998502257312194 Centerline is valid? [True, True] Translation: X:34.51, Y:-155.04, Z:2.89 [[ 9.59076225e-01 2.82872204e-01 -1.24943965e-02 3.45057993e+01] [ 2.82841607e-01 -9.59157486e-01 -4.18837801e-03 -1.55040909e+02] [-1.31688697e-02 4.83038578e-04 -9.99913170e-01 2.88794004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.51, Y:-155.05, Z:2.89 [[ 9.33114636e-01 3.59378479e-01 -1.20076906e-02 3.45090883e+01] [ 3.59342534e-01 -9.33191786e-01 -5.10223084e-03 -1.55053127e+02] [-1.30391102e-02 4.46092317e-04 -9.99914888e-01 2.88565444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.52, Y:-155.07, Z:2.89 [[ 8.99130328e-01 4.37539547e-01 -1.11264507e-02 3.45173082e+01] [ 4.37501303e-01 -8.99199103e-01 -5.79500168e-03 -1.55071025e+02] [-1.25404369e-02 3.42625074e-04 -9.99921307e-01 2.88547397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.60762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.52, Y:-155.08, Z:2.89 [[ 8.59853047e-01 5.10432313e-01 -1.05637220e-02 3.45245052e+01] [ 5.10389705e-01 -8.59917888e-01 -6.60118218e-03 -1.55084250e+02] [-1.24533902e-02 2.84431646e-04 -9.99922413e-01 2.88595827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.54, Y:-155.10, Z:2.89 [[ 8.11621647e-01 5.84106064e-01 -9.50834060e-03 3.45357025e+01] [ 5.84063732e-01 -8.11677326e-01 -7.03387843e-03 -1.55099755e+02] [-1.18262355e-02 1.55371101e-04 -9.99930056e-01 2.88555991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.66762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.54, Y:-155.11, Z:2.89 [[ 7.60303898e-01 6.49505233e-01 -8.99636678e-03 3.45434691e+01] [ 6.49458213e-01 -7.60357115e-01 -7.81579404e-03 -1.55109410e+02] [-1.19168506e-02 9.96143843e-05 -9.99928987e-01 2.88571559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.55, Y:-155.12, Z:2.89 [[ 7.03729587e-01 7.10417773e-01 -8.44140633e-03 3.45540018e+01] [ 7.10365936e-01 -7.03780212e-01 -8.58199176e-03 -1.55118526e+02] [-1.20376942e-02 4.29140061e-05 -9.99927543e-01 2.88522285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.72762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.57, Y:-155.13, Z:2.89 [[ 6.39696539e-01 7.68584599e-01 -8.12725897e-03 3.45670639e+01] [ 7.68523723e-01 -6.39748162e-01 -9.67348139e-03 -1.55128699e+02] [-1.26342878e-02 -5.78987645e-05 -9.99920183e-01 2.88621460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.58, Y:-155.14, Z:2.89 [[ 5.74708961e-01 8.18322781e-01 -7.57866965e-03 3.45790460e+01] [ 8.18254031e-01 -5.74758919e-01 -1.06078089e-02 -1.55135565e+02] [-1.30365197e-02 -1.04874145e-04 -9.99915015e-01 2.88696281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.78762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.59, Y:-155.14, Z:2.89 [[ 5.06457763e-01 8.62237637e-01 -6.84040609e-03 3.45899915e+01] [ 8.62162807e-01 -5.06503935e-01 -1.13603875e-02 -1.55142122e+02] [-1.32600463e-02 -1.43987264e-04 -9.99912071e-01 2.88850328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.60, Y:-155.15, Z:2.89 [[ 4.35692340e-01 9.00075097e-01 -6.08316826e-03 3.45989768e+01] [ 8.99992871e-01 -4.35734771e-01 -1.21672201e-02 -1.55145805e+02] [-1.36020597e-02 -1.73643478e-04 -9.99907473e-01 2.88967250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.84762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.60, Y:-155.15, Z:2.89 [[ 3.62083583e-01 9.32130836e-01 -5.25197077e-03 3.46048060e+01] [ 9.32040869e-01 -3.62121612e-01 -1.29521059e-02 -1.55146376e+02] [-1.39749095e-02 -2.05306483e-04 -9.99902325e-01 2.88847543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.61, Y:-155.15, Z:2.89 [[ 2.87966575e-01 9.57630827e-01 -4.29537887e-03 3.46109492e+01] [ 9.57534878e-01 -2.87998533e-01 -1.35574153e-02 -1.55146794e+02] [-1.42200616e-02 -2.08892647e-04 -9.99898868e-01 2.88809889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.90762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.61, Y:-155.15, Z:2.89 [[ 2.13267844e-01 9.76988448e-01 -3.22482770e-03 3.46146209e+01] [ 9.76889961e-01 -2.13292138e-01 -1.38733173e-02 -1.55147194e+02] [-1.42419012e-02 -1.91569327e-04 -9.99898561e-01 2.88727120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.62, Y:-155.15, Z:2.89 [[ 1.36935809e-01 9.90577800e-01 -2.05075424e-03 3.46209023e+01] [ 9.90484866e-01 -1.36951055e-01 -1.35697965e-02 -1.55147399e+02] [-1.37227921e-02 -1.73049984e-04 -9.99905823e-01 2.88730098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.96762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.63, Y:-155.15, Z:2.89 [[ 5.89276637e-02 9.98261773e-01 -9.81494124e-04 3.46290695e+01] [ 9.98167929e-01 -5.89355829e-02 -1.36887443e-02 -1.55148329e+02] [-1.37227950e-02 -1.73050240e-04 -9.99905823e-01 2.88730100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.64, Y:-155.15, Z:2.89 [[-1.86052617e-02 9.99826903e-01 9.52494481e-05 3.46352143e+01] [ 9.99730446e-01 1.86047899e-02 -1.38887753e-02 -1.55148374e+02] [-1.38881433e-02 -1.63180526e-04 -9.99903542e-01 2.88784060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.02762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.64, Y:-155.15, Z:2.89 [[-9.51415816e-02 9.95463052e-01 1.17951615e-03 3.46377844e+01] [ 9.95367482e-01 9.51487923e-02 -1.37943243e-02 -1.55149201e+02] [-1.38439697e-02 -1.38361808e-04 -9.99904158e-01 2.88888804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.057628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.64, Y:-155.15, Z:2.89 [[-1.71301821e-01 9.85216048e-01 2.24144885e-03 3.46418916e+01] [ 9.85122595e-01 1.71316445e-01 -1.35701491e-02 -1.55148929e+02] [-1.37535257e-02 -1.16489342e-04 -9.99905409e-01 2.88852764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.087628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.65, Y:-155.15, Z:2.89 [[-2.46097612e-01 9.69239914e-01 3.15509140e-03 3.46455013e+01] [ 9.69155719e-01 2.46117821e-01 -1.27753653e-02 -1.55149981e+02] [-1.31589182e-02 -8.62120245e-05 -9.99913414e-01 2.88861016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.65, Y:-155.15, Z:2.89 [[-3.16719813e-01 9.48509635e-01 4.24644963e-03 3.46461598e+01] [ 9.48423359e-01 3.16748279e-01 -1.27929503e-02 -1.55150641e+02] [-1.34792922e-02 -2.43488116e-05 -9.99909150e-01 2.88841337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.147628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.65, Y:-155.15, Z:2.89 [[-3.87404443e-01 9.21893646e-01 5.46829865e-03 3.46505125e+01] [ 9.21802371e-01 3.87443034e-01 -1.29724278e-02 -1.55151122e+02] [-1.40778530e-02 1.51144952e-05 -9.99900902e-01 2.88848551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.177628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.66, Y:-155.15, Z:2.89 [[-4.55548929e-01 8.90185707e-01 6.67687919e-03 3.46550995e+01] [ 8.90092108e-01 4.55597853e-01 -1.29087211e-02 -1.55152485e+02] [-1.45331309e-02 6.24833814e-05 -9.99894387e-01 2.88859225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.207628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.65, Y:-155.16, Z:2.89 [[-5.18443059e-01 8.55080681e-01 7.33642776e-03 3.46549701e+01] [ 8.54999092e-01 5.18494943e-01 -1.18129790e-02 -1.55155345e+02] [-1.39049508e-02 1.48282108e-04 -9.99903311e-01 2.88827742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.66, Y:-155.16, Z:2.89 [[-5.81171148e-01 8.13740710e-01 8.13346282e-03 3.46600779e+01] [ 8.13665590e-01 5.81228028e-01 -1.10583512e-02 -1.55155492e+02] [-1.37260271e-02 1.91124162e-04 -9.99905775e-01 2.88809623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.67, Y:-155.15, Z:2.89 [[-6.40834314e-01 7.67625334e-01 9.09553745e-03 3.46670760e+01] [ 7.67553183e-01 6.40898816e-01 -1.05270811e-02 -1.55154180e+02] [-1.39101733e-02 2.35193914e-04 -9.99903221e-01 2.88761328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.29762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.67, Y:-155.15, Z:2.89 [[-6.96998221e-01 7.17003368e-01 9.98253840e-03 3.46733766e+01] [ 7.16935467e-01 6.97069648e-01 -9.87124506e-03 -1.55154083e+02] [-1.40362405e-02 2.76595591e-04 -9.99901449e-01 2.88849975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.69, Y:-155.15, Z:2.89 [[-7.42328185e-01 6.69956290e-01 1.03650956e-02 3.46946517e+01] [ 6.69897383e-01 7.42400465e-01 -8.89075923e-03 -1.55145023e+02] [-1.36514719e-02 3.43689282e-04 -9.99906755e-01 2.88811244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.35762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.71, Y:-155.13, Z:2.89 [[-7.86279617e-01 6.17774200e-01 1.09270491e-02 3.47130591e+01] [ 6.17721156e-01 7.86355451e-01 -8.10424405e-03 -1.55129598e+02] [-1.35991375e-02 3.77667522e-04 -9.99907456e-01 2.88800049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.73, Y:-155.12, Z:2.89 [[-8.26122570e-01 5.63362391e-01 1.20131282e-02 3.47292715e+01] [ 5.63310559e-01 8.26209791e-01 -7.65471300e-03 -1.55120464e+02] [-1.42377416e-02 4.43390811e-04 -9.99898540e-01 2.89085946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.41762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.75, Y:-155.10, Z:2.89 [[-8.63310909e-01 5.04509092e-01 1.28394108e-02 3.47491846e+01] [ 5.04461355e-01 8.63406251e-01 -6.95613804e-03 -1.55096461e+02] [-1.45950625e-02 4.71676731e-04 -9.99893375e-01 2.88911313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.76, Y:-155.07, Z:2.89 [[-8.96515902e-01 4.42811584e-01 1.33093360e-02 3.47626320e+01] [ 4.42770742e-01 8.96614559e-01 -6.03349704e-03 -1.55074536e+02] [-1.46050468e-02 4.83858541e-04 -9.99893224e-01 2.88883718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.47762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.78, Y:-155.06, Z:2.89 [[-9.25178103e-01 3.79341229e-01 1.20710743e-02 3.47786812e+01] [ 3.79315133e-01 9.25256741e-01 -4.47132856e-03 -1.55056171e+02] [-1.28650021e-02 4.41965869e-04 -9.99917145e-01 2.88701280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.79, Y:-155.03, Z:2.89 [[-9.49778720e-01 3.12723872e-01 1.11428429e-02 3.47907366e+01] [ 3.12707234e-01 9.49843999e-01 -3.25023356e-03 -1.55031281e+02] [-1.16003881e-02 3.97444911e-04 -9.99932634e-01 2.88578802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.53762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.02, Y:-154.26, Z:1.97 [[-9.49834478e-01 -3.12607858e-01 9.52847968e-03 3.50226171e+01] [ 3.12587456e-01 -9.49882169e-01 -3.59837850e-03 -1.54257764e+02] [ 1.01758143e-02 -4.39380741e-04 9.99948129e-01 1.97199086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.74, Y:-155.02, Z:2.88 [[-9.52646620e-01 3.03987456e-01 7.48627520e-03 3.47396654e+01] [ 3.03979924e-01 9.52676008e-01 -2.15176785e-03 -1.55015851e+02] [-7.78610520e-03 2.25803004e-04 -9.99969662e-01 2.88433738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.59762800000004 meters Centerline goodness [0,1] 0.9999337499723958 Centerline is valid? [True, True] Translation: X:34.75, Y:-154.99, Z:2.88 [[-9.72418300e-01 2.33151183e-01 6.57078614e-03 3.47489961e+01] [ 2.33147088e-01 9.72440484e-01 -1.39308135e-03 -1.54987398e+02] [-6.71449702e-03 1.77301857e-04 -9.99977442e-01 2.88446963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.627628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.76, Y:-154.96, Z:2.88 [[-9.87095952e-01 1.60021702e-01 5.88535041e-03 3.47556125e+01] [ 1.60019676e-01 9.87113487e-01 -8.16573258e-04 -1.54959968e+02] [-5.94017821e-03 1.35735706e-04 -9.99982348e-01 2.88163589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.65762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.76, Y:-154.93, Z:2.88 [[-9.96256509e-01 8.63138846e-02 4.78353877e-03 3.47580971e+01] [ 8.63133424e-02 9.96267988e-01 -3.20058988e-04 -1.54930841e+02] [-4.79331209e-03 9.40223698e-05 -9.99988508e-01 2.88091473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.76, Y:-154.90, Z:2.88 [[-9.99957480e-01 8.52186615e-03 3.52352687e-03 3.47558307e+01] [ 8.52197295e-03 9.99963687e-01 1.52997318e-05 -1.54897071e+02] [-3.52326854e-03 4.53264820e-05 -9.99993792e-01 2.88001854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.71762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.75, Y:-154.87, Z:2.88 [[-9.97839336e-01 -6.56497111e-02 2.60301427e-03 3.47515904e+01] [-6.56494198e-02 9.97842731e-01 1.97262314e-04 -1.54867848e+02] [-2.61034908e-03 2.59497197e-05 -9.99996593e-01 2.88011807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.74, Y:-154.84, Z:2.88 [[-9.90199455e-01 -1.39641054e-01 2.32693211e-03 3.47427471e+01] [-1.39640629e-01 9.90202189e-01 3.44568801e-04 -1.54838810e+02] [-2.35224922e-03 1.62575740e-05 -9.99997233e-01 2.88006179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.77762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.63, Y:-154.07, Z:1.98 [[-9.96684938e-01 8.13387704e-02 1.77168854e-03 3.46251134e+01] [-8.13387373e-02 -9.96686511e-01 9.08371153e-05 -1.54071146e+02] [ 1.77320665e-03 -5.35709241e-05 9.99998426e-01 1.97726352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.807628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.62, Y:-154.85, Z:2.88 [[-9.88325124e-01 -1.52351445e-01 1.57700567e-03 3.46212054e+01] [-1.52351249e-01 9.88326382e-01 2.44726989e-04 -1.54851993e+02] [-1.59588082e-03 1.61104892e-06 -9.99998727e-01 2.87975292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.837628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.60, Y:-154.83, Z:2.88 [[-9.74551187e-01 -2.24160181e-01 1.48208656e-03 3.45994934e+01] [-2.24159922e-01 9.74552314e-01 3.40538220e-04 -1.54828418e+02] [-1.52070600e-03 -3.52482809e-07 -9.99998844e-01 2.87924702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.56, Y:-154.81, Z:2.88 [[-9.55345281e-01 -2.95479569e-01 2.68665582e-03 3.45610942e+01] [-2.95478415e-01 9.55349059e-01 8.25895725e-04 -1.54811029e+02] [-2.81072942e-03 -4.83321896e-06 -9.99996050e-01 2.88040963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.897628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.50, Y:-154.80, Z:2.88 [[-9.30887109e-01 -3.65290335e-01 3.48741331e-03 3.45039920e+01] [-3.65287804e-01 9.30893641e-01 1.35986898e-03 -1.54802337e+02] [-3.74315788e-03 -8.02504573e-06 -9.99992994e-01 2.88172115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.927628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.44, Y:-154.80, Z:2.88 [[-9.01438066e-01 -4.32887268e-01 4.24586463e-03 3.44366364e+01] [-4.32882510e-01 9.01448065e-01 2.02967621e-03 -1.54802590e+02] [-4.70604744e-03 -8.33313934e-06 -9.99988926e-01 2.88315099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.957628 meters Centerline goodness [0,1] 0.9998676081200353 Centerline is valid? [True, True] Translation: X:34.36, Y:-154.82, Z:2.89 [[-8.67269394e-01 -4.97804002e-01 5.91391378e-03 3.43612052e+01] [-4.97792450e-01 8.67289557e-01 3.39129897e-03 -1.54815882e+02] [-6.81727787e-03 -2.73182473e-06 -9.99976762e-01 2.88766912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.28, Y:-154.84, Z:2.88 [[-8.27462288e-01 -5.61493611e-01 5.57565078e-03 3.42793960e+01] [-5.61480879e-01 8.27481072e-01 3.78110710e-03 -1.54837948e+02] [-6.73681296e-03 -1.89777612e-06 -9.99977307e-01 2.88493185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.19, Y:-154.87, Z:2.88 [[-7.83128565e-01 -6.21833504e-01 5.72221093e-03 3.41941111e+01] [-6.21816873e-01 7.83149470e-01 4.54789667e-03 -1.54870670e+02] [-7.30938099e-03 3.42048213e-06 -9.99973286e-01 2.88464813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.11, Y:-154.92, Z:2.88 [[-7.34233859e-01 -6.78875552e-01 5.35032107e-03 3.41097325e+01] [-6.78857425e-01 7.34253352e-01 4.96098899e-03 -1.54915739e+02] [-7.29638532e-03 1.04209046e-05 -9.99973381e-01 2.88415467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.02, Y:-154.97, Z:2.88 [[-6.80579795e-01 -7.32653834e-01 5.43157337e-03 3.40172128e+01] [-7.32630345e-01 6.80601469e-01 5.86667741e-03 -1.54973207e+02] [-7.99498052e-03 1.34066358e-05 -9.99968040e-01 2.88451042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.93, Y:-155.03, Z:2.88 [[-6.21910389e-01 -7.83072539e-01 4.98655797e-03 3.39333715e+01] [-7.83047274e-01 6.21930381e-01 6.29030247e-03 -1.55029075e+02] [-8.02705502e-03 7.29383072e-06 -9.99967783e-01 2.88386040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.85, Y:-155.10, Z:2.88 [[-5.58620598e-01 -8.29411833e-01 4.36332474e-03 3.38465611e+01] [-8.29386622e-01 5.58637638e-01 6.46688715e-03 -1.55098801e+02] [-7.80123016e-03 -6.34680013e-06 -9.99969570e-01 2.88382521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.16762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.76, Y:-155.18, Z:2.88 [[-4.91300229e-01 -8.70981103e-01 4.00042498e-03 3.37624293e+01] [-8.70952645e-01 4.91316515e-01 7.04076306e-03 -1.55178896e+02] [-8.09784644e-03 -2.50522179e-05 -9.99967212e-01 2.88362069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.69, Y:-155.26, Z:2.88 [[-4.22703236e-01 -9.06260848e-01 3.64003352e-03 3.36873613e+01] [-9.06227793e-01 4.22718908e-01 7.74029082e-03 -1.55263710e+02] [-8.55343351e-03 -2.68535653e-05 -9.99963418e-01 2.88309815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.22762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.62, Y:-155.36, Z:2.88 [[-3.53959785e-01 -9.35255051e-01 3.23431382e-03 3.36186062e+01] [-9.35216134e-01 3.53974562e-01 8.53188285e-03 -1.55357530e+02] [-9.12435134e-03 -4.83903963e-06 -9.99958372e-01 2.88299053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.56, Y:-155.46, Z:2.88 [[-2.82576695e-01 -9.59240962e-01 2.68100147e-03 3.35568191e+01] [-9.59197328e-01 2.82589413e-01 9.14934461e-03 -1.55458464e+02] [-9.53404876e-03 1.37821238e-05 -9.99954550e-01 2.88304462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.28762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.50, Y:-155.56, Z:2.88 [[-2.09737150e-01 -9.77755709e-01 2.02538052e-03 3.35029064e+01] [-9.77708424e-01 2.09746926e-01 9.61583464e-03 -1.55564412e+02] [-9.82675455e-03 3.65661610e-05 -9.99951716e-01 2.88274579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.46, Y:-155.68, Z:2.88 [[-1.35999113e-01 -9.90708108e-01 1.29847358e-03 3.34559630e+01] [-9.90658429e-01 1.36005297e-01 9.92146556e-03 -1.55682057e+02] [-1.00058757e-02 6.29667180e-05 -9.99949938e-01 2.88263603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.34762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.42, Y:-155.79, Z:2.88 [[-6.35211847e-02 -9.97980346e-01 5.36439698e-04 3.34196967e+01] [-9.97928355e-01 6.35233514e-02 1.01873240e-02 -1.55786817e+02] [-1.02008256e-02 1.11782507e-04 -9.99947964e-01 2.88290892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.39, Y:-155.91, Z:2.88 [[ 1.15781434e-02 -9.99932937e-01 -2.61366211e-04 3.33911378e+01] [-9.99877887e-01 -1.15802487e-02 1.04932968e-02 -1.55910188e+02] [-1.04956198e-02 1.39841400e-04 -9.99944910e-01 2.88317289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.40762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.37, Y:-156.03, Z:2.88 [[ 8.66550085e-02 -9.96237727e-01 -1.14037482e-03 3.33726277e+01] [-9.96176040e-01 -8.66623347e-02 1.10877356e-02 -1.56025699e+02] [-1.11448481e-02 1.75206251e-04 -9.99937879e-01 2.88432866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.36, Y:-156.15, Z:2.88 [[ 1.61160716e-01 -9.86925901e-01 -2.11875059e-03 3.33609222e+01] [-9.86857263e-01 -1.61174500e-01 1.16414701e-02 -1.56149546e+02] [-1.18307570e-02 2.14756751e-04 -9.99929991e-01 2.88320704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.46762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.36, Y:-156.27, Z:2.89 [[ 2.33503990e-01 -9.72349765e-01 -3.43811007e-03 3.33613593e+01] [-9.72262223e-01 -2.33529113e-01 1.30508196e-02 -1.56268212e+02] [-1.34928602e-02 2.95326081e-04 -9.99908924e-01 2.88502955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.37, Y:-156.39, Z:2.88 [[ 3.06936433e-01 -9.51718987e-01 -4.58203159e-03 3.33693671e+01] [-9.51628044e-01 -3.06970465e-01 1.31605055e-02 -1.56390241e+02] [-1.39316513e-02 3.20951152e-04 -9.99902898e-01 2.88485454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.52762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.39, Y:-156.51, Z:2.88 [[ 3.79404893e-01 -9.25212302e-01 -5.84153393e-03 3.33866772e+01] [-9.25116020e-01 -3.79449710e-01 1.33516646e-02 -1.56513486e+02] [-1.45696927e-02 3.38409745e-04 -9.99893799e-01 2.88386631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.557628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.41, Y:-156.63, Z:2.88 [[ 4.50871671e-01 -8.92564036e-01 -6.64666258e-03 3.34107410e+01] [-8.92477010e-01 -4.50920554e-01 1.24676033e-02 -1.56629677e+02] [-1.41252511e-02 3.10704432e-04 -9.99900185e-01 2.88413148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.587628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.44, Y:-156.74, Z:2.88 [[ 5.19536477e-01 -8.54419070e-01 -7.06416426e-03 3.34416273e+01] [-8.54347069e-01 -5.19584430e-01 1.10952732e-02 -1.56743981e+02] [-1.31504427e-02 2.70848899e-04 -9.99913493e-01 2.88244197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.48, Y:-156.85, Z:2.88 [[ 5.86445540e-01 -8.09963801e-01 -6.34585577e-03 3.34811882e+01] [-8.09919718e-01 -5.86479844e-01 8.45238881e-03 -1.56854361e+02] [-1.05678455e-02 1.82767994e-04 -9.99944142e-01 2.88159275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.647628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.53, Y:-156.96, Z:2.88 [[ 6.48237001e-01 -7.61414987e-01 -6.00070911e-03 3.35277956e+01] [-7.61384370e-01 -6.48264759e-01 6.82966982e-03 -1.56961168e+02] [-9.09026120e-03 1.41601445e-04 -9.99958673e-01 2.87979466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.677628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.58, Y:-157.06, Z:2.88 [[ 7.06079699e-01 -7.08110224e-01 -5.60075903e-03 3.35800659e+01] [-7.08089133e-01 -7.06101904e-01 5.46630929e-03 -1.57059239e+02] [-7.82545611e-03 1.06186592e-04 -9.99969375e-01 2.87886743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.707628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.57, Y:-157.07, Z:2.88 [[ 7.62114450e-01 -6.47427357e-01 -4.40247602e-03 3.35732352e+01] [-6.47416955e-01 -7.62127164e-01 3.67055081e-03 -1.57067541e+02] [-5.73166157e-03 5.28577985e-05 -9.99983573e-01 2.87684658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.57, Y:-157.07, Z:2.88 [[ 8.11740169e-01 -5.84007621e-01 -3.60513516e-03 3.35677969e+01] [-5.84002030e-01 -8.11748174e-01 2.55573782e-03 -1.57072292e+02] [-4.41903225e-03 3.08111978e-05 -9.99990236e-01 2.87629513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.56, Y:-157.08, Z:2.87 [[ 8.56221031e-01 -5.16600257e-01 -3.11771616e-03 3.35614057e+01] [-5.16596901e-01 -8.56226707e-01 1.86222455e-03 -1.57082354e+02] [-3.63149752e-03 1.61266827e-05 -9.99993406e-01 2.87496679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.55, Y:-157.09, Z:2.87 [[ 8.95133193e-01 -4.45789316e-01 -2.90723785e-03 3.35544895e+01] [-4.45786987e-01 -8.95137914e-01 1.44110705e-03 -1.57090835e+02] [-3.24480895e-03 6.02604192e-06 -9.99994736e-01 2.87475656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.55, Y:-157.10, Z:2.88 [[ 9.29078652e-01 -3.69870765e-01 -2.91132057e-03 3.35486521e+01] [-3.69868917e-01 -9.29083213e-01 1.16936560e-03 -1.57101485e+02] [-3.13737322e-03 -9.62562533e-06 -9.99995078e-01 2.87565221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.85762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.55, Y:-157.11, Z:2.88 [[ 9.55797632e-01 -2.94008655e-01 -3.13002130e-03 3.35456760e+01] [-2.94007019e-01 -9.55802757e-01 9.80923702e-04 -1.57109662e+02] [-3.28008304e-03 -1.73163214e-05 -9.99994620e-01 2.87624474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.54, Y:-157.12, Z:2.88 [[ 9.75860922e-01 -2.18369503e-01 -3.19716961e-03 3.35431943e+01] [-2.18368273e-01 -9.75866159e-01 7.33177256e-04 -1.57115761e+02] [-3.28011318e-03 -1.73186268e-05 -9.99994620e-01 2.87624505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.91762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.54, Y:-157.13, Z:2.88 [[ 9.90203493e-01 -1.39584158e-01 -3.64773605e-03 3.35379625e+01] [-1.39583114e-01 -9.90210211e-01 5.40507844e-04 -1.57125581e+02] [-3.68747181e-03 -2.60503994e-05 -9.99993201e-01 2.87690341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.53, Y:-157.14, Z:2.88 [[ 9.98161131e-01 -6.04582581e-02 -4.37670272e-03 3.35324145e+01] [-6.04575172e-02 -9.98170726e-01 3.01502590e-04 -1.57135321e+02] [-4.38692485e-03 -3.63435862e-05 -9.99990377e-01 2.87826831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.97762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.53, Y:-157.14, Z:2.88 [[ 9.99832548e-01 1.73680340e-02 -5.76432678e-03 3.35280743e+01] [ 1.73680045e-02 -9.99849163e-01 -5.51805321e-05 -1.57141842e+02] [-5.76441568e-03 -4.49435615e-05 -9.99983385e-01 2.87973716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.53, Y:-157.15, Z:2.88 [[ 9.95570637e-01 9.38016716e-02 -6.35247344e-03 3.35250104e+01] [ 9.38000084e-02 -9.95590902e-01 -5.59906031e-04 -1.57147847e+02] [-6.37698488e-03 -3.84360580e-05 -9.99979666e-01 2.88043265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.03762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.52, Y:-157.15, Z:2.88 [[ 9.86240005e-01 1.65163285e-01 -7.19323200e-03 3.35213473e+01] [ 1.65158873e-01 -9.86266237e-01 -1.20725504e-03 -1.57150086e+02] [-7.29383606e-03 2.61712411e-06 -9.99973400e-01 2.88192949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.52, Y:-157.15, Z:2.88 [[ 9.71280340e-01 2.37821041e-01 -7.46019208e-03 3.35168489e+01] [ 2.37813750e-01 -9.71308989e-01 -1.86258162e-03 -1.57154571e+02] [-7.68911272e-03 3.49526603e-05 -9.99970438e-01 2.88230050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.09762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.51, Y:-157.16, Z:2.88 [[ 9.52522393e-01 3.04361430e-01 -8.07534086e-03 3.35118242e+01] [ 3.04349449e-01 -9.52556616e-01 -2.70308517e-03 -1.57155962e+02] [-8.51493422e-03 1.17023616e-04 -9.99963740e-01 2.88205672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.51, Y:-157.16, Z:2.88 [[ 9.27375230e-01 3.74036235e-01 -8.48988734e-03 3.35067182e+01] [ 3.74018916e-01 -9.27414076e-01 -3.60322007e-03 -1.57160624e+02] [-9.22137589e-03 1.66158582e-04 -9.99957468e-01 2.88274744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.15762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.50, Y:-157.17, Z:2.88 [[ 8.96510980e-01 4.42945027e-01 -8.23202021e-03 3.35044280e+01] [ 4.42924359e-01 -8.96548752e-01 -4.28337647e-03 -1.57169226e+02] [-9.27770776e-03 1.93931765e-04 -9.99956942e-01 2.88177085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.50, Y:-157.18, Z:2.88 [[ 8.59270753e-01 5.11475122e-01 -6.85362289e-03 3.35041871e+01] [ 5.11457248e-01 -8.59298068e-01 -4.27939848e-03 -1.57180273e+02] [-8.07811077e-03 1.71826851e-04 -9.99967357e-01 2.88108832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.21762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.50, Y:-157.19, Z:2.88 [[ 8.17159330e-01 5.76373963e-01 -6.60937460e-03 3.35033087e+01] [ 5.76353286e-01 -8.17186038e-01 -4.88549453e-03 -1.57190808e+02] [-8.21696049e-03 1.82892668e-04 -9.99966224e-01 2.88105785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.50, Y:-157.20, Z:2.88 [[ 7.69911730e-01 6.38116999e-01 -6.52870091e-03 3.35030646e+01] [ 6.38091859e-01 -7.69939385e-01 -5.66772016e-03 -1.57201411e+02] [-8.64337254e-03 1.97733336e-04 -9.99962626e-01 2.88175372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.27762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.51, Y:-157.21, Z:2.88 [[ 7.17749287e-01 6.96273477e-01 -6.26149655e-03 3.35061822e+01] [ 6.96244444e-01 -7.17776569e-01 -6.36164517e-03 -1.57214197e+02] [-8.92380031e-03 2.06534095e-04 -9.99960161e-01 2.88175124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.307628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.51, Y:-157.23, Z:2.88 [[ 6.60361912e-01 7.50927290e-01 -5.50911291e-03 3.35091266e+01] [ 7.50898719e-01 -6.60384864e-01 -6.55324117e-03 -1.57226369e+02] [-8.55914242e-03 1.90725044e-04 -9.99963352e-01 2.88279883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.337628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.51, Y:-157.24, Z:2.88 [[ 5.98568528e-01 8.01056256e-01 -4.95911467e-03 3.35133645e+01] [ 8.01026238e-01 -5.98589043e-01 -6.93705710e-03 -1.57237953e+02] [-8.52544469e-03 1.79923086e-04 -9.99963642e-01 2.88236988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.52, Y:-157.25, Z:2.88 [[ 5.32937963e-01 8.46143350e-01 -4.30806412e-03 3.35165797e+01] [ 8.46113155e-01 -5.32955350e-01 -7.15012298e-03 -1.57249538e+02] [-8.34603483e-03 1.65462252e-04 -9.99965158e-01 2.88266700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.397628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.53, Y:-157.26, Z:2.88 [[ 4.62222740e-01 8.86757170e-01 -3.44392022e-03 3.35261922e+01] [ 8.86730455e-01 -4.62235552e-01 -6.88433205e-03 -1.57261713e+02] [-7.69663317e-03 1.28265886e-04 -9.99970372e-01 2.88207358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.427628 meters Centerline goodness [0,1] 0.999977804905116 Centerline is valid? [True, True] Translation: X:33.53, Y:-157.27, Z:2.88 [[ 3.89558039e-01 9.20996893e-01 -3.04251360e-03 3.35332896e+01] [ 9.20966376e-01 -3.89569902e-01 -7.49837266e-03 -1.57271381e+02] [-8.09124965e-03 1.18998628e-04 -9.99967258e-01 2.88277100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.54, Y:-157.28, Z:2.88 [[ 3.13824383e-01 9.49478096e-01 -2.36694744e-03 3.35420196e+01] [ 9.49448753e-01 -3.13833294e-01 -7.46519173e-03 -1.57281470e+02] [-7.83086294e-03 9.54638959e-05 -9.99969334e-01 2.88198241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.55, Y:-157.29, Z:2.88 [[ 2.32279055e-01 9.72647204e-01 -1.96380231e-03 3.35529479e+01] [ 9.72610600e-01 -2.32287350e-01 -8.43849363e-03 -1.57291692e+02] [-8.66384368e-03 5.00703819e-05 -9.99962467e-01 2.88388729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.56, Y:-157.30, Z:2.88 [[ 1.52254925e-01 9.88340403e-01 -1.29867910e-03 3.35623661e+01] [ 9.88303155e-01 -1.52260462e-01 -8.58058074e-03 -1.57299501e+02] [-8.67827210e-03 2.29470231e-05 -9.99962343e-01 2.88408084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.57, Y:-157.31, Z:2.88 [[ 7.14503347e-02 9.97443974e-01 -6.06440437e-04 3.35702787e+01] [ 9.97408367e-01 -7.14529082e-02 -8.42803612e-03 -1.57307436e+02] [-8.44982577e-03 -2.68276409e-06 -9.99964300e-01 2.88413371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.58, Y:-157.31, Z:2.88 [[-1.17957652e-02 9.99930426e-01 5.30632354e-05 3.35793789e+01] [ 9.99897784e-01 1.17958089e-02 -8.07963965e-03 -1.57313523e+02] [-8.07970344e-03 -4.22477207e-05 -9.99967358e-01 2.88384456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.60762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.59, Y:-157.32, Z:2.88 [[-9.16249227e-02 9.95793341e-01 7.03684549e-04 3.35865727e+01] [ 9.95759079e-01 9.16276076e-02 -8.26059194e-03 -1.57319218e+02] [-8.29031938e-03 -5.61758194e-05 -9.99965633e-01 2.88449839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.60, Y:-157.32, Z:2.88 [[-1.70347172e-01 9.85383178e-01 1.35383898e-03 3.35965446e+01] [ 9.85348950e-01 1.70352540e-01 -8.21331743e-03 -1.57322925e+02] [-8.32389474e-03 -6.51115845e-05 -9.99965354e-01 2.88432718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.66762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.61, Y:-157.33, Z:2.88 [[-2.47206952e-01 9.68960829e-01 1.90630885e-03 3.36054435e+01] [ 9.68929990e-01 2.47214294e-01 -7.73099012e-03 -1.57326043e+02] [-7.96229339e-03 -6.40746927e-05 -9.99968298e-01 2.88422181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.61, Y:-157.33, Z:2.88 [[-3.19952133e-01 9.47431468e-01 2.06074829e-03 3.36127414e+01] [ 9.47411088e-01 3.19958767e-01 -6.21437896e-03 -1.57329944e+02] [-6.54705267e-03 -3.59280240e-05 -9.99978567e-01 2.88209595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.72762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.62, Y:-157.33, Z:2.88 [[-3.91247659e-01 9.20282568e-01 2.29435239e-03 3.36217560e+01] [ 9.20266446e-01 3.91254386e-01 -5.44732728e-03 -1.57334278e+02] [-5.91075577e-03 -1.98385306e-05 -9.99982531e-01 2.88196559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.63, Y:-157.34, Z:2.88 [[-4.57607356e-01 8.89152090e-01 2.01712666e-03 3.36270800e+01] [ 8.89143528e-01 4.57611802e-01 -3.90192043e-03 -1.57338328e+02] [-4.39246167e-03 7.96762849e-06 -9.99990353e-01 2.88030832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.78762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.63, Y:-157.34, Z:2.88 [[-5.23873346e-01 8.51793640e-01 2.07657016e-03 3.36348758e+01] [ 8.51787073e-01 5.23877462e-01 -3.34487563e-03 -1.57341104e+02] [-3.93701210e-03 1.65044285e-05 -9.99992250e-01 2.87971716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.64, Y:-157.34, Z:2.88 [[-5.87313271e-01 8.09356205e-01 2.37816630e-03 3.36448635e+01] [ 8.09349741e-01 5.87318086e-01 -3.23463283e-03 -1.57342200e+02] [-4.01471023e-03 2.50254955e-05 -9.99991941e-01 2.87941465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.84762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.66, Y:-157.34, Z:2.88 [[-6.47288209e-01 7.62240729e-01 2.65437436e-03 3.36552846e+01] [ 7.62234534e-01 6.47293651e-01 -3.07340577e-03 -1.57343293e+02] [-4.06083473e-03 3.38764911e-05 -9.99991754e-01 2.87965055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.66, Y:-157.34, Z:2.88 [[-7.02349239e-01 7.11821455e-01 3.97009485e-03 3.36638892e+01] [ 7.11810621e-01 7.02360457e-01 -3.92800772e-03 -1.57344282e+02] [-5.58447780e-03 6.71224386e-05 -9.99984404e-01 2.88162416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.90762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.69, Y:-157.33, Z:2.88 [[-7.49786585e-01 6.61659645e-01 5.15672847e-03 3.36858705e+01] [ 6.61644847e-01 7.49804312e-01 -4.42617969e-03 -1.57328804e+02] [-6.79516173e-03 9.32326642e-05 -9.99976908e-01 2.88283553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.23, Y:-156.71, Z:1.97 [[-7.24007782e-01 -6.89765613e-01 6.01087206e-03 3.42311058e+01] [ 6.89741526e-01 -7.24032733e-01 -5.76452764e-03 -1.56710804e+02] [ 8.32824107e-03 -2.76148071e-05 9.99965319e-01 1.97368302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.96762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.65, Y:-157.30, Z:2.89 [[-7.47984480e-01 6.63673025e-01 7.57191011e-03 3.36497363e+01] [ 6.63641672e-01 7.48022778e-01 -6.45397674e-03 -1.57304384e+02] [-9.94729150e-03 1.97560649e-04 -9.99950505e-01 2.88619330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.68, Y:-157.29, Z:2.89 [[-7.91694150e-01 6.10861159e-01 8.30767367e-03 3.36770283e+01] [ 6.10830528e-01 7.91737704e-01 -6.12159381e-03 -1.57293090e+02] [-1.03169424e-02 2.28150688e-04 -9.99946753e-01 2.88677816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.02762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.70, Y:-157.28, Z:2.89 [[-8.29734174e-01 5.58081983e-01 9.25751588e-03 3.37016932e+01] [ 5.58051297e-01 8.29785760e-01 -5.86020267e-03 -1.57280013e+02] [-1.09522284e-02 3.03758325e-04 -9.99939976e-01 2.88632386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.057628 meters Centerline goodness [0,1] 0.9998428908091124 Centerline is valid? [True, True] Translation: X:33.72, Y:-157.26, Z:2.89 [[-8.65247916e-01 5.01234119e-01 1.05072167e-02 3.37223349e+01] [ 5.01202393e-01 8.65311630e-01 -5.65200550e-03 -1.57262300e+02] [-1.19249948e-02 3.75856143e-04 -9.99928824e-01 2.88806076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.087628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.13, Y:-156.52, Z:1.97 [[-8.64410179e-01 -5.02706385e-01 9.01848606e-03 3.41343885e+01] [ 5.02674038e-01 -8.64457126e-01 -5.71738887e-03 -1.56522097e+02] [ 1.06702624e-02 -4.08810335e-04 9.99942988e-01 1.97184303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.68, Y:-157.25, Z:2.89 [[-8.64271520e-01 5.02934972e-01 9.54749835e-03 3.36848045e+01] [ 5.02909375e-01 8.64324159e-01 -5.08998217e-03 -1.57246571e+02] [-1.08120635e-02 4.02399804e-04 -9.99941467e-01 2.88627945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.147628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.70, Y:-157.23, Z:2.89 [[-8.95522015e-01 4.44913044e-01 9.62826862e-03 3.37022631e+01] [ 4.44892604e-01 8.95573663e-01 -4.28777071e-03 -1.57226035e+02] [-1.05305089e-02 4.43752428e-04 -9.99944454e-01 2.88743903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.177628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.72, Y:-157.20, Z:2.89 [[-9.24175357e-01 3.81863114e-01 8.97060717e-03 3.37242228e+01] [ 3.81849470e-01 9.24218799e-01 -3.25485363e-03 -1.57204126e+02] [-9.53371233e-03 4.17366081e-04 -9.99954466e-01 2.88623475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.207628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.02, Y:-156.41, Z:1.97 [[-9.32234098e-01 -3.61763056e-01 8.19017298e-03 3.40209247e+01] [ 3.61745032e-01 -9.32269977e-01 -3.63623599e-03 -1.56405094e+02] [ 8.95090822e-03 -4.27068788e-04 9.99959849e-01 1.97332185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.68, Y:-157.19, Z:2.88 [[-9.24433441e-01 3.81281212e-01 6.88839405e-03 3.36799338e+01] [ 3.81273371e-01 9.24459041e-01 -2.46926801e-03 -1.57187959e+02] [-7.30952365e-03 3.43687298e-04 -9.99973226e-01 2.88221586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.98, Y:-156.39, Z:1.98 [[-9.34221171e-01 -3.56639966e-01 6.22398777e-03 3.39772775e+01] [ 3.56629520e-01 -9.34241837e-01 -2.75216503e-03 -1.56391313e+02] [ 6.79624182e-03 -3.51473067e-04 9.99976844e-01 1.97601489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.29762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.64, Y:-157.17, Z:2.88 [[-9.26073613e-01 3.77301015e-01 5.62197157e-03 3.36371628e+01] [ 3.77295865e-01 9.26090636e-01 -1.99081105e-03 -1.57170104e+02] [-5.95759026e-03 2.77509043e-04 -9.99982215e-01 2.88091342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.92, Y:-156.38, Z:1.98 [[-9.34283275e-01 -3.56508620e-01 4.04556580e-03 3.39236656e+01] [ 3.56503841e-01 -9.34291984e-01 -1.87099936e-03 -1.56381016e+02] [ 4.44676710e-03 -3.05783664e-04 9.99990066e-01 1.97748099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.35762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.59, Y:-157.14, Z:2.88 [[-9.29518863e-01 3.68759904e-01 3.28880666e-03 3.35941264e+01] [ 3.68758140e-01 9.29524670e-01 -1.14970520e-03 -1.57141347e+02] [-3.48099210e-03 1.44101560e-04 -9.99993931e-01 2.87975449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.61, Y:-157.11, Z:2.88 [[-9.54060787e-01 2.99598266e-01 2.98230635e-03 3.36061404e+01] [ 2.99597194e-01 9.54065440e-01 -8.10387277e-04 -1.57110448e+02] [-3.08810604e-03 1.20331892e-04 -9.99995225e-01 2.87986788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.41762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.61, Y:-157.07, Z:2.88 [[-9.74194731e-01 2.25685589e-01 3.26204337e-03 3.36129743e+01] [ 2.25684702e-01 9.74200186e-01 -6.42106753e-04 -1.57074376e+02] [-3.32279750e-03 1.10656271e-04 -9.99994473e-01 2.88068454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.77, Y:-156.30, Z:1.98 [[-9.73172864e-01 -2.30044225e-01 3.77235110e-03 3.37676985e+01] [ 2.30042132e-01 -9.73180171e-01 -9.85562761e-04 -1.56299603e+02] [ 3.89790031e-03 -9.13232449e-05 9.99992399e-01 1.97633823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.47762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.56, Y:-157.06, Z:2.88 [[-9.76282680e-01 2.16463551e-01 3.95723456e-03 3.35557750e+01] [ 2.16462237e-01 9.76290694e-01 -7.62430780e-04 -1.57056185e+02] [-4.02844975e-03 1.12243881e-04 -9.99991879e-01 2.88101495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.71, Y:-156.30, Z:1.98 [[-9.72498434e-01 -2.32882118e-01 3.56593491e-03 3.37064131e+01] [ 2.32880076e-01 -9.72504963e-01 -9.83237746e-04 -1.56300299e+02] [ 3.69686788e-03 -1.25761976e-04 9.99993159e-01 1.97617964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.53762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.50, Y:-157.03, Z:2.88 [[-9.78557161e-01 2.05947853e-01 3.37099646e-03 3.35045099e+01] [ 2.05946888e-01 9.78562965e-01 -6.34856479e-04 -1.57034458e+02] [-3.42947962e-03 7.30028740e-05 -9.99994117e-01 2.88140421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.50, Y:-157.00, Z:2.88 [[-9.90958136e-01 1.34134173e-01 3.16187590e-03 3.35046875e+01] [ 1.34133689e-01 9.90963178e-01 -3.65456489e-04 -1.57002886e+02] [-3.18232280e-03 6.19619981e-05 -9.99994935e-01 2.88169062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.59762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.50, Y:-156.97, Z:2.88 [[-9.98068650e-01 6.20215878e-02 3.50595735e-03 3.35031322e+01] [ 6.20214277e-02 9.98074806e-01 -1.54475262e-04 -1.56971518e+02] [-3.50878851e-03 6.32675640e-05 -9.99993842e-01 2.88233816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.627628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.53, Y:-156.24, Z:1.97 [[-9.95293218e-01 -9.67751889e-02 5.09636085e-03 3.35338830e+01] [ 9.67740123e-02 -9.95306266e-01 -4.77544257e-04 -1.56236153e+02] [ 5.11865433e-03 1.78987277e-05 9.99986899e-01 1.97384980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.65762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.42, Y:-156.96, Z:2.88 [[-9.98618497e-01 5.22363240e-02 5.69763168e-03 3.34248197e+01] [ 5.22359073e-02 9.98634748e-01 -2.22029442e-04 -1.56960180e+02] [-5.70145099e-03 7.58982527e-05 -9.99983744e-01 2.88401730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.42, Y:-156.93, Z:2.88 [[-9.99729411e-01 -2.24633278e-02 6.04177787e-03 3.34210502e+01] [-2.24625622e-02 9.99747666e-01 1.94545494e-04 -1.56929170e+02] [-6.04462347e-03 5.87790412e-05 -9.99981729e-01 2.88490061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.71762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.41, Y:-156.90, Z:2.88 [[-9.95416916e-01 -9.54238317e-02 6.28140100e-03 3.34127225e+01] [-9.54216148e-02 9.95436733e-01 6.52354242e-04 -1.56900520e+02] [-6.31498743e-03 4.99830209e-05 -9.99980059e-01 2.88444093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.40, Y:-156.87, Z:2.88 [[-9.85678298e-01 -1.68527885e-01 6.05342553e-03 3.34003716e+01] [-1.68524496e-01 9.85696886e-01 1.06931123e-03 -1.56872831e+02] [-6.14705146e-03 3.38463834e-05 -9.99981106e-01 2.88430541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.77762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.38, Y:-156.85, Z:2.88 [[-9.71012311e-01 -2.38955140e-01 5.96091299e-03 3.33753179e+01] [-2.38950423e-01 9.71030607e-01 1.50174575e-03 -1.56849874e+02] [-6.14707882e-03 3.38509266e-05 -9.99981106e-01 2.88430591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.807628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.33, Y:-156.83, Z:2.88 [[-9.49671334e-01 -3.13198848e-01 5.55323258e-03 3.33312825e+01] [-3.13193463e-01 9.49687571e-01 1.83658639e-03 -1.56829900e+02] [-5.84905270e-03 4.91730522e-06 -9.99982894e-01 2.88438028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.837628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.27, Y:-156.82, Z:2.88 [[-9.23179611e-01 -3.84332013e-01 5.32068080e-03 3.32688613e+01] [-3.84325681e-01 9.23194944e-01 2.20609446e-03 -1.56821966e+02] [-5.75989833e-03 -8.25284608e-06 -9.99983412e-01 2.88427889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.20, Y:-156.82, Z:2.89 [[-8.90914369e-01 -4.54130547e-01 6.08543841e-03 3.31990099e+01] [-4.54120184e-01 8.90935152e-01 3.06820684e-03 -1.56821741e+02] [-6.81509745e-03 -3.00108467e-05 -9.99976777e-01 2.88512740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.897628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.12, Y:-156.83, Z:2.89 [[-8.54072713e-01 -5.20114863e-01 6.35055955e-03 3.31244980e+01] [-5.20100839e-01 8.54096322e-01 3.81968692e-03 -1.56831518e+02] [-7.41066550e-03 -4.06409772e-05 -9.99972540e-01 2.88517144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.927628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.04, Y:-156.85, Z:2.89 [[-8.12662915e-01 -5.82698554e-01 6.43294398e-03 3.30438622e+01] [-5.82680722e-01 8.12688374e-01 4.55877087e-03 -1.56851708e+02] [-7.88436798e-03 -4.36084211e-05 -9.99968917e-01 2.88627015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.957628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.96, Y:-156.89, Z:2.89 [[-7.66778725e-01 -6.41878831e-01 6.47713518e-03 3.29565623e+01] [-6.41856405e-01 7.66806080e-01 5.36567453e-03 -1.56885312e+02] [-8.41081953e-03 -4.31056222e-05 -9.99964628e-01 2.88602387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.88, Y:-156.92, Z:2.89 [[-7.17492813e-01 -6.96537640e-01 6.27531138e-03 3.28753560e+01] [-6.96511315e-01 7.17520254e-01 6.05587483e-03 -1.56924857e+02] [-8.72080778e-03 -2.57787185e-05 -9.99961973e-01 2.88659405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.79, Y:-156.98, Z:2.89 [[-6.63828408e-01 -7.47860671e-01 6.02170020e-03 3.27893052e+01] [-7.47830053e-01 6.63855720e-01 6.76722100e-03 -1.56977300e+02] [-9.05847856e-03 -1.09348335e-05 -9.99958971e-01 2.88683379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.71, Y:-157.04, Z:2.89 [[-6.08526610e-01 -7.93512769e-01 5.73145964e-03 3.27081383e+01] [-7.93477082e-01 6.08553600e-01 7.52578105e-03 -1.57041193e+02] [-9.45970376e-03 3.18561625e-05 -9.99955256e-01 2.88588582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.63, Y:-157.11, Z:2.89 [[-5.47749485e-01 -8.36625770e-01 5.27477522e-03 3.26301066e+01] [-8.36586062e-01 5.47774880e-01 8.15118222e-03 -1.57111600e+02] [-9.70887846e-03 5.20024359e-05 -9.99952866e-01 2.88661027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.55, Y:-157.19, Z:2.88 [[-4.83915140e-01 -8.75103372e-01 4.49735371e-03 3.25530933e+01] [-8.75064221e-01 4.83936033e-01 8.27795526e-03 -1.57192079e+02] [-9.42049807e-03 7.03545555e-05 -9.99955624e-01 2.88415026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.48, Y:-157.28, Z:2.88 [[-4.18378328e-01 -9.08264407e-01 3.91694926e-03 3.24836473e+01] [-9.08222234e-01 4.18396650e-01 8.75308697e-03 -1.57284833e+02] [-9.58895579e-03 1.04641476e-04 -9.99954019e-01 2.88397394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.16762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.42, Y:-157.38, Z:2.88 [[-3.48405676e-01 -9.37338606e-01 3.13394051e-03 3.24184579e+01] [-9.37297708e-01 3.48419753e-01 8.75685982e-03 -1.57376286e+02] [-9.30006956e-03 1.13504410e-04 -9.99956747e-01 2.88339910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.36, Y:-157.48, Z:2.88 [[-2.76465081e-01 -9.61020824e-01 2.45658845e-03 3.23597640e+01] [-9.60978717e-01 2.76475966e-01 8.99704707e-03 -1.57477751e+02] [-9.32553725e-03 1.26640124e-04 -9.99956508e-01 2.88397363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.22762800000004 meters Centerline goodness [0,1] 0.999956401368997 Centerline is valid? [True, True] Translation: X:32.31, Y:-157.59, Z:2.88 [[-2.02995385e-01 -9.79177792e-01 1.93017292e-03 3.23076302e+01] [-9.79125994e-01 2.03004502e-01 1.00727643e-02 -1.57590055e+02] [-1.02548609e-02 1.54842193e-04 -9.99947406e-01 2.88490525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.27, Y:-157.70, Z:2.88 [[-1.28448732e-01 -9.91715508e-01 1.12868287e-03 3.22684470e+01] [-9.91664728e-01 1.28453579e-01 1.00372380e-02 -1.57699253e+02] [-1.00990680e-02 1.69995511e-04 -9.99948989e-01 2.88385962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.28762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.24, Y:-157.82, Z:2.88 [[-5.24480804e-02 -9.98623598e-01 3.28117200e-04 3.22351256e+01] [-9.98578557e-01 5.24488317e-02 9.48606324e-03 -1.57817311e+02] [-9.49021597e-03 1.69875008e-04 -9.99954952e-01 2.88327266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.317628 meters Centerline goodness [0,1] 0.9998680825803047 Centerline is valid? [True, True] Translation: X:32.21, Y:-157.94, Z:2.89 [[ 2.22909669e-02 -9.99751434e-01 -4.27235318e-04 3.22136505e+01] [-9.99701812e-01 -2.22941181e-02 9.96288981e-03 -1.57936948e+02] [-9.96993822e-03 2.05025474e-04 -9.99950278e-01 2.88510661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.34762800000004 meters Centerline goodness [0,1] 0.9999339352565514 Centerline is valid? [True, True] Translation: X:32.20, Y:-158.06, Z:2.89 [[ 9.90151088e-02 -9.95085220e-01 -1.18871538e-03 3.21989618e+01] [-9.95036650e-01 -9.90220233e-02 9.83385365e-03 -1.58058734e+02] [-9.90323142e-03 2.09115284e-04 -9.99950940e-01 2.88513900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.19, Y:-158.18, Z:2.88 [[ 1.75893778e-01 -9.84407429e-01 -1.84208837e-03 3.21928383e+01] [-9.84364542e-01 -1.75903313e-01 9.19094637e-03 -1.58179401e+02] [-9.37166533e-03 1.96656203e-04 -9.99956066e-01 2.88338813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.40762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.19, Y:-158.30, Z:2.88 [[ 2.52041656e-01 -9.67712827e-01 -2.62457617e-03 3.21933002e+01] [-9.67668224e-01 -2.52055243e-01 9.29315685e-03 -1.58304095e+02] [-9.65464527e-03 1.97456319e-04 -9.99953373e-01 2.88282285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.437628 meters Centerline goodness [0,1] 0.9998893315626384 Centerline is valid? [True, True] Translation: X:32.20, Y:-158.43, Z:2.88 [[ 3.26550739e-01 -9.45172189e-01 -3.76147690e-03 3.22022072e+01] [-9.45116931e-01 -3.26572330e-01 1.02225510e-02 -1.58425046e+02] [-1.08904652e-02 2.16853926e-04 -9.99940674e-01 2.88413097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.46762800000005 meters Centerline goodness [0,1] 0.999889404998894 Centerline is valid? [True, True] Translation: X:32.22, Y:-158.54, Z:2.89 [[ 3.99835587e-01 -9.16575122e-01 -4.64214553e-03 3.22247819e+01] [-9.16519220e-01 -3.99862481e-01 1.01249983e-02 -1.58544988e+02] [-1.11365414e-02 2.06280957e-04 -9.99937966e-01 2.88593669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.497628 meters Centerline goodness [0,1] 0.9999557081164877 Centerline is valid? [True, True] Translation: X:32.25, Y:-158.66, Z:2.88 [[ 4.72085064e-01 -8.81538785e-01 -5.00621858e-03 3.22527827e+01] [-8.81492753e-01 -4.72111581e-01 9.01014064e-03 -1.58661244e+02] [-1.03062822e-02 1.59392575e-04 -9.99946876e-01 2.88257856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.52762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.29, Y:-158.77, Z:2.88 [[ 5.40102020e-01 -8.41583246e-01 -5.23913036e-03 3.22896811e+01] [-8.41545960e-01 -5.40127415e-01 7.92291101e-03 -1.58773498e+02] [-9.49758710e-03 1.29788745e-04 -9.99954889e-01 2.88061844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.557628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.33, Y:-158.88, Z:2.88 [[ 6.04676136e-01 -7.96454730e-01 -5.16083147e-03 3.23338569e+01] [-7.96427115e-01 -6.04698151e-01 6.63303451e-03 -1.58882852e+02] [-8.40365696e-03 9.93884330e-05 -9.99964684e-01 2.88012513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.587628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.38, Y:-158.99, Z:2.88 [[ 6.67979201e-01 -7.44162087e-01 -5.15501379e-03 3.23816876e+01] [-7.44140507e-01 -6.67999091e-01 5.66750800e-03 -1.58986283e+02] [-7.66108911e-03 5.02771080e-05 -9.99970652e-01 2.88037454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.44, Y:-159.08, Z:2.88 [[ 7.25017580e-01 -6.88708814e-01 -5.44779646e-03 3.24360759e+01] [-6.88689654e-01 -7.25038047e-01 5.13728877e-03 -1.59082981e+02] [-7.48795575e-03 2.72163854e-05 -9.99971965e-01 2.88069212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.647628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.43, Y:-159.09, Z:2.88 [[ 7.78546989e-01 -6.27557474e-01 -6.01691018e-03 3.24303922e+01] [-6.27538776e-01 -7.78570239e-01 4.84429817e-03 -1.59090562e+02] [-7.72466272e-03 4.33069633e-06 -9.99970164e-01 2.88052844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.677628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.42, Y:-159.10, Z:2.88 [[ 8.28811733e-01 -5.59484617e-01 -6.93352740e-03 3.24244343e+01] [-5.59464543e-01 -8.28840733e-01 4.73965326e-03 -1.59097713e+02] [-8.39855302e-03 -4.92174908e-05 -9.99964730e-01 2.88210680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.707628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.42, Y:-159.10, Z:2.88 [[ 8.71374073e-01 -4.90562639e-01 -7.45134732e-03 3.24195282e+01] [-4.90543970e-01 -8.71405928e-01 4.28044594e-03 -1.59104840e+02] [-8.59297509e-03 -7.46561165e-05 -9.99963077e-01 2.88211028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.42, Y:-159.11, Z:2.88 [[ 9.08750337e-01 -4.17262224e-01 -8.06606914e-03 3.24156209e+01] [-4.17244674e-01 -9.08786127e-01 3.82862708e-03 -1.59111238e+02] [-8.92787318e-03 -1.13741767e-04 -9.99960139e-01 2.88341440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.767628 meters Centerline goodness [0,1] 0.9999552652769079 Centerline is valid? [True, True] Translation: X:32.41, Y:-159.12, Z:2.89 [[ 9.38911632e-01 -3.44035374e-01 -9.19828429e-03 3.24119741e+01] [-3.44017455e-01 -9.38956678e-01 3.51393063e-03 -1.59116430e+02] [-9.84570690e-03 -1.34899998e-04 -9.99951521e-01 2.88558408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.41, Y:-159.12, Z:2.89 [[ 9.62927431e-01 -2.69561367e-01 -1.03649704e-02 3.24096757e+01] [-2.69544093e-01 -9.62983202e-01 3.05522604e-03 -1.59116279e+02] [-1.08048633e-02 -1.48144407e-04 -9.99941615e-01 2.88565832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.41, Y:-159.12, Z:2.89 [[ 9.80822256e-01 -1.94571947e-01 -1.13779932e-02 3.24075326e+01] [-1.94557122e-01 -9.80888238e-01 2.40627312e-03 -1.59120105e+02] [-1.16287329e-02 -1.46456618e-04 -9.99932373e-01 2.88621742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.85762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.40, Y:-159.13, Z:2.89 [[ 9.92741120e-01 -1.19513941e-01 -1.34716687e-02 3.24005472e+01] [-1.19501029e-01 -9.92832513e-01 1.76226422e-03 -1.59125923e+02] [-1.35857258e-02 -1.39593883e-04 -9.99907700e-01 2.89002448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.40, Y:-159.13, Z:2.89 [[ 9.98975506e-01 -4.27678031e-02 -1.47936940e-02 3.23966132e+01] [-4.27611585e-02 -9.99085030e-01 7.65320717e-04 -1.59126343e+02] [-1.48128893e-02 -1.31941157e-04 -9.99890274e-01 2.89136706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.91762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.39, Y:-159.13, Z:2.89 [[ 9.99270479e-01 3.47620849e-02 -1.58147714e-02 3.23922177e+01] [ 3.47597607e-02 -9.99395608e-01 -4.21897589e-04 -1.59132735e+02] [-1.58198791e-02 -1.28127863e-04 -9.99874850e-01 2.89044535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.39, Y:-159.14, Z:2.89 [[ 9.93691549e-01 1.11146214e-01 -1.49540718e-02 3.23873444e+01] [ 1.11135076e-01 -9.93804060e-01 -1.57631572e-03 -1.59140722e+02] [-1.50366188e-02 -9.55502955e-05 -9.99886939e-01 2.89099793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.97762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.38, Y:-159.15, Z:2.89 [[ 9.82113321e-01 1.87774947e-01 -1.39281474e-02 3.23836109e+01] [ 1.87757190e-01 -9.82212076e-01 -2.58347405e-03 -1.59148196e+02] [-1.41655063e-02 -7.78455361e-05 -9.99899661e-01 2.88815725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.38, Y:-159.15, Z:2.89 [[ 9.64911065e-01 2.62300830e-01 -1.20379169e-02 3.23799463e+01] [ 2.62281000e-01 -9.64986151e-01 -3.22558389e-03 -1.59154465e+02] [-1.24624964e-02 -4.49153004e-05 -9.99922339e-01 2.88698327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.03762800000004 meters Centerline goodness [0,1] 0.9998663101604278 Centerline is valid? [True, True] Translation: X:32.38, Y:-159.16, Z:2.89 [[ 9.41972846e-01 3.35464997e-01 -1.22634667e-02 3.23759611e+01] [ 3.35436914e-01 -9.42052671e-01 -4.34067840e-03 -1.59160519e+02] [-1.30089772e-02 -2.48182318e-05 -9.99915379e-01 2.88953890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.37, Y:-159.17, Z:2.89 [[ 9.13500458e-01 4.06682219e-01 -1.12466194e-02 3.23737994e+01] [ 4.06651441e-01 -9.13569687e-01 -5.00323883e-03 -1.59168787e+02] [-1.23092988e-02 -2.99301535e-06 -9.99924238e-01 2.88734883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.09762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.37, Y:-159.18, Z:2.89 [[ 8.79888829e-01 4.75054696e-01 -1.08942329e-02 3.23707676e+01] [ 4.75017953e-01 -8.79956269e-01 -5.90841198e-03 -1.59175870e+02] [-1.23932673e-02 2.37895149e-05 -9.99923200e-01 2.88861404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.37, Y:-159.18, Z:2.89 [[ 8.43151786e-01 5.37586274e-01 -9.80127609e-03 3.23652230e+01] [ 5.37548702e-01 -8.43208747e-01 -6.35627669e-03 -1.59177945e+02] [-1.16815688e-02 9.06427984e-05 -9.99931764e-01 2.88828608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.15762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.36, Y:-159.18, Z:2.89 [[ 8.00311675e-01 5.99518602e-01 -8.86958291e-03 3.23612344e+01] [ 5.99480106e-01 -8.00360813e-01 -6.79495703e-03 -1.59182096e+02] [-1.11725697e-02 1.20944937e-04 -9.99937578e-01 2.88817574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.36, Y:-159.19, Z:2.89 [[ 7.53908937e-01 6.56933690e-01 -7.70980626e-03 3.23585753e+01] [ 6.56897164e-01 -7.53948341e-01 -6.92923061e-03 -1.59188812e+02] [-1.03648407e-02 1.59459017e-04 -9.99946271e-01 2.88506423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.21762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.36, Y:-159.20, Z:2.88 [[ 7.00757186e-01 7.13363480e-01 -7.20504015e-03 3.23557747e+01] [ 7.13323267e-01 -7.00794205e-01 -7.57628304e-03 -1.59196481e+02] [-1.04538940e-02 1.69612008e-04 -9.99945342e-01 2.88476222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.36, Y:-159.21, Z:2.88 [[ 6.43204776e-01 7.65666345e-01 -6.53181807e-03 3.23592023e+01] [ 7.65624093e-01 -6.43237918e-01 -8.04549831e-03 -1.59208534e+02] [-1.03616803e-02 1.73985658e-04 -9.99946301e-01 2.88319317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.27762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.37, Y:-159.22, Z:2.88 [[ 5.81065822e-01 8.13832531e-01 -6.25480636e-03 3.23650874e+01] [ 8.13781976e-01 -5.81099457e-01 -9.07282807e-03 -1.59221208e+02] [-1.10184272e-02 1.81861613e-04 -9.99939279e-01 2.88472397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.307628 meters Centerline goodness [0,1] 0.9998433548906841 Centerline is valid? [True, True] Translation: X:32.37, Y:-159.23, Z:2.89 [[ 5.15522515e-01 8.56853105e-01 -6.26831071e-03 3.23703144e+01] [ 8.56784855e-01 -5.15560582e-01 -1.08166347e-02 -1.59232304e+02] [-1.24999610e-02 2.05625070e-04 -9.99921851e-01 2.88872141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.337628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.38, Y:-159.24, Z:2.89 [[ 4.47007695e-01 8.94506622e-01 -6.48259927e-03 3.23774556e+01] [ 8.94404338e-01 -4.47054629e-01 -1.35291913e-02 -1.59243694e+02] [-1.50000272e-02 2.49587700e-04 -9.99887462e-01 2.88929880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.367628 meters Centerline goodness [0,1] 0.9999107222569413 Centerline is valid? [True, True] Translation: X:32.38, Y:-159.25, Z:2.89 [[ 3.76431512e-01 9.26425305e-01 -5.95579019e-03 3.23840240e+01] [ 9.26296910e-01 -3.76478512e-01 -1.54260892e-02 -1.59253775e+02] [-1.65333464e-02 2.90036023e-04 -9.99863273e-01 2.89268826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.397628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.39, Y:-159.26, Z:2.89 [[ 3.03283823e-01 9.52887369e-01 -4.95823147e-03 3.23895472e+01] [ 9.52742617e-01 -3.03324188e-01 -1.66115398e-02 -1.59264087e+02] [-1.73328780e-02 3.14092889e-04 -9.99849725e-01 2.89135564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.427628 meters Centerline goodness [0,1] 0.9998663548279318 Centerline is valid? [True, True] Translation: X:32.39, Y:-159.27, Z:2.89 [[ 2.29126736e-01 9.73388932e-01 -3.86342660e-03 3.23932013e+01] [ 9.73222928e-01 -2.29159023e-01 -1.79798282e-02 -1.59273401e+02] [-1.83867048e-02 3.59683993e-04 -9.99830886e-01 2.89452427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.40, Y:-159.28, Z:2.89 [[ 1.54239297e-01 9.88030746e-01 -2.34196730e-03 3.23995311e+01] [ 9.87876297e-01 -1.54256605e-01 -1.74734328e-02 -1.59281675e+02] [-1.76255527e-02 3.81516001e-04 -9.99844585e-01 2.88878169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.41, Y:-159.29, Z:2.89 [[ 7.72967531e-02 9.97007730e-01 -8.93304548e-04 3.24065845e+01] [ 9.96874903e-01 -7.73010401e-02 -1.62781224e-02 -1.59289051e+02] [-1.62984672e-02 3.67733122e-04 -9.99867104e-01 2.88731038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.41, Y:-159.30, Z:2.89 [[-7.13714955e-04 9.99999683e-01 3.52340527e-04 3.24138567e+01] [ 9.99888106e-01 7.18899928e-04 -1.49418124e-02 -1.59296636e+02] [-1.49420610e-02 3.41636908e-04 -9.99888303e-01 2.88557859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.42, Y:-159.30, Z:2.88 [[-8.05756836e-02 9.96747867e-01 1.11785520e-03 3.24232867e+01] [ 9.96688052e-01 8.05830974e-02 -1.09220623e-02 -1.59303449e+02] [-1.09766225e-02 2.34100291e-04 -9.99939728e-01 2.88137311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.44, Y:-159.31, Z:2.88 [[-1.59974297e-01 9.87119939e-01 1.56535544e-03 3.24351695e+01] [ 9.87082654e-01 1.59981862e-01 -8.58130964e-03 -1.59308730e+02] [-8.72121033e-03 1.72346220e-04 -9.99961955e-01 2.87947728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.60762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.45, Y:-159.31, Z:2.88 [[-2.40934969e-01 9.70540392e-01 1.29915317e-03 3.24491408e+01] [ 9.70527997e-01 2.40938459e-01 -4.90575289e-03 -1.59312190e+02] [-5.07424729e-03 7.88971013e-05 -9.99987123e-01 2.87762499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.46, Y:-159.32, Z:2.88 [[-3.18632992e-01 9.47877374e-01 1.22535372e-03 3.24608938e+01] [ 9.47870939e-01 3.18635344e-01 -3.49305822e-03 -1.59315346e+02] [-3.70143186e-03 4.84735876e-05 -9.99993149e-01 2.87704304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.66762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.47, Y:-159.32, Z:2.88 [[-3.94408740e-01 9.18934492e-01 1.07049740e-03 3.24729849e+01] [ 9.18931295e-01 3.94410191e-01 -2.42392407e-03 -1.59318310e+02] [-2.64964252e-03 2.76967230e-05 -9.99996489e-01 2.87626341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.48, Y:-159.32, Z:2.88 [[-4.65203505e-01 8.85202868e-01 1.25715565e-03 3.24837690e+01] [ 8.85199796e-01 4.65205203e-01 -2.33261112e-03 -1.59320926e+02] [-2.64966940e-03 2.76950564e-05 -9.99996489e-01 2.87626364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.72762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.50, Y:-159.32, Z:2.88 [[-5.35911772e-01 8.44273434e-01 9.70085452e-04 3.24956178e+01] [ 8.44272094e-01 5.35912650e-01 -1.50392951e-03 -1.59323001e+02] [-1.78960880e-03 1.30425459e-05 -9.99998399e-01 2.87566272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.51, Y:-159.32, Z:2.87 [[-6.06307349e-01 7.95230393e-01 -1.43335264e-04 3.25103550e+01] [ 7.95230371e-01 6.06307366e-01 1.89326576e-04 -1.59320588e+02] [ 2.37463474e-04 8.05539383e-07 -9.99999972e-01 2.87404474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.78762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.52, Y:-159.32, Z:2.87 [[-6.69786372e-01 7.42553774e-01 -3.29199929e-04 3.25223737e+01] [ 7.42553682e-01 6.69786453e-01 3.69425754e-04 -1.59318232e+02] [ 4.94812140e-04 2.98771591e-06 -9.99999878e-01 2.87351826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.817628 meters Centerline goodness [0,1] 0.9999115631218218 Centerline is valid? [True, True] Translation: X:32.53, Y:-159.31, Z:2.88 [[-7.27774345e-01 6.85816649e-01 1.61598357e-04 3.25328993e+01] [ 6.85816632e-01 7.27774363e-01 -1.53630847e-04 -1.59314940e+02] [-2.22969734e-04 -9.81747945e-07 -9.99999975e-01 2.87645582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.84762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.55, Y:-159.29, Z:2.88 [[-7.78251741e-01 6.27949623e-01 1.87056314e-03 3.25486474e+01] [ 6.27947709e-01 7.78253988e-01 -1.55069682e-03 -1.59286612e+02] [-2.42953271e-03 -3.22166645e-05 -9.99997048e-01 2.87792288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.57, Y:-159.27, Z:2.88 [[-8.21610648e-01 5.70039151e-01 3.36290858e-03 3.25743590e+01] [ 5.70034068e-01 8.21617528e-01 -2.40819103e-03 -1.59271756e+02] [-4.13578780e-03 -6.16229341e-05 -9.99991446e-01 2.88019906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.90762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.59, Y:-159.25, Z:2.88 [[-8.60119968e-01 5.10060370e-01 5.66218066e-03 3.25949877e+01] [ 5.10048529e-01 8.60138598e-01 -3.47707940e-03 -1.59252152e+02] [-6.64378054e-03 -1.02718507e-04 -9.99977925e-01 2.88316563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.61, Y:-159.23, Z:2.89 [[-8.93684493e-01 4.48593740e-01 9.57515804e-03 3.26125856e+01] [ 4.48566043e-01 8.93735772e-01 -4.98744173e-03 -1.59234353e+02] [-1.07949964e-02 -1.62108572e-04 -9.99941719e-01 2.88778303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.96762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.98, Y:-158.54, Z:1.97 [[-8.46390100e-01 -5.32458231e-01 1.05844331e-02 3.29841322e+01] [ 5.32420652e-01 -8.46456234e-01 -6.33192156e-03 -1.58536223e+02] [ 1.23307431e-02 2.76095028e-04 9.99923935e-01 1.96827783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.57, Y:-159.22, Z:2.89 [[-8.93406894e-01 4.49098015e-01 1.16230324e-02 3.25686147e+01] [ 4.49057933e-01 8.93482486e-01 -6.00170074e-03 -1.59221191e+02] [-1.30803278e-02 -1.42545889e-04 -9.99914439e-01 2.88869779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.02762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.95, Y:-158.51, Z:1.97 [[-8.50499950e-01 -5.25869884e-01 1.05213780e-02 3.29480419e+01] [ 5.25830940e-01 -8.50565022e-01 -6.40046014e-03 -1.58512343e+02] [ 1.23149253e-02 8.88750430e-05 9.99924165e-01 1.96951798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.057628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.54, Y:-159.21, Z:2.89 [[-8.93763383e-01 4.48421642e-01 1.02491979e-02 3.25367037e+01] [ 4.48390986e-01 8.93822143e-01 -5.24410484e-03 -1.59207077e+02] [-1.15125301e-02 -9.13409366e-05 -9.99933724e-01 2.88611487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.087628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.56, Y:-159.19, Z:2.89 [[-9.21314401e-01 3.88703912e-01 9.43630720e-03 3.25556231e+01] [ 3.88683199e-01 9.21362723e-01 -4.01285352e-03 -1.59186069e+02] [-1.02540736e-02 -2.93656642e-05 -9.99947425e-01 2.88532997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.57, Y:-159.16, Z:2.88 [[-9.45460442e-01 3.25603884e-01 9.30926421e-03 3.25725177e+01] [ 3.25588152e-01 9.45506272e-01 -3.20070430e-03 -1.59164985e+02] [-9.84412946e-03 4.84683148e-06 -9.99951545e-01 2.88476738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.147628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.59, Y:-159.14, Z:2.88 [[-9.65255409e-01 2.61169354e-01 8.51845568e-03 3.25865767e+01] [ 2.61159507e-01 9.65292996e-01 -2.26822942e-03 -1.59142858e+02] [-8.81519761e-03 3.52549684e-05 -9.99961145e-01 2.88385709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.177628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.60, Y:-159.12, Z:2.88 [[-9.80615951e-01 1.95757899e-01 8.43811157e-03 3.25985377e+01] [ 1.95751237e-01 9.80652253e-01 -1.61635595e-03 -1.59119962e+02] [-8.59126756e-03 6.67463464e-05 -9.99963092e-01 2.88286473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.207628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.61, Y:-159.10, Z:2.88 [[-9.91121773e-01 1.32673492e-01 8.68186715e-03 3.26097688e+01] [ 1.32669551e-01 9.91159789e-01 -1.03079555e-03 -1.59099493e+02] [-8.74187686e-03 1.30175510e-04 -9.99961781e-01 2.88312825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.62, Y:-159.07, Z:2.88 [[-9.97851952e-01 6.48236108e-02 9.45415084e-03 3.26158393e+01] [ 6.48222987e-02 9.97896724e-01 -4.45462784e-04 -1.59074026e+02] [-9.46314266e-03 1.68333882e-04 -9.99955209e-01 2.88321116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.267628 meters Centerline goodness [0,1] 0.9998654648190501 Centerline is valid? [True, True] Translation: X:32.66, Y:-158.24, Z:1.97 [[-9.95518476e-01 -9.39486042e-02 1.07992091e-02 3.26643814e+01] [ 9.39419287e-02 -9.95577043e-01 -1.12488737e-03 -1.58239058e+02] [ 1.08571263e-02 -1.05347634e-04 9.99941054e-01 1.97098538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.29762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.52, Y:-159.07, Z:2.89 [[-9.97791136e-01 6.52892331e-02 1.22541843e-02 3.25218891e+01] [ 6.52879546e-02 9.97866338e-01 -5.04775351e-04 -1.59069097e+02] [-1.22609944e-02 2.96390259e-04 -9.99924787e-01 2.88626646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.57, Y:-158.23, Z:1.97 [[-9.96543261e-01 -8.19048133e-02 1.38971622e-02 3.25693819e+01] [ 8.18936390e-02 -9.96640130e-01 -1.37220038e-03 -1.58234187e+02] [ 1.39628594e-02 -2.29367858e-04 9.99902488e-01 1.96996990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.35762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.43, Y:-159.06, Z:2.89 [[-9.97752316e-01 6.51178229e-02 1.58108966e-02 3.24278976e+01] [ 6.51171883e-02 9.97877469e-01 -5.55490493e-04 -1.59063196e+02] [-1.58135099e-02 4.75319209e-04 -9.99874846e-01 2.88648996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.47, Y:-158.23, Z:1.97 [[-9.97337737e-01 -7.12126923e-02 1.56904434e-02 3.24682009e+01] [ 7.11963500e-02 -9.97461039e-01 -1.59838570e-03 -1.58228786e+02] [ 1.57644313e-02 -4.77028077e-04 9.99875620e-01 1.97051472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.41762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.33, Y:-159.06, Z:2.89 [[-9.98050784e-01 6.04910160e-02 1.53450332e-02 3.23329967e+01] [ 6.04913395e-02 9.98168624e-01 -4.43490060e-04 -1.59057936e+02] [-1.53437578e-02 4.85616011e-04 -9.99882160e-01 2.88509123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.36, Y:-158.23, Z:1.97 [[-9.97828567e-01 -6.41119501e-02 1.50933446e-02 3.23637273e+01] [ 6.40971529e-02 -9.97942591e-01 -1.46259610e-03 -1.58228773e+02] [ 1.51560613e-02 -4.91979754e-04 9.99885019e-01 1.97379644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.47762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.23, Y:-159.05, Z:2.88 [[-9.98419734e-01 5.45749516e-02 1.34018110e-02 3.22321156e+01] [ 5.45757643e-02 9.98509586e-01 -3.05349139e-04 -1.59052117e+02] [-1.33985012e-02 4.26547474e-04 -9.99910145e-01 2.88186051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.26, Y:-158.23, Z:1.98 [[-9.98199658e-01 -5.87163899e-02 1.22404777e-02 3.22622143e+01] [ 5.87062566e-02 -9.98274596e-01 -1.18582744e-03 -1.58225349e+02] [ 1.22889854e-02 -4.65099916e-04 9.99924379e-01 1.97616643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.53762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.14, Y:-159.05, Z:2.88 [[-9.98921264e-01 4.54352485e-02 9.58891160e-03 3.21375601e+01] [ 4.54357969e-02 9.98967248e-01 -1.60760275e-04 -1.59045890e+02] [-9.58631281e-03 2.75092983e-04 -9.99954012e-01 2.87860956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.14, Y:-159.02, Z:2.88 [[-9.99589747e-01 -2.74575647e-02 8.14984026e-03 3.21370197e+01] [-2.74548543e-02 9.99622946e-01 4.44282149e-04 -1.59015970e+02] [-8.15896623e-03 2.20347204e-04 -9.99966691e-01 2.87695346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.59762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.13, Y:-158.99, Z:2.88 [[-9.94875617e-01 -1.00904594e-01 6.38509470e-03 3.21283225e+01] [-1.00901487e-01 9.94896094e-01 8.07634495e-04 -1.58986776e+02] [-6.43399981e-03 1.59230317e-04 -9.99979289e-01 2.87527307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.627628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.02, Y:-158.18, Z:1.98 [[-9.96729692e-01 8.06762238e-02 4.61164599e-03 3.20196739e+01] [-8.06764718e-02 -9.96740332e-01 1.32533162e-04 -1.58182390e+02] [ 4.60730583e-03 -2.39951590e-04 9.99989358e-01 1.98387372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.65762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.00, Y:-159.00, Z:2.87 [[-9.93621506e-01 -1.12722134e-01 3.16608092e-03 3.20003783e+01] [-1.12721359e-01 9.93626548e-01 4.22715167e-04 -1.58997925e+02] [-3.19355141e-03 6.31339362e-05 -9.99994899e-01 2.87191526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.98, Y:-158.97, Z:2.87 [[-9.82055950e-01 -1.88581308e-01 1.78895834e-03 3.19804346e+01] [-1.88580945e-01 9.82057580e-01 3.70978537e-04 -1.58968566e+02] [-1.82681972e-03 2.69582245e-05 -9.99998331e-01 2.87099266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.71762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.80, Y:-158.19, Z:1.99 [[-9.88867349e-01 1.48784873e-01 2.10405897e-03 3.17964575e+01] [-1.48784559e-01 -9.88869588e-01 3.05725328e-04 -1.58193732e+02] [ 2.12612723e-03 -1.07296921e-05 9.99997740e-01 1.98604965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.83, Y:-159.00, Z:2.87 [[-9.79725460e-01 -2.00332716e-01 2.19677393e-03 3.18276503e+01] [-2.00332160e-01 9.79727923e-01 4.72225382e-04 -1.58995412e+02] [-2.24684295e-03 2.25667623e-05 -9.99997476e-01 2.87125996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.77762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.79, Y:-158.97, Z:2.87 [[-9.61580348e-01 -2.74507370e-01 2.98972894e-03 3.17907538e+01] [-2.74505981e-01 9.61584995e-01 8.73556219e-04 -1.58972865e+02] [-3.11467611e-03 1.92960185e-05 -9.99995149e-01 2.87186425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.807628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.73, Y:-158.96, Z:2.87 [[-9.38291247e-01 -3.45829770e-01 3.36235941e-03 3.17307853e+01] [-3.45827484e-01 9.38297272e-01 1.25756205e-03 -1.58961813e+02] [-3.58979506e-03 1.71631724e-05 -9.99993557e-01 2.87285656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.837628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.66, Y:-158.96, Z:2.87 [[-9.10036575e-01 -4.14500436e-01 4.77708135e-03 3.16628461e+01] [-4.14494583e-01 9.10049113e-01 2.20274666e-03 -1.58958419e+02] [-5.26041810e-03 2.45056789e-05 -9.99986164e-01 2.87471306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.59, Y:-158.97, Z:2.88 [[-8.77097677e-01 -4.80289433e-01 4.66113838e-03 3.15870588e+01] [-4.80282465e-01 8.77110061e-01 2.58730624e-03 -1.58966039e+02] [-5.33098722e-03 3.06572672e-05 -9.99985790e-01 2.87535564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.897628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.51, Y:-158.98, Z:2.88 [[-8.39606133e-01 -5.43175131e-01 4.72431922e-03 3.15055475e+01] [-5.43166241e-01 8.39619423e-01 3.10794957e-03 -1.58984099e+02] [-5.65479109e-03 4.33628060e-05 -9.99984011e-01 2.87591575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.927628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.42, Y:-159.01, Z:2.88 [[-7.97701375e-01 -6.03033971e-01 4.74833723e-03 3.14191351e+01] [-6.03022833e-01 7.97715505e-01 3.66566901e-03 -1.59013785e+02] [-5.99834517e-03 6.07534425e-05 -9.99982008e-01 2.87623288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.957628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.34, Y:-159.06, Z:2.88 [[-7.53971979e-01 -6.56888924e-01 4.81630751e-03 3.13362509e+01] [-6.56874591e-01 7.53987354e-01 4.34077940e-03 -1.59055240e+02] [-6.48284487e-03 1.09116007e-04 -9.99978980e-01 2.87666139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.25, Y:-159.11, Z:2.88 [[-7.04147607e-01 -7.10037963e-01 4.71579985e-03 3.12479132e+01] [-7.10020707e-01 7.04163384e-01 4.95217772e-03 -1.59105783e+02] [-6.83692776e-03 1.38748549e-04 -9.99976618e-01 2.87623164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.16, Y:-159.17, Z:2.88 [[-6.52475707e-01 -7.57797390e-01 4.30899125e-03 3.11628000e+01] [-7.57779013e-01 6.52489910e-01 5.28055128e-03 -1.59167027e+02] [-6.81316129e-03 1.80168293e-04 -9.99976774e-01 2.87636702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.08, Y:-159.24, Z:2.88 [[-5.94139086e-01 -8.04351984e-01 4.07827616e-03 3.10772585e+01] [-8.04330633e-01 5.94153048e-01 5.86425036e-03 -1.59239688e+02] [-7.14004162e-03 2.03897901e-04 -9.99974489e-01 2.87669189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.077628 meters Centerline goodness [0,1] 0.9998671272920542 Centerline is valid? [True, True] Translation: X:31.00, Y:-159.32, Z:2.88 [[-5.32304619e-01 -8.46542745e-01 4.14411446e-03 3.09958642e+01] [-8.46513329e-01 5.32320691e-01 7.06158698e-03 -1.59315788e+02] [-8.18393310e-03 2.50867247e-04 -9.99966480e-01 2.87930940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.92, Y:-159.40, Z:2.88 [[-4.65684176e-01 -8.84945473e-01 3.12374763e-03 3.09170441e+01] [-8.84922310e-01 4.65694601e-01 6.40656320e-03 -1.59403059e+02] [-7.12417151e-03 2.19161142e-04 -9.99974599e-01 2.87657891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.85, Y:-159.50, Z:2.88 [[-3.96416265e-01 -9.18067709e-01 2.41398798e-03 3.08456883e+01] [-9.18047430e-01 3.96423563e-01 6.10530095e-03 -1.59501245e+02] [-6.56204136e-03 2.04085140e-04 -9.99978449e-01 2.87617080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.16762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.78, Y:-159.60, Z:2.88 [[-3.23771844e-01 -9.46133358e-01 1.86092788e-03 3.07805510e+01] [-9.46114138e-01 3.23777134e-01 6.03360766e-03 -1.59598890e+02] [-6.31112337e-03 1.92862098e-04 -9.99980066e-01 2.87557618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.72, Y:-159.71, Z:2.88 [[-2.48743859e-01 -9.68568253e-01 1.42538111e-03 3.07240493e+01] [-9.68547646e-01 2.48747869e-01 6.32104699e-03 -1.59708551e+02] [-6.47692596e-03 1.91772103e-04 -9.99979006e-01 2.87542701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.22762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.67, Y:-159.82, Z:2.88 [[-1.70489639e-01 -9.85359046e-01 9.12544796e-04 3.06710497e+01] [-9.85339062e-01 1.70491995e-01 6.27798307e-03 -1.59822128e+02] [-6.34164899e-03 1.71165032e-04 -9.99979877e-01 2.87518468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.63, Y:-159.94, Z:2.88 [[-9.22058702e-02 -9.95739884e-01 4.00611407e-04 3.06299009e+01] [-9.95721955e-01 9.22066148e-02 5.97725422e-03 -1.59939442e+02] [-5.98872945e-03 1.52240354e-04 -9.99982056e-01 2.87531560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.28762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.60, Y:-160.06, Z:2.88 [[-1.31272193e-02 -9.99913832e-01 -6.48967176e-05 3.05974518e+01] [-9.99895086e-01 1.31265757e-02 6.12462058e-03 -1.60059315e+02] [-6.12324096e-03 1.45289147e-04 -9.99981242e-01 2.87507487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.58, Y:-160.19, Z:2.88 [[ 6.80372849e-02 -9.97682612e-01 -5.77020069e-04 3.05750247e+01] [-9.97661217e-01 -6.80396055e-02 6.53509090e-03 -1.60185467e+02] [-6.55920677e-03 1.31040703e-04 -9.99978480e-01 2.87585853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.34762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.56, Y:-160.31, Z:2.88 [[ 1.47350580e-01 -9.89083657e-01 -1.15171106e-03 3.05607917e+01] [-9.89059657e-01 -1.47355029e-01 6.89138201e-03 -1.60310588e+02] [-6.98586374e-03 1.23661809e-04 -9.99975591e-01 2.87670953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.55, Y:-160.43, Z:2.88 [[ 2.28244825e-01 -9.73601866e-01 -1.92539451e-03 3.05546666e+01] [-9.73570908e-01 -2.28252923e-01 7.76461356e-03 -1.60434876e+02] [-7.99911917e-03 1.02275220e-04 -9.99968001e-01 2.87833965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.40762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.56, Y:-160.56, Z:2.88 [[ 3.05224511e-01 -9.52276899e-01 -2.58941885e-03 3.05601352e+01] [-9.52244930e-01 -3.05235483e-01 7.80344621e-03 -1.60557044e+02] [-8.22142408e-03 8.39579144e-05 -9.99966200e-01 2.87841584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.58, Y:-160.68, Z:2.88 [[ 3.80061337e-01 -9.24956160e-01 -3.07922380e-03 3.05755873e+01] [-9.24927117e-01 -3.80073805e-01 7.33015591e-03 -1.60680950e+02] [-7.95040517e-03 6.21487336e-05 -9.99968393e-01 2.87787124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.46762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.60, Y:-160.80, Z:2.88 [[ 4.52023187e-01 -8.92000118e-01 -3.29076144e-03 3.05982458e+01] [-8.91977163e-01 -4.52035163e-01 6.39944166e-03 -1.60797540e+02] [-7.19584260e-03 4.25880370e-05 -9.99974109e-01 2.87769631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.63, Y:-160.91, Z:2.88 [[ 5.21647980e-01 -8.53155771e-01 -2.93533573e-03 3.06296624e+01] [-8.53142461e-01 -5.21656238e-01 4.76550942e-03 -1.60913593e+02] [-5.59695806e-03 1.83411854e-05 -9.99984337e-01 2.87639569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.52762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.67, Y:-161.02, Z:2.88 [[ 5.85967420e-01 -8.10329006e-01 -3.01403788e-03 3.06710011e+01] [-8.10318422e-01 -5.85975171e-01 4.14178604e-03 -1.61024928e+02] [-5.12236073e-03 1.53787411e-05 -9.99986881e-01 2.87609562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.557628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.72, Y:-161.13, Z:2.88 [[ 6.46577275e-01 -7.62840549e-01 -3.48191615e-03 3.07186016e+01] [-7.62829617e-01 -6.46586650e-01 4.08400761e-03 -1.61129341e+02] [-5.36680710e-03 1.54822525e-05 -9.99985598e-01 2.87623771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.587628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.77, Y:-161.23, Z:2.88 [[ 7.03182160e-01 -7.10999666e-01 -3.78490371e-03 3.07705520e+01] [-7.10989485e-01 -7.03192346e-01 3.80490905e-03 -1.61226530e+02] [-5.36680438e-03 1.54825694e-05 -9.99985599e-01 2.87623758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.82, Y:-161.31, Z:2.88 [[ 7.54811272e-01 -6.55931064e-01 -3.79241919e-03 3.08223437e+01] [-6.55922915e-01 -7.54820799e-01 3.26968783e-03 -1.61310515e+02] [-5.00728670e-03 1.95374143e-05 -9.99987463e-01 2.87629457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.647628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.82, Y:-161.32, Z:2.88 [[ 8.02969168e-01 -5.96009438e-01 -3.64220606e-03 3.08183938e+01] [-5.96003440e-01 -8.02977428e-01 2.67388838e-03 -1.61316038e+02] [-4.51827196e-03 2.37174174e-05 -9.99989792e-01 2.87625377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.677628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.82, Y:-161.32, Z:2.88 [[ 8.45264447e-01 -5.34337669e-01 -3.35714005e-03 3.08155276e+01] [-5.34333616e-01 -8.45271113e-01 2.08149566e-03 -1.61319742e+02] [-3.94991504e-03 3.44185003e-05 -9.99992198e-01 2.87577941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.707628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.81, Y:-161.32, Z:2.88 [[ 8.83508373e-01 -4.68399364e-01 -3.87182549e-03 3.08118281e+01] [-4.68395097e-01 -8.83516855e-01 1.99992832e-03 -1.61324579e+02] [-4.35758823e-03 4.65906584e-05 -9.99990505e-01 2.87614620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.81, Y:-161.33, Z:2.88 [[ 9.16496832e-01 -4.00019957e-01 -4.19427338e-03 3.08083796e+01] [-4.00016062e-01 -9.16506427e-01 1.76603534e-03 -1.61329426e+02] [-4.55052789e-03 5.92109318e-05 -9.99989645e-01 2.87703423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.81, Y:-161.33, Z:2.88 [[ 9.43609872e-01 -3.31016638e-01 -5.32866888e-03 3.08060431e+01] [-3.31011934e-01 -9.43624913e-01 1.76741832e-03 -1.61332690e+02] [-5.61330957e-03 9.60996188e-05 -9.99984241e-01 2.87823550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.79762800000003 meters Centerline goodness [0,1] 0.9998883080909619 Centerline is valid? [True, True] Translation: X:30.80, Y:-161.34, Z:2.88 [[ 9.65869191e-01 -2.58957695e-01 -6.13344100e-03 3.08029845e+01] [-2.58953300e-01 -9.65888656e-01 1.51399849e-03 -1.61338640e+02] [-6.31628265e-03 1.25950289e-04 -9.99980044e-01 2.88072952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.80, Y:-161.34, Z:2.88 [[ 9.82858516e-01 -1.84266848e-01 -5.90470864e-03 3.07966991e+01] [-1.84264314e-01 -9.82876244e-01 9.74989570e-04 -1.61343542e+02] [-5.98325610e-03 1.29750286e-04 -9.99982092e-01 2.87846712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.85762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.79, Y:-161.34, Z:2.88 [[ 9.93758879e-01 -1.11381111e-01 -6.12695350e-03 3.07895069e+01] [-1.11379997e-01 -9.93777753e-01 5.23786882e-04 -1.61344601e+02] [-6.14717004e-03 1.61902198e-04 -9.99981093e-01 2.87875255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.78, Y:-161.35, Z:2.88 [[ 9.99354763e-01 -3.53667319e-02 -6.26519540e-03 3.07834413e+01] [-3.53671559e-02 -9.99374386e-01 4.31362034e-05 -1.61350071e+02] [-6.26280139e-03 1.78473772e-04 -9.99980373e-01 2.87834257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.91762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.78, Y:-161.36, Z:2.88 [[ 9.99115161e-01 4.15609002e-02 -6.44875935e-03 3.07777018e+01] [ 4.15587843e-02 -9.99135954e-01 -4.61816616e-04 -1.61355027e+02] [-6.46238084e-03 1.93405384e-04 -9.99979100e-01 2.87844788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.77, Y:-161.36, Z:2.88 [[ 9.92883705e-01 1.18920661e-01 -6.31067162e-03 3.07723705e+01] [ 1.18917006e-01 -9.92903741e-01 -9.52673966e-04 -1.61360955e+02] [-6.37918208e-03 1.95448282e-04 -9.99979634e-01 2.87823828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.97762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.77, Y:-161.37, Z:2.88 [[ 9.80440221e-01 1.96706647e-01 -6.59303804e-03 3.07671434e+01] [ 1.96700792e-01 -9.80462367e-01 -1.53131932e-03 -1.61366730e+02] [-6.76544637e-03 2.04511245e-04 -9.99977093e-01 2.87771010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.007628 meters Centerline goodness [0,1] 0.9998880730659025 Centerline is valid? [True, True] Translation: X:30.76, Y:-161.37, Z:2.88 [[ 9.61921470e-01 2.73241487e-01 -6.79523301e-03 3.07609301e+01] [ 2.73233104e-01 -9.61945448e-01 -2.15089099e-03 -1.61372697e+02] [-7.12435612e-03 2.12305614e-04 -9.99974599e-01 2.87998952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.03762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.76, Y:-161.38, Z:2.88 [[ 9.35701482e-01 3.52730901e-01 -6.60672206e-03 3.07567791e+01] [ 3.52720788e-01 -9.35724789e-01 -2.67667634e-03 -1.61382211e+02] [-7.12622007e-03 1.74241813e-04 -9.99974593e-01 2.87886605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.75, Y:-161.39, Z:2.88 [[ 9.03797918e-01 4.27906910e-01 -6.70819370e-03 3.07534583e+01] [ 4.27893818e-01 -9.03822799e-01 -3.35094454e-03 -1.61389780e+02] [-7.49691073e-03 1.58182085e-04 -9.99971885e-01 2.87956323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.09762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.75, Y:-161.40, Z:2.88 [[ 8.65298399e-01 5.01215779e-01 -6.43614644e-03 3.07498364e+01] [ 5.01200837e-01 -8.65322326e-01 -3.87206700e-03 -1.61396927e+02] [-7.51008228e-03 1.24691389e-04 -9.99971791e-01 2.87990808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.75, Y:-161.41, Z:2.88 [[ 8.18280633e-01 5.74789789e-01 -5.78826429e-03 3.07549886e+01] [ 5.74774939e-01 -8.18301103e-01 -4.13207528e-03 -1.61414720e+02] [-7.11161774e-03 5.42479205e-05 -9.99974711e-01 2.87847293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.15762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.76, Y:-161.43, Z:2.88 [[ 7.67986051e-01 6.40447366e-01 -4.95947959e-03 3.07564068e+01] [ 6.40433832e-01 -7.68002064e-01 -4.16367382e-03 -1.61427212e+02] [-6.47550449e-03 2.14248981e-05 -9.99979033e-01 2.87800615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.76, Y:-161.44, Z:2.88 [[ 7.12726810e-01 7.01430247e-01 -4.01290686e-03 3.07598969e+01] [ 7.01419159e-01 -7.12738107e-01 -3.94400306e-03 -1.61439032e+02] [-5.62659468e-03 -3.73303677e-06 -9.99984171e-01 2.87698127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.21762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.77, Y:-161.45, Z:2.88 [[ 6.50523640e-01 7.59481825e-01 -2.52017709e-03 3.07655218e+01] [ 7.59476294e-01 -6.50528521e-01 -2.89860806e-03 -1.61451342e+02] [-3.84088721e-03 -2.84016835e-05 -9.99992623e-01 2.87525694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.77, Y:-161.46, Z:2.87 [[ 5.86900387e-01 8.09656320e-01 -2.14006886e-03 3.07703724e+01] [ 8.09651159e-01 -5.86904287e-01 -2.89094366e-03 -1.61461294e+02] [-3.59668639e-03 -3.60132794e-05 -9.99993531e-01 2.87475381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.27762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.78, Y:-161.47, Z:2.87 [[ 5.19641863e-01 8.54382043e-01 -1.91276340e-03 3.07759064e+01] [ 8.54376569e-01 -5.19645381e-01 -3.05892397e-03 -1.61470585e+02] [-3.60744837e-03 -4.46752823e-05 -9.99993492e-01 2.87452483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.307628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.78, Y:-161.48, Z:2.87 [[ 4.49455336e-01 8.93301026e-01 -1.78259424e-03 3.07811435e+01] [ 8.93294479e-01 -4.49458867e-01 -3.42052397e-03 -1.61480255e+02] [-3.85676037e-03 -5.50088444e-05 -9.99992561e-01 2.87440454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.337628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.79, Y:-161.49, Z:2.87 [[ 3.75815237e-01 9.26693591e-01 -1.37708836e-03 3.07868256e+01] [ 9.26687934e-01 -3.75817755e-01 -3.23862580e-03 -1.61488662e+02] [-3.51874803e-03 -5.90062457e-05 -9.99993807e-01 2.87462382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.79, Y:-161.50, Z:2.87 [[ 3.01654714e-01 9.53416611e-01 -1.09498800e-03 3.07915355e+01] [ 9.53411025e-01 -3.01656695e-01 -3.26422756e-03 -1.61496069e+02] [-3.44247924e-03 -5.93040067e-05 -9.99994073e-01 2.87462944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.397628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.80, Y:-161.50, Z:2.88 [[ 2.26504442e-01 9.74009549e-01 -1.06584194e-03 3.07951734e+01] [ 9.74000244e-01 -2.26506937e-01 -4.25817774e-03 -1.61503226e+02] [-4.38892638e-03 -7.36341407e-05 -9.99990366e-01 2.87503798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.427628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.80, Y:-161.51, Z:2.88 [[ 1.51130402e-01 9.88513367e-01 -9.61198449e-04 3.07983744e+01] [ 9.88496890e-01 -1.51133434e-01 -5.70815582e-03 -1.61510762e+02] [-5.78785756e-03 -8.74657911e-05 -9.99983246e-01 2.87694809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.80, Y:-161.52, Z:2.88 [[ 7.47070057e-02 9.97205388e-01 -5.25945411e-04 3.08028994e+01] [ 9.97187736e-01 -7.47088130e-02 -5.93405647e-03 -1.61516995e+02] [-5.95676584e-03 -8.11507229e-05 -9.99982255e-01 2.87759883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.81, Y:-161.52, Z:2.88 [[-1.92737980e-03 9.99998141e-01 -6.31853795e-05 3.08076644e+01] [ 9.99978143e-01 1.92694163e-03 -6.32462572e-03 -1.61523116e+02] [-6.32449221e-03 -7.53739542e-05 -9.99979997e-01 2.87762085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.81, Y:-161.53, Z:2.88 [[-7.65606144e-02 9.97064833e-01 4.37652413e-04 3.08091744e+01] [ 9.97044402e-01 7.65618474e-02 -6.38303000e-03 -1.61529943e+02] [-6.39780222e-03 -5.23298097e-05 -9.99979533e-01 2.87683986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.81, Y:-161.54, Z:2.88 [[-1.52985280e-01 9.88228064e-01 8.93301068e-04 3.08147416e+01] [ 9.88209623e-01 1.52987882e-01 -6.03729815e-03 -1.61536429e+02] [-6.10289170e-03 -4.08490359e-05 -9.99981376e-01 2.87589284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.82, Y:-161.54, Z:2.87 [[-2.27323056e-01 9.73818983e-01 9.03791046e-04 3.08197675e+01] [ 9.73811000e-01 2.27324852e-01 -3.94319358e-03 -1.61543122e+02] [-4.04541092e-03 -1.62571506e-05 -9.99991817e-01 2.87410322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.60762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.83, Y:-161.55, Z:2.87 [[-3.02420228e-01 9.53174122e-01 1.04779474e-03 3.08270750e+01] [ 9.53168260e-01 3.02422043e-01 -3.34304915e-03 -1.61550009e+02] [-3.50338417e-03 -1.22810004e-05 -9.99993863e-01 2.87386898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.83, Y:-161.56, Z:2.87 [[-3.76040828e-01 9.26601933e-01 1.46764415e-03 3.08342764e+01] [ 9.26594737e-01 3.76043692e-01 -3.65182979e-03 -1.61555070e+02] [-3.93569086e-03 -1.33257500e-05 -9.99992255e-01 2.87431141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.66762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.84, Y:-161.56, Z:2.87 [[-4.47675352e-01 8.94193471e-01 2.19439946e-03 3.08435361e+01] [ 8.94182532e-01 4.47680730e-01 -4.42317651e-03 -1.61559008e+02] [-4.93756591e-03 -1.79534390e-05 -9.99987810e-01 2.87446394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.85, Y:-161.56, Z:2.88 [[-5.17908067e-01 8.55429057e-01 3.51596083e-03 3.08541641e+01] [ 8.55408852e-01 5.17920000e-01 -5.87948714e-03 -1.61560985e+02] [-6.85047057e-03 -3.74498011e-05 -9.99976535e-01 2.87554176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.72762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.87, Y:-161.56, Z:2.88 [[-5.84600926e-01 8.11310482e-01 4.13037861e-03 3.08666371e+01] [ 8.11289624e-01 5.84615515e-01 -5.81765929e-03 -1.61561491e+02] [-7.13461138e-03 -5.00757008e-05 -9.99974547e-01 2.87591338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.88, Y:-161.56, Z:2.88 [[-6.47537277e-01 7.62014643e-01 5.39987664e-03 3.08796329e+01] [ 7.61987215e-01 6.47559787e-01 -6.46577408e-03 -1.61559855e+02] [-8.42375749e-03 -7.21927763e-05 -9.99964517e-01 2.87673105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.78762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.89, Y:-161.56, Z:2.88 [[-7.05134896e-01 7.09044123e-01 6.41952224e-03 3.08917212e+01] [ 7.09013741e-01 7.05164113e-01 -6.56419712e-03 -1.61559116e+02] [-9.18112210e-03 -7.71149749e-05 -9.99957850e-01 2.87787857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.90, Y:-161.56, Z:2.88 [[-7.58157209e-01 6.52026597e-01 7.67873825e-03 3.09016737e+01] [ 6.51992082e-01 7.58196089e-01 -6.70929368e-03 -1.61557201e+02] [-1.01966272e-02 -8.02228325e-05 -9.99948010e-01 2.87889401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.84762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.92, Y:-161.54, Z:2.88 [[-8.01054714e-01 5.98534748e-01 8.21590510e-03 3.09179367e+01] [ 5.98502524e-01 8.01096843e-01 -6.21096991e-03 -1.61536593e+02] [-1.02992170e-02 -5.80867844e-05 -9.99946960e-01 2.87882839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.96, Y:-161.53, Z:2.88 [[-8.40692682e-01 5.41440247e-01 8.84720619e-03 3.09552831e+01] [ 5.41409700e-01 8.40739232e-01 -5.75157268e-03 -1.61531649e+02] [-1.05523263e-02 -4.53418148e-05 -9.99944322e-01 2.87703903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.90762800000005 meters Centerline goodness [0,1] 0.9998432672070217 Centerline is valid? [True, True] Translation: X:30.97, Y:-161.51, Z:2.88 [[-8.75974073e-01 4.82258017e-01 9.82997992e-03 3.09694391e+01] [ 4.82227311e-01 8.76029226e-01 -5.44206282e-03 -1.61509981e+02] [-1.12358281e-02 -2.68211498e-05 -9.99936876e-01 2.87848375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.00, Y:-161.49, Z:2.87 [[-9.07880095e-01 4.19146790e-01 8.34875017e-03 3.09951401e+01] [ 4.19128856e-01 9.07918481e-01 -3.87732868e-03 -1.61492778e+02] [-9.20515444e-03 -2.09474198e-05 -9.99957631e-01 2.87400653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.96762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.01, Y:-161.47, Z:2.87 [[-9.34834980e-01 3.55000984e-01 7.60664847e-03 3.10120641e+01] [ 3.54989160e-01 9.34865927e-01 -2.89749201e-03 -1.61468679e+02] [-8.13980898e-03 -8.39914243e-06 -9.99966871e-01 2.87396189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.31, Y:-160.71, Z:1.98 [[-9.08365320e-01 -4.18119135e-01 6.98817908e-03 3.13134933e+01] [ 4.18106605e-01 -9.08392200e-01 -3.23700811e-03 -1.60705430e+02] [ 7.70146240e-03 -1.85820822e-05 9.99970343e-01 1.98282412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.02762800000005 meters Centerline goodness [0,1] 0.9998215958253424 Centerline is valid? [True, True] Translation: X:30.97, Y:-161.45, Z:2.88 [[-9.34859797e-01 3.54940678e-01 7.36720428e-03 3.09693621e+01] [ 3.54929829e-01 9.34888825e-01 -2.77515247e-03 -1.61451926e+02] [-7.87253145e-03 2.04620839e-05 -9.99969011e-01 2.87763292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.057628 meters Centerline goodness [0,1] 0.9998216196931858 Centerline is valid? [True, True] Translation: X:31.27, Y:-160.69, Z:1.98 [[-9.11590578e-01 -4.11053358e-01 6.14449877e-03 3.12713725e+01] [ 4.11043402e-01 -9.11611282e-01 -2.86224406e-03 -1.60690064e+02] [ 6.77792944e-03 -8.35390439e-05 9.99977026e-01 1.98140778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.087628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.93, Y:-161.44, Z:2.87 [[-9.34367223e-01 3.56300503e-01 2.80076899e-03 3.09302622e+01] [ 3.56298978e-01 9.34371420e-01 -1.04277599e-03 -1.61443117e+02] [-2.98850010e-03 2.35754235e-05 -9.99995534e-01 2.87164913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.95, Y:-161.42, Z:2.87 [[-9.56567582e-01 2.91500150e-01 2.47437183e-03 3.09460125e+01] [ 2.91499246e-01 9.56570782e-01 -7.26447984e-04 -1.61421043e+02] [-2.57867149e-03 2.63809312e-05 -9.99996675e-01 2.87093791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.147628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.19, Y:-160.63, Z:1.99 [[-9.42525004e-01 -3.34123456e-01 2.85166594e-03 3.11928243e+01] [ 3.34121914e-01 -9.42529318e-01 -1.01507484e-03 -1.60625041e+02] [ 3.02693907e-03 -3.92933158e-06 9.99995419e-01 1.98642790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.177628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.91, Y:-161.41, Z:2.87 [[-9.56271986e-01 2.92460099e-01 3.31359279e-03 3.09051033e+01] [ 2.92458531e-01 9.56277725e-01 -9.59210159e-04 -1.61414318e+02] [-3.44924567e-03 5.18226760e-05 -9.99994050e-01 2.87210399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.207628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.15, Y:-160.61, Z:1.98 [[-9.44779778e-01 -3.27676467e-01 4.39361962e-03 3.11478705e+01] [ 3.27672947e-01 -9.44789994e-01 -1.51884077e-03 -1.60610529e+02] [ 4.64873623e-03 4.70024313e-06 9.99989195e-01 1.98476046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.86, Y:-161.40, Z:2.87 [[-9.57326045e-01 2.88950917e-01 5.84908252e-03 3.08553742e+01] [ 2.88946110e-01 9.57343908e-01 -1.66930799e-03 -1.61400622e+02] [-6.08193159e-03 9.19976198e-05 -9.99981501e-01 2.87416486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.267628 meters Centerline goodness [0,1] 0.9998882206970557 Centerline is valid? [True, True] Translation: X:30.87, Y:-161.37, Z:2.88 [[-9.75379680e-01 2.20299776e-01 1.01236413e-02 3.08656820e+01] [ 2.20289569e-01 9.75432204e-01 -2.12637066e-03 -1.61373690e+02] [-1.03433647e-02 1.56113839e-04 -9.99946494e-01 2.87951269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.29762800000003 meters Centerline goodness [0,1] 0.9998881631922698 Centerline is valid? [True, True] Translation: X:31.05, Y:-160.56, Z:1.98 [[-9.66375939e-01 -2.56889091e-01 1.12044385e-02 3.10503553e+01] [ 2.56870700e-01 -9.66440886e-01 -3.07521988e-03 -1.60556614e+02] [ 1.16184179e-02 -9.37265363e-05 9.99932500e-01 1.97712087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.327628 meters Centerline goodness [0,1] 0.9999552502629047 Centerline is valid? [True, True] Translation: X:30.81, Y:-161.36, Z:2.88 [[-9.76677777e-01 2.14382764e-01 1.18553839e-02 3.08147755e+01] [ 2.14368939e-01 9.76749715e-01 -2.43979403e-03 -1.61362344e+02] [-1.21027926e-02 1.58533458e-04 -9.99926746e-01 2.88001677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.35762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.82, Y:-161.33, Z:2.88 [[-9.89625771e-01 1.43227643e-01 1.12550070e-02 3.08248756e+01] [ 1.43219913e-01 9.89689762e-01 -1.49398832e-03 -1.61334629e+02] [-1.13529456e-02 1.33451786e-04 -9.99935544e-01 2.87889198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.94, Y:-160.51, Z:1.98 [[-9.81918422e-01 -1.89087488e-01 9.06281140e-03 3.09370394e+01] [ 1.89077102e-01 -9.81960213e-01 -1.99722060e-03 -1.60510843e+02] [ 9.27696964e-03 -2.47537592e-04 9.99956937e-01 1.97971082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.41762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.75, Y:-161.32, Z:2.88 [[-9.90844391e-01 1.34733415e-01 8.61976700e-03 3.07519220e+01] [ 1.34728903e-01 9.90881881e-01 -1.10473732e-03 -1.61321662e+02] [-8.69001597e-03 6.67089697e-05 -9.99962239e-01 2.87708716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.76, Y:-161.29, Z:2.88 [[-9.98004926e-01 6.26604368e-02 7.73552394e-03 3.07624925e+01] [ 6.26589363e-02 9.98034903e-01 -4.36422596e-04 -1.61293174e+02] [-7.74766932e-03 4.91478014e-05 -9.99969985e-01 2.87589968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.47762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.82, Y:-160.47, Z:1.98 [[-9.92852609e-01 -1.19120675e-01 7.34586418e-03 3.08194219e+01] [ 1.19116894e-01 -9.92879781e-01 -9.51704397e-04 -1.60473349e+02] [ 7.40692769e-03 -6.98856702e-05 9.99972566e-01 1.98151509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.69, Y:-161.29, Z:2.88 [[-9.98443675e-01 5.52780259e-02 7.38699106e-03 3.06854664e+01] [ 5.52767553e-02 9.98471001e-01 -3.76214262e-04 -1.61287416e+02] [-7.39649274e-03 3.27001468e-05 -9.99972645e-01 2.87596463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.53762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.68, Y:-161.26, Z:2.88 [[-9.99823941e-01 -1.74494709e-02 6.89946602e-03 3.06797267e+01] [-1.74489230e-02 9.99847746e-01 1.39601792e-04 -1.61257987e+02] [-6.90085152e-03 1.91889625e-05 -9.99976189e-01 2.87617395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.67, Y:-160.44, Z:1.98 [[-9.98835068e-01 -4.79245576e-02 5.63421504e-03 3.06690051e+01] [ 4.79232136e-02 -9.98850953e-01 -3.73383996e-04 -1.60444289e+02] [ 5.64563533e-03 -1.02939338e-04 9.99984058e-01 1.98083166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.59762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.58, Y:-161.25, Z:2.88 [[-9.99570542e-01 -2.88193104e-02 5.30833353e-03 3.05799694e+01] [-2.88189665e-02 9.99584637e-01 1.41263421e-04 -1.61254226e+02] [-5.31019976e-03 -1.17779323e-05 -9.99985901e-01 2.87689023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.627628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.58, Y:-161.23, Z:2.88 [[-9.94571074e-01 -1.03886368e-01 6.00009326e-03 3.05789558e+01] [-1.03884706e-01 9.94589172e-01 5.88969744e-04 -1.61225024e+02] [-6.02881372e-03 -3.75456505e-05 -9.99981826e-01 2.87695322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.65762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.57, Y:-161.20, Z:2.88 [[-9.84279093e-01 -1.76501101e-01 6.48288254e-03 3.05664464e+01] [-1.76497634e-01 9.84300441e-01 1.10755578e-03 -1.61197497e+02] [-6.57658895e-03 -5.40694356e-05 -9.99978373e-01 2.87751171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.55, Y:-161.17, Z:2.88 [[-9.68490620e-01 -2.48958043e-01 6.76847852e-03 3.05469413e+01] [-2.48952484e-01 9.68514268e-01 1.66530719e-03 -1.61172739e+02] [-6.96995964e-03 -7.21951457e-05 -9.99975707e-01 2.87769648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.71762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.50, Y:-161.16, Z:2.88 [[-9.47343253e-01 -3.20128749e-01 7.63844643e-03 3.05016988e+01] [-3.20119147e-01 9.47374042e-01 2.48118892e-03 -1.61155560e+02] [-8.03076577e-03 -9.46753801e-05 -9.99967748e-01 2.87925910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.44, Y:-161.15, Z:2.88 [[-9.20435456e-01 -3.90762572e-01 1.01579380e-02 3.04424253e+01] [-3.90740573e-01 9.20491494e-01 4.14903423e-03 -1.61146994e+02] [-1.09715829e-02 -1.50200325e-04 -9.99939799e-01 2.88248417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.77762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.37, Y:-161.15, Z:2.88 [[-8.88828344e-01 -4.58109542e-01 1.09463113e-02 3.03735862e+01] [-4.58077134e-01 8.88895730e-01 5.45169992e-03 -1.61148412e+02] [-1.22276052e-02 -1.68629504e-04 -9.99925226e-01 2.88367927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.807628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.30, Y:-161.16, Z:2.88 [[-8.52388415e-01 -5.22798157e-01 1.07739016e-02 3.02951284e+01] [-5.22758871e-01 8.52456485e-01 6.41118138e-03 -1.61161277e+02] [-1.25360361e-02 -1.67335885e-04 -9.99921407e-01 2.88427646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.837628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.22, Y:-161.18, Z:2.89 [[-8.11736156e-01 -5.83925009e-01 1.07701742e-02 3.02178922e+01] [-5.83876039e-01 8.11807589e-01 7.56367893e-03 -1.61182181e+02] [-1.31599304e-02 -1.48734998e-04 -9.99913393e-01 2.88522716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.13, Y:-161.22, Z:2.88 [[-7.66661878e-01 -6.41976763e-01 9.76733427e-03 3.01305091e+01] [-6.41926577e-01 7.66724085e-01 8.02786131e-03 -1.61218176e+02] [-1.26425508e-02 -1.15256224e-04 -9.99920073e-01 2.88430519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.897628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.04, Y:-161.26, Z:2.88 [[-7.17368725e-01 -6.96641826e-01 8.50166656e-03 3.00437876e+01] [-6.96594185e-01 7.17419097e-01 8.14749426e-03 -1.61262954e+02] [-1.17751432e-02 -7.74539198e-05 -9.99930668e-01 2.88291908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.927628 meters Centerline goodness [0,1] 0.99986554320545 Centerline is valid? [True, True] Translation: X:29.96, Y:-161.32, Z:2.88 [[-6.66430262e-01 -7.45542542e-01 6.08475337e-03 2.99566410e+01] [-7.45511562e-01 6.66458039e-01 6.79656831e-03 -1.61320016e+02] [-9.12236361e-03 -6.81518508e-06 -9.99958390e-01 2.88275724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.957628 meters Centerline goodness [0,1] 0.9998210010516189 Centerline is valid? [True, True] Translation: X:29.88, Y:-161.38, Z:2.88 [[-6.08913560e-01 -7.93223076e-01 4.62908426e-03 2.98757470e+01] [-7.93200035e-01 6.08931156e-01 6.04586337e-03 -1.61375884e+02] [-7.61451197e-03 9.61839212e-06 -9.99971009e-01 2.88171897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.79, Y:-161.45, Z:2.88 [[-5.48482930e-01 -8.36158339e-01 2.38925749e-03 2.97924900e+01] [-8.36150264e-01 5.48488133e-01 3.67465498e-03 -1.61448237e+02] [-4.38307278e-03 1.77072446e-05 -9.99990394e-01 2.87585759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.71, Y:-161.53, Z:2.87 [[-4.83719872e-01 -8.75221707e-01 1.43159966e-03 2.97137568e+01] [-8.75217773e-01 4.83721990e-01 2.62427135e-03 -1.61527115e+02] [-2.98931549e-03 1.64507362e-05 -9.99995532e-01 2.87429275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.64, Y:-161.62, Z:2.87 [[-4.15717720e-01 -9.09493439e-01 6.79368393e-04 2.96389332e+01] [-9.09492180e-01 4.15718275e-01 1.51325406e-03 -1.61616006e+02] [-1.65872049e-03 1.12062853e-05 -9.99998624e-01 2.87319536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.57, Y:-161.71, Z:2.87 [[-3.46149997e-01 -9.38179143e-01 2.73781779e-04 2.95699664e+01] [-9.38178832e-01 3.46150105e-01 7.64078838e-04 -1.61709142e+02] [-8.11612421e-04 7.62961751e-06 -9.99999671e-01 2.87290619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.51, Y:-161.82, Z:2.87 [[-2.73770300e-01 -9.61795061e-01 2.90111151e-04 2.95061343e+01] [-9.61794476e-01 2.73770453e-01 1.06078951e-03 -1.61815454e+02] [-1.09968597e-03 1.13853590e-05 -9.99999395e-01 2.87457565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.45, Y:-161.92, Z:2.88 [[-1.99968407e-01 -9.79802263e-01 4.01141026e-04 2.94521733e+01] [-9.79800040e-01 1.99968807e-01 2.08750060e-03 -1.61920527e+02] [-2.12555350e-03 2.43961756e-05 -9.99997741e-01 2.87656353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.16762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.41, Y:-162.03, Z:2.88 [[-1.27453500e-01 -9.91844423e-01 4.96399056e-04 2.94065202e+01] [-9.91834697e-01 1.27454448e-01 4.39284184e-03 -1.62033612e+02] [-4.42028394e-03 6.75372576e-05 -9.99990228e-01 2.87979188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.37, Y:-162.15, Z:2.88 [[-5.23775525e-02 -9.98627328e-01 2.26840232e-04 2.93706642e+01] [-9.98606399e-01 5.23779236e-02 6.46628760e-03 -1.62148965e+02] [-6.46929293e-03 1.12164211e-04 -9.99979068e-01 2.88071639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.22762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.35, Y:-162.27, Z:2.88 [[ 2.09176411e-02 -9.99781115e-01 -4.18392771e-04 2.93464581e+01] [-9.99732572e-01 -2.09207493e-02 9.85431776e-03 -1.62269337e+02] [-9.86091388e-03 2.12151799e-04 -9.99951358e-01 2.88302991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.33, Y:-162.39, Z:2.88 [[ 9.60740941e-02 -9.95373397e-01 -1.25225586e-03 2.93280597e+01] [-9.95319286e-01 -9.60819323e-02 1.03818007e-02 -1.62389043e+02] [-1.04540873e-02 2.48972314e-04 -9.99945324e-01 2.88330603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.28762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.32, Y:-162.51, Z:2.88 [[ 1.70664767e-01 -9.85326841e-01 -2.13409091e-03 2.93199915e+01] [-9.85269220e-01 -1.70677874e-01 1.06596139e-02 -1.62511212e+02] [-1.08674458e-02 2.83433556e-04 -9.99940907e-01 2.88351781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.32, Y:-162.63, Z:2.88 [[ 2.44377719e-01 -9.69675970e-01 -2.83601718e-03 2.93206511e+01] [-9.69623962e-01 -2.44393997e-01 1.00472348e-02 -1.62633591e+02] [-1.04356677e-02 2.94549897e-04 -9.99945504e-01 2.88311295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.34762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.33, Y:-162.75, Z:2.88 [[ 3.15636748e-01 -9.48875978e-01 -2.79672303e-03 2.93326563e+01] [-9.48845583e-01 -3.15649035e-01 7.59910578e-03 -1.62752777e+02] [-8.09339185e-03 2.55101254e-04 -9.99967215e-01 2.88169493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.35, Y:-162.87, Z:2.88 [[ 3.87237565e-01 -9.21975953e-01 -2.72221150e-03 2.93498131e+01] [-9.21956871e-01 -3.87247075e-01 5.93548852e-03 -1.62872084e+02] [-6.52654613e-03 2.11317481e-04 -9.99978680e-01 2.87950249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.40762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.63, Y:-163.32, Z:1.98 [[ 3.84779081e-01 9.23007113e-01 -1.71123138e-03 2.86333047e+01] [-9.22994738e-01 3.84782797e-01 4.78674132e-03 -1.63323702e+02] [ 5.07664868e-03 -2.62380368e-04 9.99987079e-01 1.98012366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.47, Y:-163.14, Z:2.87 [[ 3.95580095e-01 -9.18431014e-01 -9.28279402e-04 2.94656615e+01] [-9.18428903e-01 -3.95581177e-01 1.97041471e-03 -1.63139082e+02] [-2.17689984e-03 7.31017958e-05 -9.99997628e-01 2.87395418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.46762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.49, Y:-163.25, Z:2.87 [[ 4.65632675e-01 -8.84978028e-01 -3.19255127e-04 2.94909286e+01] [-8.84977852e-01 -4.65632784e-01 5.58866099e-04 -1.63253501e+02] [-6.43239872e-04 2.23073996e-05 -9.99999793e-01 2.87258469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.53, Y:-163.37, Z:2.87 [[ 5.34049685e-01 -8.45450392e-01 2.13766033e-03 2.95270712e+01] [-8.45444463e-01 -5.34053950e-01 -3.16820321e-03 -1.63370623e+02] [ 3.82018459e-03 -1.15295168e-04 -9.99992696e-01 2.86895978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.52762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.57, Y:-163.48, Z:2.87 [[ 5.99167968e-01 -8.00617122e-01 3.15770811e-03 2.95675919e+01] [-8.00607239e-01 -5.99176271e-01 -3.98053826e-03 -1.63477251e+02] [ 5.07891085e-03 -1.43072954e-04 -9.99987092e-01 2.86718963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.557628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.62, Y:-163.58, Z:2.87 [[ 6.60560023e-01 -7.50760415e-01 4.38799237e-03 2.96182068e+01] [-7.50745511e-01 -6.60574576e-01 -4.73368879e-03 -1.63583410e+02] [ 6.45246236e-03 -1.67380000e-04 -9.99979169e-01 2.86590380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.587628 meters Centerline goodness [0,1] 0.9998461301738729 Centerline is valid? [True, True] Translation: X:29.67, Y:-163.68, Z:2.87 [[ 7.17476997e-01 -6.96566763e-01 4.63709924e-03 2.96688907e+01] [-6.96553556e-01 -7.17491966e-01 -4.29203050e-03 -1.63679250e+02] [ 6.31676724e-03 -1.50554811e-04 -9.99980038e-01 2.86852004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.66, Y:-163.69, Z:2.87 [[ 7.73967100e-01 -6.33209791e-01 4.50429395e-03 2.96596836e+01] [-6.33199801e-01 -7.73980200e-01 -3.55819861e-03 -1.63689896e+02] [ 5.73932053e-03 -9.81893794e-05 -9.99983525e-01 2.86674207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.647628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.65, Y:-163.70, Z:2.87 [[ 8.22637935e-01 -5.68555290e-01 3.42198161e-03 2.96527475e+01] [-5.68550668e-01 -8.22645051e-01 -2.29329739e-03 -1.63701180e+02] [ 4.11894260e-03 -5.90164977e-05 -9.99991515e-01 2.86926100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.677628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.64, Y:-163.71, Z:2.87 [[ 8.66660627e-01 -4.98897556e-01 7.65809211e-04 2.96448792e+01] [-4.98897369e-01 -8.66660965e-01 -4.31825437e-04 -1.63712038e+02] [ 8.79133605e-04 -7.81409699e-06 -9.99999614e-01 2.87388588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.707628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.64, Y:-163.72, Z:2.88 [[ 9.03677281e-01 -4.28213663e-01 -6.56086139e-04 2.96397909e+01] [-4.28213557e-01 -9.03677519e-01 3.02240317e-04 -1.63722639e+02] [-7.22313728e-04 7.81727082e-06 -9.99999739e-01 2.87595365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.64, Y:-163.73, Z:2.88 [[ 9.34914085e-01 -3.54859513e-01 -3.22177328e-03 2.96360289e+01] [-3.54857505e-01 -9.34919636e-01 1.19404670e-03 -1.63730780e+02] [-3.43581793e-03 2.69393501e-05 -9.99994097e-01 2.87806183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.63, Y:-163.74, Z:2.88 [[ 9.59829740e-01 -2.80560823e-01 -3.53476462e-03 2.96338207e+01] [-2.80559028e-01 -9.59836249e-01 1.00386142e-03 -1.63738664e+02] [-3.67443939e-03 2.81740756e-05 -9.99993249e-01 2.87791709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.63, Y:-163.75, Z:2.88 [[ 9.78809760e-01 -2.04734532e-01 -3.90206620e-03 2.96329572e+01] [-2.04733030e-01 -9.78817537e-01 7.84801714e-04 -1.63745796e+02] [-3.98008684e-03 3.07102589e-05 -9.99992079e-01 2.87796612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.63, Y:-163.75, Z:2.88 [[ 9.91804054e-01 -1.27714217e-01 -3.71432632e-03 2.96272337e+01] [-1.27713435e-01 -9.91811009e-01 4.48115126e-04 -1.63750889e+02] [-3.74114041e-03 2.99269739e-05 -9.99993001e-01 2.87809896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.85762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.62, Y:-163.76, Z:2.88 [[ 9.98764063e-01 -4.95979764e-02 -3.22286775e-03 2.96233870e+01] [-4.95978012e-02 -9.98769263e-01 1.34311274e-04 -1.63756502e+02] [-3.22556282e-03 2.57018809e-05 -9.99994798e-01 2.87816364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.62, Y:-163.76, Z:2.88 [[ 9.99570712e-01 2.91097313e-02 -3.31904867e-03 2.96199631e+01] [ 2.91094868e-02 -9.99576222e-01 -1.21960240e-04 -1.63763341e+02] [-3.32119236e-03 2.52920805e-05 -9.99994485e-01 2.87794468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.91762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.62, Y:-163.77, Z:2.88 [[ 9.94159148e-01 1.07873728e-01 -3.29358481e-03 2.96160294e+01] [ 1.07873058e-01 -9.94164603e-01 -3.80841377e-04 -1.63769310e+02] [-3.31544821e-03 2.33278728e-05 -9.99994504e-01 2.87804895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.61, Y:-163.77, Z:2.88 [[ 9.82425643e-01 1.86630605e-01 -2.97885489e-03 2.96122680e+01] [ 1.86629692e-01 -9.82430159e-01 -5.83807792e-04 -1.63773182e+02] [-3.03547328e-03 1.76049735e-05 -9.99995393e-01 2.87851867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.97762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.61, Y:-163.78, Z:2.88 [[ 9.64559367e-01 2.63847905e-01 -3.08409118e-03 2.96103846e+01] [ 2.63846504e-01 -9.64564297e-01 -8.59816241e-04 -1.63779921e+02] [-3.20166496e-03 1.56171321e-05 -9.99994875e-01 2.87844191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.61, Y:-163.79, Z:2.88 [[ 9.40382509e-01 3.40099215e-01 -3.64166217e-03 2.96095811e+01] [ 3.40096614e-01 -9.40389560e-01 -1.33015535e-03 -1.63789567e+02] [-3.87696587e-03 1.23378536e-05 -9.99992484e-01 2.87873420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.03762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.61, Y:-163.80, Z:2.88 [[ 9.10529433e-01 4.13431905e-01 -3.19543115e-03 2.96106766e+01] [ 4.13429327e-01 -9.10535040e-01 -1.46004118e-03 -1.63800780e+02] [-3.51317964e-03 8.32551846e-06 -9.99993829e-01 2.87913034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.61, Y:-163.81, Z:2.88 [[ 8.74840746e-01 4.84401215e-01 -3.02197433e-03 2.96107339e+01] [ 4.84398308e-01 -8.74845965e-01 -1.67825023e-03 -1.63811769e+02] [-3.45670850e-03 4.36243208e-06 -9.99994026e-01 2.87941995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.09762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.61, Y:-163.82, Z:2.88 [[ 8.32657418e-01 5.53774745e-01 -3.89313245e-03 2.96128651e+01] [ 5.53768736e-01 -8.32666519e-01 -2.57975304e-03 -1.63821488e+02] [-4.67028312e-03 -7.84453228e-06 -9.99989094e-01 2.88022728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.61, Y:-163.83, Z:2.88 [[ 7.85685385e-01 6.18611505e-01 -4.27580604e-03 2.96138606e+01] [ 6.18602473e-01 -7.85697019e-01 -3.34282723e-03 -1.63831853e+02] [-5.42739944e-03 -1.86136908e-05 -9.99985271e-01 2.88088782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.15762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.61, Y:-163.84, Z:2.88 [[ 7.33539293e-01 6.79631608e-01 -4.58068694e-03 2.96140374e+01] [ 6.79618640e-01 -7.33553594e-01 -4.19857073e-03 -1.63839975e+02] [-6.21366075e-03 -3.33036223e-05 -9.99980694e-01 2.88200151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.62, Y:-163.85, Z:2.88 [[ 6.76718146e-01 7.36224753e-01 -5.06589407e-03 2.96157413e+01] [ 7.36204715e-01 -6.76737106e-01 -5.43211781e-03 -1.63847013e+02] [-7.42753808e-03 -5.35224041e-05 -9.99972414e-01 2.88307929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.21762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.62, Y:-163.85, Z:2.89 [[ 6.14879661e-01 7.88596058e-01 -6.26577097e-03 2.96160971e+01] [ 7.88556760e-01 -6.14911577e-01 -7.87325220e-03 -1.63853512e+02] [-1.00617108e-02 -9.98134124e-05 -9.99949375e-01 2.88549043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.62, Y:-163.86, Z:2.89 [[ 5.50936805e-01 8.34523363e-01 -6.27639435e-03 2.96165543e+01] [ 8.34471581e-01 -5.50972543e-01 -9.29722206e-03 -1.63860173e+02] [-1.12168700e-02 -1.15290892e-04 -9.99937082e-01 2.88678024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.27762800000005 meters Centerline goodness [0,1] 0.9998439137511985 Centerline is valid? [True, True] Translation: X:29.62, Y:-163.87, Z:2.89 [[ 4.84610327e-01 8.74705195e-01 -6.60708919e-03 2.96188108e+01] [ 8.74627438e-01 -4.84655348e-01 -1.16635501e-02 -1.63867986e+02] [-1.34043290e-02 -1.26464659e-04 -9.99910150e-01 2.88975716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.307628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.62, Y:-163.87, Z:2.89 [[ 4.16037280e-01 9.09333409e-01 -5.07267926e-03 2.96176963e+01] [ 9.09268555e-01 -4.16068194e-01 -1.08606402e-02 -1.63874466e+02] [-1.19865235e-02 -9.39965146e-05 -9.99928155e-01 2.88550505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.337628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.62, Y:-163.88, Z:2.88 [[ 3.42832412e-01 9.39390775e-01 -3.30280261e-03 2.96239961e+01] [ 9.39349432e-01 -3.42848311e-01 -8.81365780e-03 -1.63883514e+02] [-9.41182913e-03 -8.08781986e-05 -9.99955705e-01 2.88284152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.63, Y:-163.89, Z:2.88 [[ 2.67827896e-01 9.63465042e-01 -1.82523399e-03 2.96316002e+01] [ 9.63444151e-01 -2.67834109e-01 -6.34487018e-03 -1.63892375e+02] [-6.60192053e-03 -5.91777828e-05 -9.99978205e-01 2.88009402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.397628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.64, Y:-163.90, Z:2.88 [[ 1.91544780e-01 9.81482984e-01 -1.32268772e-03 2.96389729e+01] [ 9.81461671e-01 -1.91549337e-01 -6.46838606e-03 -1.63901156e+02] [-6.60197081e-03 -5.91817156e-05 -9.99978205e-01 2.88009446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.427628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.65, Y:-163.91, Z:2.88 [[ 1.14183455e-01 9.93459386e-01 -7.66452359e-04 2.96478462e+01] [ 9.93440132e-01 -1.14186014e-01 -6.18536776e-03 -1.63909380e+02] [-6.23242980e-03 -5.51578727e-05 -9.99980577e-01 2.88012817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.66, Y:-163.92, Z:2.88 [[ 3.65600974e-02 9.99331410e-01 -3.04889299e-04 2.96581126e+01] [ 9.99308338e-01 -3.65613251e-02 -6.79087198e-03 -1.63916065e+02] [-6.79747883e-03 -5.64034781e-05 -9.99976895e-01 2.88094230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.67, Y:-163.92, Z:2.88 [[-4.06756396e-02 9.99172374e-01 2.45351441e-04 2.96687789e+01] [ 9.99145611e-01 4.06763459e-02 -7.31327016e-03 -1.63923480e+02] [-7.31719750e-03 -5.23301261e-05 -9.99973228e-01 2.88236179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.68, Y:-163.93, Z:2.88 [[-1.18236431e-01 9.92985184e-01 7.55312359e-04 2.96769445e+01] [ 9.92962452e-01 1.18238835e-01 -6.71910230e-03 -1.63929591e+02] [-6.76127629e-03 -4.44458619e-05 -9.99977141e-01 2.88254816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.68, Y:-163.93, Z:2.88 [[-1.95348314e-01 9.80733287e-01 1.12092201e-03 2.96839401e+01] [ 9.80716046e-01 1.95351527e-01 -5.81529713e-03 -1.63934955e+02] [-5.92222929e-03 -3.67022865e-05 -9.99982463e-01 2.88160959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.69, Y:-163.94, Z:2.88 [[-2.71994727e-01 9.62297900e-01 1.27252841e-03 2.96906577e+01] [ 9.62286823e-01 2.71997702e-01 -4.61735135e-03 -1.63939451e+02] [-4.78939231e-03 -3.13578969e-05 -9.99988530e-01 2.88040437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.60762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.70, Y:-163.94, Z:2.88 [[-3.46841033e-01 9.37923042e-01 1.29028710e-03 2.96986602e+01] [ 9.37916273e-01 3.46843432e-01 -3.56361151e-03 -1.63943612e+02] [-3.78992096e-03 -2.58254257e-05 -9.99992818e-01 2.87960109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.71, Y:-163.95, Z:2.88 [[-4.20098344e-01 9.07477455e-01 1.43181472e-03 2.97085033e+01] [ 9.07471965e-01 4.20100784e-01 -3.15671920e-03 -1.63946295e+02] [-3.46615799e-03 -2.68007910e-05 -9.99993993e-01 2.87886454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.66762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.72, Y:-163.95, Z:2.88 [[-4.90683628e-01 8.71336174e-01 1.68805470e-03 2.97194911e+01] [ 8.71330805e-01 4.90686531e-01 -3.05901543e-03 -1.63948329e+02] [-3.49373650e-03 -3.01547289e-05 -9.99993896e-01 2.87918544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.73, Y:-163.95, Z:2.88 [[-5.58464590e-01 8.29524677e-01 2.47221162e-03 2.97301593e+01] [ 8.29516193e-01 5.58470060e-01 -3.75202199e-03 -1.63948459e+02] [-4.49305100e-03 -4.46318511e-05 -9.99989905e-01 2.88067673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.72762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.74, Y:-163.95, Z:2.88 [[-6.21972514e-01 7.83032741e-01 3.14921768e-03 2.97405914e+01] [ 7.83022274e-01 6.21980484e-01 -4.04917442e-03 -1.63949941e+02] [-5.12938809e-03 -5.25676057e-05 -9.99986843e-01 2.88193362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.75, Y:-163.95, Z:2.88 [[-6.81739303e-01 7.31584123e-01 4.02402945e-03 2.97499446e+01] [ 7.31570821e-01 6.81751176e-01 -4.41222325e-03 -1.63949385e+02] [-5.97129928e-03 -6.41234761e-05 -9.99982170e-01 2.88197636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.78762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.76, Y:-163.95, Z:2.88 [[-7.36967767e-01 6.75909851e-01 4.93802271e-03 2.97591383e+01] [ 6.75894011e-01 7.36984307e-01 -4.62782251e-03 -1.63948406e+02] [-6.76723607e-03 -7.29760433e-05 -9.99977099e-01 2.88245252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.77, Y:-163.93, Z:2.88 [[-7.83351978e-01 6.21544433e-01 6.49595351e-03 2.97749223e+01] [ 6.21522038e-01 7.83378905e-01 -5.27706690e-03 -1.63927893e+02] [-8.36872451e-03 -9.64225297e-05 -9.99964977e-01 2.88292201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.84762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.80, Y:-163.91, Z:2.88 [[-8.25443209e-01 5.64440010e-01 7.14026964e-03 2.97987058e+01] [ 5.64417823e-01 8.25474085e-01 -5.00560421e-03 -1.63912122e+02] [-8.71947084e-03 -1.01746557e-04 -9.99961980e-01 2.88318341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.82, Y:-163.89, Z:2.88 [[-8.63224469e-01 5.04772264e-01 6.96260637e-03 2.98204891e+01] [ 5.04754974e-01 8.63252543e-01 -4.17901665e-03 -1.63894138e+02] [-8.11993935e-03 -9.30192278e-05 -9.99967028e-01 2.88263748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.90762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.24, Y:-163.21, Z:1.98 [[-8.14506209e-01 -5.80119375e-01 6.41453637e-03 3.02440583e+01] [ 5.80102082e-01 -8.14531464e-01 -4.47994703e-03 -1.63206964e+02] [ 7.82374578e-03 7.21412297e-05 9.99969391e-01 1.97516861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.79, Y:-163.87, Z:2.88 [[-8.64102905e-01 5.03276743e-01 6.22010480e-03 2.97874925e+01] [ 5.03263129e-01 8.64125289e-01 -3.70242867e-03 -1.63874106e+02] [-7.23829610e-03 -6.89299607e-05 -9.99973801e-01 2.88249372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.96762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.81, Y:-163.85, Z:2.88 [[-8.96832153e-01 4.42332042e-01 5.86981695e-03 2.98066661e+01] [ 4.42322193e-01 8.96851360e-01 -2.95225459e-03 -1.63852379e+02] [-6.57023012e-03 -5.13265299e-05 -9.99978415e-01 2.88261832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.18, Y:-163.14, Z:1.98 [[-8.59238113e-01 -5.11553743e-01 4.75744620e-03 3.01793368e+01] [ 5.11545811e-01 -8.59251283e-01 -2.84889378e-03 -1.63138485e+02] [ 5.54520403e-03 -1.42264415e-05 9.99984625e-01 1.97672863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.02762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.77, Y:-163.84, Z:2.88 [[-8.95347171e-01 4.45347519e-01 4.36251292e-03 2.97706565e+01] [ 4.45342214e-01 8.95357799e-01 -2.17371389e-03 -1.63839619e+02] [-4.87406805e-03 -3.41741783e-06 -9.99988122e-01 2.87991085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.057628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.79, Y:-163.82, Z:2.88 [[-9.23704501e-01 3.83087363e-01 3.75072850e-03 2.97879377e+01] [ 3.83084236e-01 9.23712115e-01 -1.54782590e-03 -1.63819378e+02] [-4.05754590e-03 7.11120953e-06 -9.99991768e-01 2.87902657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.087628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.11, Y:-163.07, Z:1.98 [[-8.98284009e-01 -4.39406462e-01 2.79292079e-03 3.01072253e+01] [ 4.39404131e-01 -8.98288349e-01 -1.43244285e-03 -1.63067309e+02] [ 3.13827285e-03 -5.95195742e-05 9.99995074e-01 1.97959536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.75, Y:-163.81, Z:2.88 [[-9.22149566e-01 3.86830199e-01 1.60476396e-03 2.97509296e+01] [ 3.86829646e-01 9.22150962e-01 -6.54133493e-04 -1.63811233e+02] [-1.73287322e-03 1.75613577e-05 -9.99998498e-01 2.87717378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.147628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.08, Y:-163.05, Z:1.98 [[-9.03247017e-01 -4.29119999e-01 9.23518504e-04 3.00756498e+01] [ 4.29119716e-01 -9.03247487e-01 -4.95793385e-04 -1.63050515e+02] [ 1.04692062e-03 -5.15238976e-05 9.99999451e-01 1.98000904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.177628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.71, Y:-163.80, Z:2.88 [[-9.20349636e-01 3.91093743e-01 1.49406959e-03 2.97127871e+01] [ 3.91093281e-01 9.20350848e-01 -6.02161478e-04 -1.63800099e+02] [-1.61056980e-03 3.01214825e-05 -9.99998703e-01 2.87887382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.207628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.03, Y:-163.03, Z:1.98 [[-9.08495550e-01 -4.17888737e-01 2.19972434e-03 3.00312909e+01] [ 4.17887520e-01 -9.08498213e-01 -1.00857749e-03 -1.63030533e+02] [ 2.41991880e-03 2.94918739e-06 9.99997072e-01 1.97805537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.67, Y:-163.78, Z:2.88 [[-9.19932513e-01 3.92066152e-01 2.88151487e-03 2.96706966e+01] [ 3.92064471e-01 9.19937023e-01 -1.15059851e-03 -1.63784685e+02] [-3.10192294e-03 7.12666241e-05 -9.99995187e-01 2.88004129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.00, Y:-163.02, Z:1.98 [[-9.12386340e-01 -4.09307622e-01 4.29388738e-03 2.99950145e+01] [ 4.09303018e-01 -9.12396444e-01 -1.94145758e-03 -1.63016023e+02] [ 4.71238095e-03 -1.38583107e-05 9.99988897e-01 1.97693954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.29762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.63, Y:-163.77, Z:2.88 [[-9.19411459e-01 3.93258847e-01 5.48161759e-03 2.96292249e+01] [ 3.93252911e-01 9.19427786e-01 -2.16682514e-03 -1.63771360e+02] [-5.89207468e-03 1.63458211e-04 -9.99982628e-01 2.88158718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.65, Y:-163.75, Z:2.88 [[-9.44514612e-01 3.28401047e-01 6.70068189e-03 2.96484337e+01] [ 3.28394309e-01 9.44538358e-01 -2.11355910e-03 -1.63747513e+02] [-7.02314610e-03 2.04178345e-04 -9.99975317e-01 2.88209825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.35762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.66, Y:-163.72, Z:2.88 [[-9.64842940e-01 2.62714444e-01 7.69562554e-03 2.96596136e+01] [ 2.62708121e-01 9.64873598e-01 -1.83936631e-03 -1.63720545e+02] [-7.90853400e-03 2.47003728e-04 -9.99968697e-01 2.88306058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.67, Y:-163.69, Z:2.88 [[-9.80847052e-01 1.94617196e-01 7.95037418e-03 2.96709952e+01] [ 1.94612945e-01 9.80879238e-01 -1.31226783e-03 -1.63692391e+02] [-8.05374686e-03 2.60111703e-04 -9.99967534e-01 2.88306674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.41762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.81, Y:-162.88, Z:1.97 [[-9.80353047e-01 -1.97105853e-01 7.56214080e-03 2.98148455e+01] [ 1.97097865e-01 -9.80382176e-01 -1.79486258e-03 -1.62875854e+02] [ 7.76756597e-03 -2.69117193e-04 9.99969796e-01 1.97421942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.61, Y:-163.68, Z:2.88 [[-9.81574773e-01 1.90949481e-01 7.01865991e-03 2.96100996e+01] [ 1.90946308e-01 9.81599837e-01 -1.12575327e-03 -1.63677758e+02] [-7.10447743e-03 2.35176190e-04 -9.99974735e-01 2.88315895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.47762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.75, Y:-162.87, Z:1.97 [[-9.81022506e-01 -1.93774893e-01 6.79219152e-03 2.97491429e+01] [ 1.93768553e-01 -9.81045989e-01 -1.58575013e-03 -1.62870726e+02] [ 6.97073082e-03 -2.39543448e-04 9.99975675e-01 1.97368167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.55, Y:-163.66, Z:2.88 [[-9.82951880e-01 1.83715997e-01 7.35073676e-03 2.95483283e+01] [ 1.83712560e-01 9.82979340e-01 -1.14586659e-03 -1.63662218e+02] [-7.43613638e-03 2.24090951e-04 -9.99972326e-01 2.88363229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.53762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.68, Y:-162.86, Z:1.97 [[-9.81124091e-01 -1.93251955e-01 7.01430347e-03 2.96796270e+01] [ 1.93245315e-01 -9.81149136e-01 -1.61891565e-03 -1.62862781e+02] [ 7.19493641e-03 -2.32875865e-04 9.99974089e-01 1.97360766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.49, Y:-163.65, Z:2.88 [[-9.84919194e-01 1.72936534e-01 5.20933312e-03 2.94851309e+01] [ 1.72934781e-01 9.84932962e-01 -7.88564377e-04 -1.63646201e+02] [-5.26721549e-03 1.24202692e-04 -9.99986120e-01 2.88113028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.59762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.62, Y:-162.86, Z:1.98 [[-9.80678938e-01 -1.95577805e-01 4.25936486e-03 2.96150318e+01] [ 1.95575237e-01 -9.80688175e-01 -1.01538343e-03 -1.62862889e+02] [ 4.37569521e-03 -1.62738855e-04 9.99990413e-01 1.97731999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.627628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.43, Y:-163.63, Z:2.88 [[-9.86818456e-01 1.61809537e-01 2.64742628e-03 2.94307964e+01] [ 1.61809078e-01 9.86822006e-01 -3.88128235e-04 -1.63629823e+02] [-2.67534136e-03 4.53655001e-05 -9.99996420e-01 2.87961663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.65762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.43, Y:-163.60, Z:2.88 [[-9.96072460e-01 8.84835349e-02 3.21227983e-03 2.94319475e+01] [ 8.84832201e-02 9.96077639e-01 -2.40250098e-04 -1.63597834e+02] [-3.22093829e-03 4.49263577e-05 -9.99994812e-01 2.88042509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.43, Y:-163.57, Z:2.88 [[-9.99887350e-01 1.44751584e-02 3.96964322e-03 2.94331271e+01] [ 1.44752158e-02 9.99895228e-01 -1.42674225e-05 -1.63567492e+02] [-3.96943384e-03 4.31956271e-05 -9.99992121e-01 2.88196688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.71762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.43, Y:-163.54, Z:2.88 [[-9.98234251e-01 -5.92226903e-02 4.58835023e-03 2.94315402e+01] [-5.92218956e-02 9.98244795e-01 3.09006518e-04 -1.63537094e+02] [-4.59859693e-03 3.67300919e-05 -9.99989426e-01 2.88277221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.42, Y:-163.51, Z:2.88 [[-9.90923999e-01 -1.34342544e-01 4.65934285e-03 2.94237054e+01] [-1.34340974e-01 9.90934953e-01 6.49803929e-04 -1.63508862e+02] [-4.70440200e-03 1.79656501e-05 -9.99988934e-01 2.88193383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.77762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.40, Y:-163.48, Z:2.88 [[-9.78498175e-01 -2.06209772e-01 4.34190555e-03 2.94049802e+01] [-2.06207689e-01 9.78507808e-01 9.26970329e-04 -1.63483473e+02] [-4.43973882e-03 1.17044681e-05 -9.99990144e-01 2.88171591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.807628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.37, Y:-163.46, Z:2.88 [[-9.60790196e-01 -2.77253897e-01 3.53219868e-03 2.93716574e+01] [-2.77251998e-01 9.60796688e-01 1.02607922e-03 -1.63462758e+02] [-3.67820925e-03 6.53771014e-06 -9.99993235e-01 2.88169023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.837628 meters Centerline goodness [0,1] 0.9999563175712569 Centerline is valid? [True, True] Translation: X:29.31, Y:-163.45, Z:2.88 [[-9.37411044e-01 -3.48211180e-01 3.08354700e-03 2.93149329e+01] [-3.48209289e-01 9.37416116e-01 1.14765103e-03 -1.63451717e+02] [-3.29019157e-03 2.10104074e-06 -9.99994587e-01 2.88280129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.25, Y:-163.45, Z:2.88 [[-9.08963061e-01 -4.16863657e-01 3.29319610e-03 2.92484076e+01] [-4.16860920e-01 9.08969027e-01 1.51069200e-03 -1.63449793e+02] [-3.62316585e-03 3.58474143e-07 -9.99993436e-01 2.88338105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.897628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.18, Y:-163.46, Z:2.88 [[-8.75179863e-01 -4.83785933e-01 3.37318048e-03 2.91771258e+01] [-4.83782344e-01 8.75186364e-01 1.86341334e-03 -1.63455591e+02] [-3.85365472e-03 -1.06332614e-06 -9.99992575e-01 2.88441723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.927628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.10, Y:-163.47, Z:2.89 [[-8.36419295e-01 -5.48078744e-01 3.52895251e-03 2.90963750e+01] [-5.48073875e-01 8.36426740e-01 2.31022878e-03 -1.63474702e+02] [-4.21789753e-03 -1.80675224e-06 -9.99991105e-01 2.88503072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.957628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.01, Y:-163.50, Z:2.89 [[-7.93077125e-01 -6.09108534e-01 3.93292912e-03 2.90124786e+01] [-6.09101041e-01 7.93086877e-01 3.02137898e-03 -1.63501911e+02] [-4.95950219e-03 6.35339087e-07 -9.99987702e-01 2.88560615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.93, Y:-163.54, Z:2.89 [[-7.46126467e-01 -6.65791355e-01 4.14334115e-03 2.89269803e+01] [-6.65780995e-01 7.46137971e-01 3.71415923e-03 -1.63541838e+02] [-5.56435926e-03 1.26747084e-05 -9.99984519e-01 2.88717619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.84, Y:-163.59, Z:2.89 [[-6.94403625e-01 -7.19575140e-01 3.90172692e-03 2.88409745e+01] [-7.19563614e-01 6.94414586e-01 4.07291715e-03 -1.63589909e+02] [-5.64018601e-03 2.07077165e-05 -9.99984094e-01 2.88739905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.75, Y:-163.65, Z:2.89 [[-6.38698565e-01 -7.69447884e-01 3.75465209e-03 2.87530866e+01] [-7.69434303e-01 6.38709600e-01 4.57170158e-03 -1.63650734e+02] [-5.91581844e-03 3.09811284e-05 -9.99982501e-01 2.88786515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.67, Y:-163.72, Z:2.89 [[-5.80508501e-01 -8.14246780e-01 3.47288634e-03 2.86729688e+01] [-8.14231678e-01 5.80518887e-01 4.95954169e-03 -1.63717994e+02] [-6.05436696e-03 5.13220391e-05 -9.99981671e-01 2.88865070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.59, Y:-163.80, Z:2.89 [[-5.18112805e-01 -8.55305742e-01 3.34788179e-03 2.85934668e+01] [-8.55287011e-01 5.18123617e-01 5.66091145e-03 -1.63796397e+02] [-6.57642669e-03 6.95909001e-05 -9.99978373e-01 2.88939364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.52, Y:-163.88, Z:2.89 [[-4.52642660e-01 -8.91686816e-01 3.04038713e-03 2.85187406e+01] [-8.91665392e-01 4.52652863e-01 6.18181814e-03 -1.63882410e+02] [-6.88848568e-03 8.71466271e-05 -9.99976270e-01 2.88956095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.16762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.45, Y:-163.98, Z:2.89 [[-3.84442574e-01 -9.23144762e-01 2.76675879e-03 2.84499933e+01] [-9.23118767e-01 3.84452514e-01 6.92863500e-03 -1.63976289e+02] [-7.45982049e-03 1.09615308e-04 -9.99972169e-01 2.89008975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.39, Y:-164.08, Z:2.89 [[-3.15198040e-01 -9.49022647e-01 2.49230481e-03 2.83874796e+01] [-9.48989076e-01 3.15207857e-01 7.98381346e-03 -1.64076404e+02] [-8.36241383e-03 1.51312321e-04 -9.99965023e-01 2.89037968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.22762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.33, Y:-164.18, Z:2.89 [[-2.41111354e-01 -9.70495627e-01 1.88494299e-03 2.83294036e+01] [-9.70460767e-01 2.41118672e-01 8.22709738e-03 -1.64181929e+02] [-8.43885698e-03 1.54383364e-04 -9.99964380e-01 2.88984898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.28, Y:-164.30, Z:2.89 [[-1.63137457e-01 -9.86602613e-01 1.20605255e-03 2.82769075e+01] [-9.86569375e-01 1.63141862e-01 8.09939882e-03 -1.64295149e+02] [-8.18764569e-03 1.31460817e-04 -9.99966472e-01 2.89007004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.28762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.24, Y:-164.41, Z:2.89 [[-8.55150633e-02 -9.96336713e-01 5.72409055e-04 2.82353539e+01] [-9.96303656e-01 8.55168894e-02 8.11703353e-03 -1.64410646e+02] [-8.13624915e-03 1.23835401e-04 -9.99966893e-01 2.89040187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.20, Y:-164.53, Z:2.89 [[-8.15443873e-03 -9.99966750e-01 -5.74832090e-05 2.82036308e+01] [-9.99933651e-01 8.15370105e-03 8.13705246e-03 -1.64529785e+02] [-8.13631320e-03 1.23832491e-04 -9.99966892e-01 2.89040515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.34762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.18, Y:-164.65, Z:2.89 [[ 6.93176310e-02 -9.97594410e-01 -6.77876706e-04 2.81805969e+01] [-9.97562220e-01 -6.93208405e-02 8.01489104e-03 -1.64647075e+02] [-8.04260148e-03 1.20650932e-04 -9.99967651e-01 2.89086154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.377628 meters Centerline goodness [0,1] 0.9998667288598654 Centerline is valid? [True, True] Translation: X:28.17, Y:-164.78, Z:2.89 [[ 1.46096849e-01 -9.89269460e-01 -1.28341394e-03 2.81689216e+01] [-9.89238227e-01 -1.46102436e-01 7.86188258e-03 -1.64775231e+02] [-7.96503024e-03 1.21005853e-04 -9.99968271e-01 2.89267995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.40762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.16, Y:-164.89, Z:2.89 [[ 2.22253661e-01 -9.74987524e-01 -1.62417742e-03 2.81643626e+01] [-9.74964804e-01 -2.22259571e-01 6.65690153e-03 -1.64893028e+02] [-6.85138491e-03 1.03995080e-04 -9.99976524e-01 2.88939583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.17, Y:-165.01, Z:2.89 [[ 2.96706489e-01 -9.54967000e-01 -1.81332380e-03 2.81699456e+01] [-9.54950977e-01 -2.96712017e-01 5.53264518e-03 -1.65014444e+02] [-5.82152853e-03 9.00636069e-05 -9.99983051e-01 2.88834800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.46762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.18, Y:-165.13, Z:2.89 [[ 3.69486097e-01 -9.29234143e-01 -1.98276103e-03 2.81837883e+01] [-9.29221908e-01 -3.69491408e-01 4.76911952e-03 -1.65133017e+02] [-5.16424185e-03 8.03016323e-05 -9.99986662e-01 2.88752660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.21, Y:-165.25, Z:2.89 [[ 4.39733168e-01 -8.98126363e-01 -1.94315151e-03 2.82070452e+01] [-8.98118271e-01 -4.39737456e-01 3.81331312e-03 -1.65252203e+02] [-4.27931354e-03 6.83396177e-05 -9.99990841e-01 2.88707819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.52762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.24, Y:-165.37, Z:2.89 [[ 5.07695982e-01 -8.61533716e-01 -2.10856551e-03 2.82389082e+01] [-8.61526806e-01 -5.07700357e-01 3.45101241e-03 -1.65365989e+02] [-4.04368301e-03 6.45205785e-05 -9.99991822e-01 2.88696410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.557628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.28, Y:-165.48, Z:2.89 [[ 5.72962754e-01 -8.19578386e-01 -2.22501386e-03 2.82768561e+01] [-8.19572599e-01 -5.72967072e-01 3.08065806e-03 -1.65475276e+02] [-3.79970044e-03 5.84580667e-05 -9.99992779e-01 2.88627070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.587628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.32, Y:-165.58, Z:2.89 [[ 6.34970486e-01 -7.72532787e-01 -2.36112642e-03 2.83236090e+01] [-7.72527752e-01 -6.34974874e-01 2.78963720e-03 -1.65578917e+02] [-3.65434215e-03 5.26983995e-05 -9.99993322e-01 2.88634649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.38, Y:-165.68, Z:2.89 [[ 6.93124795e-01 -7.20812893e-01 -2.60623206e-03 2.83760721e+01] [-7.20808063e-01 -6.93129693e-01 2.63920458e-03 -1.65678139e+02] [-3.70882952e-03 4.92949467e-05 -9.99993121e-01 2.88623467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.647628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.43, Y:-165.77, Z:2.89 [[ 7.47196194e-01 -6.64596458e-01 -3.06538007e-03 2.84338384e+01] [-6.64591126e-01 -7.47202480e-01 2.66244543e-03 -1.65771040e+02] [-4.05991139e-03 4.78552969e-05 -9.99991757e-01 2.88655814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.677628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.43, Y:-165.78, Z:2.89 [[ 7.98579635e-01 -6.01881527e-01 -3.03213269e-03 2.84268720e+01] [-6.01877348e-01 -7.98585391e-01 2.24302917e-03 -1.65780005e+02] [-3.77145469e-03 3.37345713e-05 -9.99992887e-01 2.88631768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.707628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.42, Y:-165.79, Z:2.89 [[ 8.43798575e-01 -5.36652667e-01 -2.80706221e-03 2.84211153e+01] [-5.36649799e-01 -8.43803244e-01 1.75443112e-03 -1.65787522e+02] [-3.31012834e-03 2.60228905e-05 -9.99994521e-01 2.88640627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.42, Y:-165.79, Z:2.89 [[ 8.83893230e-01 -4.67683220e-01 -2.27254431e-03 2.84168830e+01] [-4.67681722e-01 -8.83896151e-01 1.18370134e-03 -1.65792139e+02] [-2.56229042e-03 1.65618423e-05 -9.99996717e-01 2.88541069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.41, Y:-165.80, Z:2.88 [[ 9.18074155e-01 -3.96403544e-01 -2.01904430e-03 2.84135645e+01] [-3.96402616e-01 -9.18076375e-01 8.58027380e-04 -1.65796843e+02] [-2.19376196e-03 1.26216805e-05 -9.99997594e-01 2.88452737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.41, Y:-165.80, Z:2.88 [[ 9.46499173e-01 -3.22698676e-01 -2.20896493e-03 2.84099520e+01] [-3.22697826e-01 -9.46501751e-01 7.40946135e-04 -1.65804138e+02] [-2.32989151e-03 1.15232765e-05 -9.99997286e-01 2.88437538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.41, Y:-165.81, Z:2.88 [[ 9.69221213e-01 -2.46178229e-01 -2.55339141e-03 2.84058210e+01] [-2.46177398e-01 -9.69224576e-01 6.39606691e-04 -1.65809921e+02] [-2.63226695e-03 8.66688060e-06 -9.99996536e-01 2.88499921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.85762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.40, Y:-165.81, Z:2.88 [[ 9.85557072e-01 -1.69325669e-01 -2.46481387e-03 2.84020220e+01] [-1.69325159e-01 -9.85560154e-01 4.15603737e-04 -1.65813410e+02] [-2.49959472e-03 7.75379846e-06 -9.99996876e-01 2.88478044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.40, Y:-165.82, Z:2.88 [[ 9.95776928e-01 -9.17746540e-02 -2.39200871e-03 2.83970248e+01] [-9.17744082e-02 -9.95779801e-01 2.12534956e-04 -1.65817083e+02] [-2.40141928e-03 7.88777781e-06 -9.99997117e-01 2.88473092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.91762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.39, Y:-165.82, Z:2.89 [[ 9.99871954e-01 -1.56175941e-02 -3.48814796e-03 2.83914096e+01] [-1.56175616e-02 -9.99878038e-01 3.65470919e-05 -1.65822787e+02] [-3.48829331e-03 1.79339534e-05 -9.99993916e-01 2.88570101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.39, Y:-165.83, Z:2.89 [[ 9.98121767e-01 6.10943672e-02 -4.51850076e-03 2.83870223e+01] [ 6.10936048e-02 -9.98131994e-01 -3.06691288e-04 -1.65830118e+02] [-4.52879728e-03 3.00637505e-05 -9.99989745e-01 2.88641042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.97762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.38, Y:-165.84, Z:2.89 [[ 9.90792448e-01 1.35282556e-01 -5.38093560e-03 2.83824481e+01] [ 1.35280251e-01 -9.90807058e-01 -7.91789215e-04 -1.65836819e+02] [-5.43858424e-03 5.65644574e-05 -9.99985209e-01 2.88632743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.38, Y:-165.85, Z:2.89 [[ 9.77443200e-01 2.11127314e-01 -5.48152361e-03 2.83776073e+01] [ 2.11123615e-01 -9.77458568e-01 -1.25146995e-03 -1.65845963e+02] [-5.62218171e-03 6.59617109e-05 -9.99984193e-01 2.88617275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.03762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.37, Y:-165.85, Z:2.89 [[ 9.58372507e-01 2.85472092e-01 -5.27468000e-03 2.83746808e+01] [ 2.85467345e-01 -9.58387020e-01 -1.64787756e-03 -1.65854837e+02] [-5.52560790e-03 7.35316517e-05 -9.99984731e-01 2.88585083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.067628 meters Centerline goodness [0,1] 0.9999555061179087 Centerline is valid? [True, True] Translation: X:28.37, Y:-165.86, Z:2.89 [[ 9.33764917e-01 3.57836091e-01 -6.03429847e-03 2.83718536e+01] [ 3.57827934e-01 -9.33784409e-01 -2.41811587e-03 -1.65863626e+02] [-6.50002296e-03 9.87112093e-05 -9.99978870e-01 2.88665450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.09762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.37, Y:-165.87, Z:2.89 [[ 9.04091028e-01 4.27292748e-01 -6.34994420e-03 2.83703381e+01] [ 4.27281216e-01 -9.04113318e-01 -3.14174204e-03 -1.65873561e+02] [-7.08351271e-03 1.27208905e-04 -9.99974904e-01 2.88641284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.37, Y:-165.88, Z:2.89 [[ 8.68466963e-01 4.95702294e-01 -6.66105364e-03 2.83700980e+01] [ 4.95686396e-01 -8.68492495e-01 -3.97275768e-03 -1.65883598e+02] [-7.75438019e-03 1.48415126e-04 -9.99969923e-01 2.88684292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.15762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.37, Y:-165.89, Z:2.89 [[ 8.28146636e-01 5.60466608e-01 -7.09440430e-03 2.83705998e+01] [ 5.60444126e-01 -8.28177002e-01 -5.02340441e-03 -1.65894292e+02] [-8.69087292e-03 1.84098247e-04 -9.99962217e-01 2.88816432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.37, Y:-165.91, Z:2.89 [[ 7.82105444e-01 6.23103980e-01 -7.24596757e-03 2.83723723e+01] [ 6.23074788e-01 -7.82138983e-01 -6.03497748e-03 -1.65906332e+02] [-9.42777219e-03 2.05209039e-04 -9.99955537e-01 2.88857515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.21762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.37, Y:-165.92, Z:2.89 [[ 7.30900893e-01 6.82449092e-01 -6.86454805e-03 2.83732765e+01] [ 6.82416285e-01 -7.30933098e-01 -6.69482835e-03 -1.65917881e+02] [-9.58640490e-03 2.08776644e-04 -9.99954028e-01 2.88899576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.37, Y:-165.93, Z:2.89 [[ 6.75074563e-01 7.37719948e-01 -6.60404638e-03 2.83742042e+01] [ 7.37681478e-01 -6.75106830e-01 -7.53691279e-03 -1.65928879e+02] [-1.00185677e-02 2.16295407e-04 -9.99949790e-01 2.88865987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.27762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.38, Y:-165.94, Z:2.89 [[ 6.14685826e-01 7.88750457e-01 -5.83538538e-03 2.83779244e+01] [ 7.88711731e-01 -6.14713491e-01 -7.81852312e-03 -1.65940031e+02] [-9.75395380e-03 2.03498445e-04 -9.99952408e-01 2.88776911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.307628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.38, Y:-165.95, Z:2.89 [[ 5.48318343e-01 8.36254702e-01 -5.00690620e-03 2.83827381e+01] [ 8.36217050e-01 -5.48341177e-01 -7.93720512e-03 -1.65951909e+02] [-9.38301794e-03 1.65254830e-04 -9.99955965e-01 2.88615966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.337628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.39, Y:-165.96, Z:2.89 [[ 4.79302300e-01 8.77640138e-01 -4.13450517e-03 2.83894963e+01] [ 8.77604974e-01 -4.79320112e-01 -7.85749959e-03 -1.65962808e+02] [-8.87780850e-03 1.37655326e-04 -9.99960582e-01 2.88536653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.40, Y:-165.97, Z:2.89 [[ 4.05316060e-01 9.14169634e-01 -3.57385988e-03 2.83975071e+01] [ 9.14131830e-01 -4.05331803e-01 -8.31430536e-03 -1.65974232e+02] [-9.04928456e-03 1.02942415e-04 -9.99959049e-01 2.88529183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.397628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.40, Y:-165.98, Z:2.89 [[ 3.30876047e-01 9.43670195e-01 -2.75755846e-03 2.84044004e+01] [ 9.43635297e-01 -3.30887527e-01 -8.11606111e-03 -1.65982525e+02] [-8.57132667e-03 8.32807186e-05 -9.99963262e-01 2.88547292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.427628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.41, Y:-165.99, Z:2.89 [[ 2.53491649e-01 9.67335531e-01 -1.98837899e-03 2.84107455e+01] [ 9.67303960e-01 -2.53499440e-01 -7.81549409e-03 -1.65991084e+02] [-8.06425809e-03 5.77956087e-05 -9.99967482e-01 2.88621678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.457628 meters Centerline goodness [0,1] 0.9999117990783004 Centerline is valid? [True, True] Translation: X:28.42, Y:-166.00, Z:2.89 [[ 1.76490115e-01 9.84301333e-01 -1.45754039e-03 2.84151275e+01] [ 9.84265022e-01 -1.76496124e-01 -8.45485214e-03 -1.65997533e+02] [-8.57937246e-03 5.75917969e-05 -9.99963195e-01 2.88796431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.48762800000003 meters Centerline goodness [0,1] 0.9998456756101325 Centerline is valid? [True, True] Translation: X:28.42, Y:-166.00, Z:2.89 [[ 9.83652307e-02 9.95150043e-01 -8.20651974e-04 2.84184943e+01] [ 9.95110556e-01 -9.83686384e-02 -8.86526267e-03 -1.66004218e+02] [-8.90299295e-03 5.53941660e-05 -9.99960366e-01 2.88853640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.42, Y:-166.01, Z:2.88 [[ 1.84990074e-02 9.99828874e-01 -1.02068172e-04 2.84208049e+01] [ 9.99801721e-01 -1.84992573e-02 -7.36855099e-03 -1.66010868e+02] [-7.36917822e-03 3.42629458e-05 -9.99972847e-01 2.88463308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.43, Y:-166.02, Z:2.88 [[-6.02433233e-02 9.98183596e-01 5.01477798e-04 2.84263024e+01] [ 9.98153451e-01 6.02454013e-02 -7.75761117e-03 -1.66016550e+02] [-7.77373195e-03 3.32075170e-05 -9.99969784e-01 2.88379897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.43, Y:-166.02, Z:2.88 [[-1.39676534e-01 9.90196513e-01 1.15360482e-03 2.84313931e+01] [ 9.90164094e-01 1.39681296e-01 -8.01260153e-03 -1.66022926e+02] [-8.09518711e-03 2.30856574e-05 -9.99967233e-01 2.88386847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.60762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.44, Y:-166.03, Z:2.88 [[-2.17458839e-01 9.76067974e-01 1.72126458e-03 2.84409631e+01] [ 9.76038017e-01 2.17465650e-01 -7.64729269e-03 -1.66027416e+02] [-7.83859340e-03 1.70482794e-05 -9.99969278e-01 2.88294571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.45, Y:-166.03, Z:2.88 [[-2.94575711e-01 9.55625675e-01 2.17238073e-03 2.84498025e+01] [ 9.55599831e-01 2.94583722e-01 -7.02803931e-03 -1.66031528e+02] [-7.35612281e-03 5.63697813e-06 -9.99972943e-01 2.88257461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.66762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.46, Y:-166.03, Z:2.88 [[-3.71204088e-01 9.28547151e-01 2.77750511e-03 2.84599296e+01] [ 9.28520842e-01 3.71214478e-01 -6.98975954e-03 -1.66034464e+02] [-7.52137141e-03 -1.56559243e-05 -9.99971714e-01 2.88253597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.47, Y:-166.04, Z:2.88 [[-4.43961023e-01 8.96038835e-01 3.60779696e-03 2.84699108e+01] [ 8.96008743e-01 4.43975681e-01 -7.34347517e-03 -1.66035872e+02] [-8.18181305e-03 -2.75991332e-05 -9.99966528e-01 2.88304628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.72762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.48, Y:-166.04, Z:2.88 [[-5.13572951e-01 8.58035020e-01 4.32761652e-03 2.84793187e+01] [ 8.58003961e-01 5.13591182e-01 -7.30067789e-03 -1.66037383e+02] [-8.48686299e-03 -3.63185647e-05 -9.99963985e-01 2.88374394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.49, Y:-166.04, Z:2.88 [[-5.79765721e-01 8.14765852e-01 5.32118093e-03 2.84881320e+01] [ 8.14730810e-01 5.79790138e-01 -7.55668294e-03 -1.66038343e+02] [-9.24209544e-03 -4.57756850e-05 -9.99957290e-01 2.88418528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.78762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.50, Y:-166.04, Z:2.88 [[-6.43214828e-01 7.65662332e-01 5.98993196e-03 2.84970817e+01] [ 7.65628206e-01 6.43242715e-01 -7.22909087e-03 -1.66040154e+02] [-9.38802267e-03 -6.37975746e-05 -9.99955930e-01 2.88440444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.51, Y:-166.04, Z:2.88 [[-7.02135006e-01 7.12018163e-01 6.04721055e-03 2.85064478e+01] [ 7.11990895e-01 7.02161044e-01 -6.23175406e-03 -1.66038432e+02] [-8.68323775e-03 -6.99738253e-05 -9.99962298e-01 2.88331474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.84762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.52, Y:-166.04, Z:2.88 [[-7.56888910e-01 6.53522884e-01 5.19796975e-03 2.85161973e+01] [ 6.53506857e-01 7.56906755e-01 -4.57732178e-03 -1.66037642e+02] [-6.92576295e-03 -6.76152125e-05 -9.99976014e-01 2.88187905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.54, Y:-166.02, Z:2.88 [[-8.01499588e-01 5.97969325e-01 5.57642634e-03 2.85403850e+01] [ 5.97954226e-01 8.01518984e-01 -4.24995897e-03 -1.66023626e+02] [-7.01095667e-03 -7.18926722e-05 -9.99975420e-01 2.88157188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.90762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.56, Y:-166.01, Z:2.88 [[-8.41393099e-01 5.40392037e-01 5.83944779e-03 2.85639372e+01] [ 5.40378446e-01 8.41413359e-01 -3.83323997e-03 -1.66007307e+02] [-6.98484174e-03 -6.97499367e-05 -9.99975603e-01 2.88218141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.58, Y:-165.99, Z:2.88 [[-8.76826910e-01 4.80748273e-01 7.46107020e-03 2.85765684e+01] [ 4.80730153e-01 8.76858650e-01 -4.17466958e-03 -1.65987009e+02] [-8.54926913e-03 -7.37012081e-05 -9.99963452e-01 2.88344313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.96762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.59, Y:-165.97, Z:2.88 [[-9.08337570e-01 4.18157033e-01 8.21913839e-03 2.85912592e+01] [ 4.18139202e-01 9.08374753e-01 -3.86217764e-03 -1.65965687e+02] [-9.08105454e-03 -7.14170853e-05 -9.99958764e-01 2.88333806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.62, Y:-165.95, Z:2.88 [[-9.35578543e-01 3.53018091e-01 8.42724710e-03 2.86162603e+01] [ 3.53003106e-01 9.35616494e-01 -3.25332420e-03 -1.65946426e+02] [-9.03315368e-03 -6.88959131e-05 -9.99959198e-01 2.88332045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.02762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.63, Y:-165.92, Z:2.88 [[-9.58193668e-01 2.85970166e-01 9.27139759e-03 2.86294092e+01] [ 2.85956041e-01 9.58238519e-01 -2.84315099e-03 -1.65918927e+02] [-9.69726665e-03 -7.30771193e-05 -9.99952978e-01 2.88448224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.057628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.64, Y:-165.89, Z:2.88 [[-9.75984460e-01 2.17620682e-01 9.77613724e-03 2.86379028e+01] [ 2.17609018e-01 9.76033418e-01 -2.25430042e-03 -1.65891612e+02] [-1.00324190e-02 -7.27865548e-05 -9.99949671e-01 2.88461300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.08762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.83, Y:-165.11, Z:1.97 [[-9.55209237e-01 -2.95795605e-01 8.95957665e-03 2.88316749e+01] [ 2.95782858e-01 -9.55251255e-01 -2.74618912e-03 -1.65114544e+02] [ 9.37095751e-03 2.69039775e-05 9.99956091e-01 1.97438808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.60, Y:-165.88, Z:2.88 [[-9.76359846e-01 2.15994874e-01 8.22585580e-03 2.85964002e+01] [ 2.15986849e-01 9.76394496e-01 -1.86238544e-03 -1.65881583e+02] [-8.43394604e-03 -4.16816912e-05 -9.99964433e-01 2.88210037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.147628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.78, Y:-165.10, Z:1.98 [[-9.56944081e-01 -2.90183313e-01 7.18818552e-03 2.87799698e+01] [ 2.90174970e-01 -9.56971078e-01 -2.20053552e-03 -1.65102564e+02] [ 7.51744433e-03 -1.99579261e-05 9.99971743e-01 1.97725145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.177628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.55, Y:-165.87, Z:2.88 [[-9.76524285e-01 2.15331436e-01 5.71773698e-03 2.85498363e+01] [ 2.15327694e-01 9.76541024e-01 -1.26948088e-03 -1.65873558e+02] [-5.85696387e-03 -8.49178367e-06 -9.99982848e-01 2.87931233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.207628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.73, Y:-165.09, Z:1.98 [[-9.58839492e-01 -2.83892137e-01 5.66413360e-03 2.87320492e+01] [ 2.83887255e-01 -9.58856222e-01 -1.66497962e-03 -1.65091549e+02] [ 5.90376437e-03 1.15271221e-05 9.99982573e-01 1.97853182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.50, Y:-165.86, Z:2.88 [[-9.77074756e-01 2.12837487e-01 5.01259541e-03 2.84999917e+01] [ 2.12834687e-01 9.77087613e-01 -1.09188123e-03 -1.65863801e+02] [-5.13013814e-03 4.58538439e-09 -9.99986841e-01 2.87851114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.68, Y:-165.08, Z:1.98 [[-9.60665885e-01 -2.77664046e-01 4.87193743e-03 2.86830025e+01] [ 2.77660457e-01 -9.60678238e-01 -1.41189290e-03 -1.65080546e+02] [ 5.07239616e-03 -3.61297133e-06 9.99987135e-01 1.97939080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.29762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.45, Y:-165.85, Z:2.88 [[-9.77467337e-01 2.11022236e-01 5.21741467e-03 2.84538568e+01] [ 2.11019289e-01 9.77481261e-01 -1.11512875e-03 -1.65854827e+02] [-5.33524203e-03 1.09732071e-05 -9.99985767e-01 2.87860826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.46, Y:-165.83, Z:2.88 [[-9.89772501e-01 1.42552460e-01 5.40299430e-03 2.84605018e+01] [ 1.42550441e-01 9.89787248e-01 -7.58941991e-04 -1.65828078e+02] [-5.45600390e-03 1.90193080e-05 -9.99985116e-01 2.87936830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.35762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.47, Y:-165.80, Z:2.88 [[-9.97359007e-01 7.24544635e-02 5.03606709e-03 2.84664019e+01] [ 7.24536428e-02 9.97371721e-01 -3.45445426e-04 -1.65801140e+02] [-5.04785997e-03 2.03482995e-05 -9.99987259e-01 2.87903504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.53, Y:-165.00, Z:1.98 [[-9.91431321e-01 -1.30558484e-01 4.29164771e-03 2.85318804e+01] [ 1.30556986e-01 -9.91440608e-01 -6.28552349e-04 -1.64998046e+02] [ 4.33697666e-03 -6.28618932e-05 9.99990593e-01 1.97992222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.41762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.39, Y:-165.80, Z:2.88 [[-9.97513515e-01 7.03672662e-02 3.90318487e-03 2.83910726e+01] [ 7.03668302e-02 9.97521151e-01 -2.49108879e-04 -1.65796935e+02] [-3.91103858e-03 2.61652735e-05 -9.99992352e-01 2.87791113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.41, Y:-165.77, Z:2.88 [[-9.99992184e-01 5.21305839e-04 3.91914110e-03 2.84072603e+01] [ 5.21424704e-04 9.99999864e-01 2.93077466e-05 -1.65770367e+02] [-3.91912529e-03 3.13510545e-05 -9.99992320e-01 2.87760931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.47762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.40, Y:-165.74, Z:2.88 [[-9.97740578e-01 -6.70692500e-02 3.93129500e-03 2.84044526e+01] [-6.70685482e-02 9.97748322e-01 3.10224441e-04 -1.65744930e+02] [-3.94324951e-03 4.58572647e-05 -9.99992224e-01 2.87769491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.40, Y:-165.72, Z:2.88 [[-9.90639540e-01 -1.36453758e-01 3.69779067e-03 2.83987215e+01] [-1.36452618e-01 9.90646440e-01 5.59994135e-04 -1.65719645e+02] [-3.73961647e-03 5.01791143e-05 -9.99993006e-01 2.87782187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.53762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.26, Y:-164.91, Z:1.98 [[-9.95324090e-01 9.65431688e-02 3.06145826e-03 2.82617061e+01] [-9.65429753e-02 -9.95328795e-01 2.11264238e-04 -1.64914263e+02] [ 3.06755368e-03 -8.52859032e-05 9.99995291e-01 1.98074742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.26, Y:-165.74, Z:2.88 [[-9.90082956e-01 -1.40457048e-01 2.74904404e-03 2.82587586e+01] [-1.40456375e-01 9.90086772e-01 4.37066283e-04 -1.65739625e+02] [-2.78318118e-03 4.66111157e-05 -9.99996126e-01 2.87656942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.59762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.24, Y:-165.72, Z:2.88 [[-9.77785067e-01 -2.09597651e-01 2.27764792e-03 2.82366082e+01] [-2.09596978e-01 9.77787719e-01 5.32923647e-04 -1.65715191e+02] [-2.33875571e-03 4.36966626e-05 -9.99997264e-01 2.87687831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.627628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.19, Y:-165.70, Z:2.88 [[-9.59943311e-01 -2.80188628e-01 1.78124486e-03 2.81862406e+01] [-2.80188075e-01 9.59944963e-01 5.57551552e-04 -1.65700533e+02] [-1.86611663e-03 3.61343134e-05 -9.99998258e-01 2.87733438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.65762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.12, Y:-165.69, Z:2.88 [[-9.36719307e-01 -3.50075892e-01 1.95191532e-03 2.81246487e+01] [-3.50075041e-01 9.36721340e-01 7.73122667e-04 -1.65689879e+02] [-2.09905234e-03 4.08820940e-05 -9.99997796e-01 2.87736447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.05, Y:-165.69, Z:2.88 [[-9.08096693e-01 -4.18757583e-01 1.57542636e-03 2.80535028e+01] [-4.18756887e-01 9.08098059e-01 7.64481061e-04 -1.65690097e+02] [-1.75077386e-03 3.45020849e-05 -9.99998467e-01 2.87772552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.71762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.97, Y:-165.70, Z:2.88 [[-8.74276448e-01 -4.85426401e-01 1.37908355e-03 2.79726522e+01] [-4.85425739e-01 8.74277535e-01 8.02185177e-04 -1.65702053e+02] [-1.59510363e-03 3.18889554e-05 -9.99998727e-01 2.87889773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.89, Y:-165.72, Z:2.88 [[-8.35247507e-01 -5.49870163e-01 2.09895107e-03 2.78858997e+01] [-5.49868276e-01 8.35250143e-01 1.44136852e-03 -1.65720788e+02] [-2.54571472e-03 4.97528547e-05 -9.99996758e-01 2.87977013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.77762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.80, Y:-165.75, Z:2.88 [[-7.90979123e-01 -6.11839802e-01 2.02053813e-03 2.77962456e+01] [-6.11837646e-01 7.90981703e-01 1.62530937e-03 -1.65754051e+02] [-2.59263765e-03 4.93444938e-05 -9.99996638e-01 2.88066741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.807628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.70, Y:-165.79, Z:2.88 [[-7.40765727e-01 -6.71761005e-01 1.81368275e-03 2.77024255e+01] [-6.71758851e-01 7.40767947e-01 1.70147859e-03 -1.65792719e+02] [-2.48650501e-03 4.20395899e-05 -9.99996908e-01 2.88076690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.83762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.61, Y:-165.84, Z:2.88 [[-6.86077654e-01 -7.27525788e-01 1.91870813e-03 2.76120349e+01] [-7.27522768e-01 6.86080335e-01 2.09643873e-03 -1.65843795e+02] [-2.84160115e-03 4.24159114e-05 -9.99995962e-01 2.88156018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.52, Y:-165.91, Z:2.88 [[-6.26532026e-01 -7.79393495e-01 1.84409303e-03 2.75204403e+01] [-7.79389943e-01 6.26534739e-01 2.35309061e-03 -1.65905410e+02] [-2.98937186e-03 3.70190652e-05 -9.99995531e-01 2.88182624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.897628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.43, Y:-165.97, Z:2.88 [[-5.60334673e-01 -8.28264598e-01 1.67622523e-03 2.74308913e+01] [-8.28260784e-01 5.60337180e-01 2.51373371e-03 -1.65973726e+02] [-3.02128796e-03 2.01805373e-05 -9.99995436e-01 2.88138084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.927628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.35, Y:-166.05, Z:2.88 [[-4.92551674e-01 -8.70281719e-01 1.60549365e-03 2.73472483e+01] [-8.70277017e-01 4.92554291e-01 2.86096147e-03 -1.66053069e+02] [-3.28063525e-03 1.19471381e-05 -9.99994619e-01 2.88170092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.957628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.27, Y:-166.14, Z:2.88 [[-4.21939531e-01 -9.06622536e-01 1.61550827e-03 2.72691464e+01] [-9.06615855e-01 4.21942624e-01 3.48035670e-03 -1.66139105e+02] [-3.83702161e-03 3.85466554e-06 -9.99992639e-01 2.88278433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.19, Y:-166.23, Z:2.89 [[-3.46670729e-01 -9.37985348e-01 1.70070420e-03 2.71946775e+01] [-9.37974315e-01 3.46674900e-01 4.54956843e-03 -1.66234242e+02] [-4.85701998e-03 -1.80146550e-05 -9.99988204e-01 2.88533731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.13, Y:-166.34, Z:2.89 [[-2.71831266e-01 -9.62344000e-01 1.33738680e-03 2.71312152e+01] [-9.62332815e-01 2.71834554e-01 4.63978092e-03 -1.66335716e+02] [-4.82861327e-03 -2.57736826e-05 -9.99988342e-01 2.88554471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.08, Y:-166.44, Z:2.89 [[-1.95636190e-01 -9.80676014e-01 1.01795298e-03 2.70757174e+01] [-9.80663603e-01 1.95638836e-01 4.93383269e-03 -1.66443649e+02] [-5.03764252e-03 -3.30332084e-05 -9.99987310e-01 2.88561586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.03, Y:-166.55, Z:2.88 [[-1.18789694e-01 -9.92919292e-01 5.36219073e-04 2.70315041e+01] [-9.92910283e-01 1.18790900e-01 4.22995593e-03 -1.66552433e+02] [-4.26370279e-03 -2.99422629e-05 -9.99990910e-01 2.88433907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.00, Y:-166.67, Z:2.88 [[-4.20180488e-02 -9.99116834e-01 1.89314006e-04 2.69952603e+01] [-9.99109283e-01 4.20184672e-02 3.88436479e-03 -1.66666265e+02] [-3.88888894e-03 -2.59319520e-05 -9.99992438e-01 2.88298997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.97, Y:-166.79, Z:2.88 [[ 3.49312812e-02 -9.99389713e-01 -9.03272568e-05 2.69676821e+01] [-9.99384804e-01 -3.49313928e-02 3.13246686e-03 -1.66785691e+02] [-3.13371041e-03 -1.91493932e-05 -9.99995090e-01 2.88210158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.16762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.95, Y:-166.90, Z:2.88 [[ 1.11032454e-01 -9.93816735e-01 -3.02476285e-04 2.69495173e+01] [-9.93812691e-01 -1.11032865e-01 2.83524925e-03 -1.66903832e+02] [-2.85130296e-03 -1.41999099e-05 -9.99995935e-01 2.88181155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.94, Y:-167.03, Z:2.88 [[ 1.86695273e-01 -9.82417700e-01 -5.81437282e-04 2.69398937e+01] [-9.82412709e-01 -1.86696178e-01 3.13166138e-03 -1.67025612e+02] [-3.18515168e-03 -1.34550014e-05 -9.99994927e-01 2.88284594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.22762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.94, Y:-167.15, Z:2.88 [[ 2.61312167e-01 -9.65253910e-01 -9.16406741e-04 2.69412825e+01] [-9.65247806e-01 -2.61313773e-01 3.43293702e-03 -1.67152433e+02] [-3.55312558e-03 -1.25086136e-05 -9.99993688e-01 2.88390252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.95, Y:-167.26, Z:2.89 [[ 3.32818780e-01 -9.42989577e-01 -1.52202275e-03 2.69507722e+01] [-9.42979642e-01 -3.32822261e-01 4.32867313e-03 -1.67264685e+02] [-4.58845670e-03 -5.42724048e-06 -9.99989473e-01 2.88509075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.28762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.97, Y:-167.38, Z:2.88 [[ 4.03206159e-01 -9.15107392e-01 -1.80385381e-03 2.69696480e+01] [-9.15098259e-01 -4.03210194e-01 4.08845350e-03 -1.67380672e+02] [-4.46870626e-03 2.21384861e-06 -9.99990015e-01 2.88477478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.00, Y:-167.50, Z:2.88 [[ 4.71047449e-01 -8.82105137e-01 -2.19720744e-03 2.69977359e+01] [-8.82095644e-01 -4.71052573e-01 4.09235965e-03 -1.67495705e+02] [-4.64489169e-03 1.04515408e-05 -9.99989212e-01 2.88497113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.34762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.04, Y:-167.61, Z:2.89 [[ 5.34677952e-01 -8.45051815e-01 -2.62995276e-03 2.70373828e+01] [-8.45041852e-01 -5.34684419e-01 4.10374926e-03 -1.67607219e+02] [-4.87407553e-03 2.82358987e-05 -9.99988121e-01 2.88507027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.08, Y:-167.71, Z:2.88 [[ 5.96934205e-01 -8.02285070e-01 -2.86726726e-03 2.70792542e+01] [-8.02276095e-01 -5.96941090e-01 3.79503877e-03 -1.67712185e+02] [-4.75629258e-03 3.49515287e-05 -9.99988688e-01 2.88466696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.40762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.13, Y:-167.81, Z:2.88 [[ 6.55922148e-01 -7.54823973e-01 -2.62797669e-03 2.71268966e+01] [-7.54818123e-01 -6.55927412e-01 2.97189202e-03 -1.67811445e+02] [-3.96701729e-03 3.43146345e-05 -9.99992131e-01 2.88387568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.18, Y:-167.91, Z:2.88 [[ 7.11004748e-01 -7.03184910e-01 -1.79742801e-03 2.71816603e+01] [-7.03182754e-01 -7.11007019e-01 1.74163549e-03 -1.67907131e+02] [-2.50267573e-03 2.56092727e-05 -9.99996868e-01 2.88196506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.46762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.18, Y:-167.92, Z:2.88 [[ 7.63820236e-01 -6.45427846e-01 -1.24171547e-03 2.71766246e+01] [-6.45427029e-01 -7.63821245e-01 1.02704797e-03 -1.67916273e+02] [-1.61133402e-03 1.69567024e-05 -9.99998702e-01 2.88149789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.17, Y:-167.92, Z:2.88 [[ 8.12042289e-01 -5.83597332e-01 -1.21482007e-03 2.71707180e+01] [-5.83596707e-01 -8.12043197e-01 8.54024915e-04 -1.67923639e+02] [-1.48489303e-03 1.54606447e-05 -9.99998897e-01 2.88133919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.52762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.16, Y:-167.93, Z:2.88 [[ 8.55312300e-01 -5.18111949e-01 -9.36671908e-04 2.71641455e+01] [-5.18111654e-01 -8.55312813e-01 5.53879564e-04 -1.67931348e+02] [-1.08811910e-03 1.15606269e-05 -9.99999408e-01 2.88149310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.557628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.16, Y:-167.94, Z:2.88 [[ 8.93142402e-01 -4.49772159e-01 -1.28638812e-03 2.71579477e+01] [-4.49771716e-01 -8.93143328e-01 6.31298554e-04 -1.67938455e+02] [-1.43286948e-03 1.47414865e-05 -9.99998973e-01 2.88139993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.58762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.15, Y:-167.95, Z:2.88 [[ 9.25758806e-01 -3.78110663e-01 -1.72035453e-03 2.71531474e+01] [-3.78110045e-01 -9.25760405e-01 6.83715012e-04 -1.67946693e+02] [-1.85115604e-03 1.75281339e-05 -9.99998286e-01 2.88176836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.15, Y:-167.95, Z:2.88 [[ 9.52575796e-01 -3.04295251e-01 -1.93721878e-03 2.71481155e+01] [-3.04294661e-01 -9.52577766e-01 5.99454488e-04 -1.67953501e+02] [-2.02776269e-03 1.84594964e-05 -9.99997944e-01 2.88181090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.647628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.14, Y:-167.96, Z:2.88 [[ 9.73343335e-01 -2.29342718e-01 -2.16103687e-03 2.71435692e+01] [-2.29342200e-01 -9.73345734e-01 4.87686520e-04 -1.67963932e+02] [-2.21528337e-03 2.09305263e-05 -9.99997546e-01 2.88122121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.677628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.14, Y:-167.97, Z:2.88 [[ 9.88190151e-01 -1.53212919e-01 -2.45508567e-03 2.71366404e+01] [-1.53212509e-01 -9.88193200e-01 3.55209597e-04 -1.67972085e+02] [-2.48052166e-03 2.51352110e-05 -9.99996923e-01 2.88147631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.707628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.13, Y:-167.98, Z:2.88 [[ 9.97124139e-01 -7.57516652e-02 -2.26660939e-03 2.71304000e+01] [-7.57515241e-02 -9.97126714e-01 1.48135830e-04 -1.67982185e+02] [-2.27131831e-03 2.39893046e-05 -9.99997420e-01 2.88158355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.12, Y:-167.99, Z:2.88 [[ 9.99997342e-01 1.44653813e-03 -1.79543838e-03 2.71244628e+01] [ 1.44649735e-03 -9.99998954e-01 -2.40164129e-05 -1.67991412e+02] [-1.79547124e-03 2.14192522e-05 -9.99998388e-01 2.88095824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.12, Y:-168.00, Z:2.88 [[ 9.96813602e-01 7.97611738e-02 -8.93307361e-04 2.71206030e+01] [ 7.97611313e-02 -9.96814002e-01 -8.31621316e-05 -1.68001600e+02] [-8.97094395e-04 1.16459382e-05 -9.99999598e-01 2.88026629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.12, Y:-168.01, Z:2.88 [[ 9.87374538e-01 1.58401352e-01 -7.30711775e-04 2.71168343e+01] [ 1.58401301e-01 -9.87374808e-01 -1.26660257e-04 -1.68012254e+02] [-7.41549554e-04 9.31541652e-06 -9.99999725e-01 2.87975082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.12, Y:-168.03, Z:2.88 [[ 9.71398336e-01 2.37455741e-01 -2.10546829e-04 2.71153803e+01] [ 2.37455735e-01 -9.71398359e-01 -5.51972821e-05 -1.68026756e+02] [-2.17631756e-04 3.62299589e-06 -9.99999976e-01 2.87876238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.85762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.11, Y:-168.04, Z:2.88 [[ 9.49314869e-01 3.14326596e-01 2.65992473e-04 2.71136130e+01] [ 3.14326583e-01 -9.49314906e-01 8.77619375e-05 -1.68038463e+02] [ 2.80096531e-04 2.94793074e-07 -9.99999961e-01 2.87823025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.11, Y:-168.05, Z:2.88 [[ 9.21243992e-01 3.88985219e-01 -8.52995429e-05 2.71131966e+01] [ 3.88985217e-01 -9.21243996e-01 -3.85972717e-05 -1.68049767e+02] [-9.35954599e-05 2.37724352e-06 -9.99999996e-01 2.87851390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.91762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.11, Y:-168.06, Z:2.88 [[ 8.87103157e-01 4.61571140e-01 2.68929215e-04 2.71148801e+01] [ 4.61571119e-01 -8.87103197e-01 1.38633013e-04 -1.68062642e+02] [ 3.02556964e-04 1.14817516e-06 -9.99999954e-01 2.87976084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.12, Y:-168.07, Z:2.88 [[ 8.48015931e-01 5.29970664e-01 2.75945297e-04 2.71163682e+01] [ 5.29970636e-01 -8.48015976e-01 1.71010455e-04 -1.68071859e+02] [ 3.24636545e-04 1.22331404e-06 -9.99999947e-01 2.87989983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.97762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.12, Y:-168.08, Z:2.88 [[ 8.04142901e-01 5.94436030e-01 -3.04319386e-05 2.71174314e+01] [ 5.94436030e-01 -8.04142902e-01 -2.50314749e-05 -1.68079951e+02] [-3.93512379e-05 2.03904205e-06 -9.99999999e-01 2.88032547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.12, Y:-168.09, Z:2.88 [[ 7.55596725e-01 6.55036735e-01 -6.82371979e-04 2.71171999e+01] [ 6.55036462e-01 -7.55597033e-01 -5.98080947e-04 -1.68086184e+02] [-9.07363233e-04 4.92947807e-06 -9.99999588e-01 2.88083533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.03762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.12, Y:-168.09, Z:2.88 [[ 7.02437853e-01 7.11744017e-01 -1.23209557e-03 2.71172423e+01] [ 7.11742900e-01 -7.02438933e-01 -1.26102428e-03 -1.68093455e+02] [-1.76299838e-03 8.85591502e-06 -9.99998446e-01 2.88149639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.12, Y:-168.10, Z:2.88 [[ 6.44822949e-01 7.64330665e-01 -1.41344815e-03 2.71184666e+01] [ 7.64328790e-01 -6.44824498e-01 -1.69314380e-03 -1.68100382e+02] [-2.20554772e-03 1.14388683e-05 -9.99997568e-01 2.88245344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.09762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.12, Y:-168.11, Z:2.88 [[ 5.83156076e-01 8.12358689e-01 -1.53337473e-03 2.71195885e+01] [ 8.12355819e-01 -5.83158091e-01 -2.15969679e-03 -1.68107427e+02] [-2.64864834e-03 1.37944151e-05 -9.99996492e-01 2.88348425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.12, Y:-168.11, Z:2.88 [[ 5.17733660e-01 8.55540770e-01 -1.35953983e-03 2.71211348e+01] [ 8.55537750e-01 -5.17735445e-01 -2.27323039e-03 -1.68114924e+02] [-2.64872324e-03 1.37902412e-05 -9.99996492e-01 2.88348490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.15762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.12, Y:-168.12, Z:2.88 [[ 4.49268381e-01 8.93395345e-01 -1.63653964e-03 2.71222929e+01] [ 8.93389264e-01 -4.49271362e-01 -3.29637253e-03 -1.68121027e+02] [-3.68021426e-03 1.88890075e-05 -9.99993228e-01 2.88458500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.12, Y:-168.13, Z:2.88 [[ 3.78414363e-01 9.25634951e-01 -1.58350558e-03 2.71234622e+01] [ 9.25626583e-01 -3.78417675e-01 -3.93598633e-03 -1.68127371e+02] [-4.24251301e-03 2.36989042e-05 -9.99991000e-01 2.88491361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.21762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.12, Y:-168.13, Z:2.89 [[ 3.05623200e-01 9.52151295e-01 -1.54007836e-03 2.71223942e+01] [ 9.52138654e-01 -3.05627078e-01 -4.90637324e-03 -1.68133793e+02] [-5.14229929e-03 3.31333529e-05 -9.99986778e-01 2.88576319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.12, Y:-168.14, Z:2.89 [[ 2.30427005e-01 9.73088855e-01 -1.21454972e-03 2.71225474e+01] [ 9.73074491e-01 -2.30430203e-01 -5.28730577e-03 -1.68140563e+02] [-5.42488726e-03 3.64906819e-05 -9.99985285e-01 2.88571181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.27762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.13, Y:-168.15, Z:2.89 [[ 1.54301558e-01 9.88023481e-01 -7.93965513e-04 2.71276670e+01] [ 9.88009013e-01 -1.54303596e-01 -5.34695128e-03 -1.68147658e+02] [-5.40542515e-03 4.05978308e-05 -9.99985390e-01 2.88508078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.307628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.13, Y:-168.16, Z:2.88 [[ 7.68385312e-02 9.97043489e-01 -3.48201344e-04 2.71321921e+01] [ 9.97030742e-01 -7.68393096e-02 -5.04183054e-03 -1.68155897e+02] [-5.05367986e-03 4.02394082e-05 -9.99987229e-01 2.88447595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.33762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.14, Y:-168.16, Z:2.88 [[-9.05691758e-04 9.99999589e-01 4.26796545e-05 2.71373016e+01] [ 9.99989498e-01 9.05874356e-04 -4.49247780e-03 -1.68162331e+02] [-4.49251462e-03 3.86104062e-05 -9.99989908e-01 2.88408640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.14, Y:-168.17, Z:2.88 [[-7.93704925e-02 9.96845114e-01 3.80251516e-04 2.71449646e+01] [ 9.96835779e-01 7.93713949e-02 -4.31417016e-03 -1.68169109e+02] [-4.33074053e-03 3.66305057e-05 -9.99990622e-01 2.88340279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.397628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.16, Y:-168.18, Z:2.88 [[-1.60451396e-01 9.87043481e-01 7.17826651e-04 2.71554620e+01] [ 9.87034221e-01 1.60453000e-01 -4.27570115e-03 -1.68175123e+02] [-4.33548039e-03 2.24772507e-05 -9.99990602e-01 2.88286076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.427628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.17, Y:-168.18, Z:2.88 [[-2.39308540e-01 9.70942836e-01 1.19669449e-03 2.71665286e+01] [ 9.70931011e-01 2.39311531e-01 -4.79202551e-03 -1.68179017e+02] [-4.93916563e-03 1.51351616e-05 -9.99987802e-01 2.88313612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.18, Y:-168.18, Z:2.88 [[-3.16589835e-01 9.48561030e-01 1.68771045e-03 2.71780407e+01] [ 9.48547639e-01 3.16594334e-01 -5.04033930e-03 -1.68182575e+02] [-5.31538901e-03 5.15356926e-06 -9.99985873e-01 2.88397440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.19, Y:-168.19, Z:2.88 [[-3.93172152e-01 9.19461643e-01 2.43848909e-03 2.71896780e+01] [ 9.19443702e-01 3.93179713e-01 -5.74395741e-03 -1.68185938e+02] [-6.24011296e-03 -1.63106570e-05 -9.99980530e-01 2.88453539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.20, Y:-168.19, Z:2.88 [[-4.64705751e-01 8.85460387e-01 2.90997756e-03 2.72004148e+01] [ 8.85442735e-01 4.64714861e-01 -5.59117785e-03 -1.68187347e+02] [-6.30307632e-03 -2.16340115e-05 -9.99980135e-01 2.88461167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.21, Y:-168.19, Z:2.89 [[-5.32770334e-01 8.46252730e-01 3.47688753e-03 2.72108527e+01] [ 8.46234419e-01 5.32781679e-01 -5.56703017e-03 -1.68188951e+02] [-6.56353646e-03 -2.36866241e-05 -9.99978460e-01 2.88587566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.22, Y:-168.19, Z:2.89 [[-5.96948497e-01 8.02268354e-01 4.24038120e-03 2.72204920e+01] [ 8.02247852e-01 5.96963557e-01 -5.73546876e-03 -1.68189722e+02] [-7.13273812e-03 -2.19427516e-05 -9.99974561e-01 2.88657065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.60762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.23, Y:-168.19, Z:2.89 [[-6.56521735e-01 7.54286660e-01 5.55399812e-03 2.72292229e+01] [ 7.54259535e-01 6.56545227e-01 -6.39682953e-03 -1.68189396e+02] [-8.47149414e-03 -1.05015767e-05 -9.99964116e-01 2.88736128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.24, Y:-168.19, Z:2.89 [[-7.12836242e-01 7.01302911e-01 6.22253873e-03 2.72385567e+01] [ 7.01276173e-01 7.12863400e-01 -6.12381096e-03 -1.68187907e+02] [-8.73046657e-03 -1.55624485e-06 -9.99961889e-01 2.88787156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.66762800000004 meters Centerline goodness [0,1] 0.9998888048747943 Centerline is valid? [True, True] Translation: X:27.26, Y:-168.17, Z:2.89 [[-7.58973065e-01 6.51083763e-01 7.05832272e-03 2.72604428e+01] [ 6.51055882e-01 7.59005885e-01 -6.02546077e-03 -1.68174489e+02] [-9.28038815e-03 2.22000979e-05 -9.99956936e-01 2.88948757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.28, Y:-168.16, Z:2.89 [[-8.02792446e-01 5.96210350e-01 7.58335626e-03 2.72810498e+01] [ 5.96184079e-01 8.02828262e-01 -5.59697448e-03 -1.68157187e+02] [-9.42510683e-03 2.78674377e-05 -9.99955582e-01 2.88819819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.72762800000004 meters Centerline goodness [0,1] 0.9999555604932785 Centerline is valid? [True, True] Translation: X:27.30, Y:-168.14, Z:2.89 [[-8.42553762e-01 5.38552453e-01 8.02587750e-03 2.72986874e+01] [ 5.38528419e-01 8.42591986e-01 -5.08795571e-03 -1.68136778e+02] [-9.50267109e-03 3.52868948e-05 -9.99954848e-01 2.88910616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.32, Y:-168.11, Z:2.89 [[-8.78195652e-01 4.78245456e-01 7.32676967e-03 2.73181270e+01] [ 4.78229165e-01 8.78226214e-01 -3.94754108e-03 -1.68114581e+02] [-8.32245477e-03 3.71615281e-05 -9.99965367e-01 2.88878785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.78762800000004 meters Centerline goodness [0,1] 0.9999555812197397 Centerline is valid? [True, True] Translation: X:27.34, Y:-168.09, Z:2.89 [[-9.10039328e-01 4.14459495e-01 7.19363114e-03 2.73404030e+01] [ 4.14446820e-01 9.10067759e-01 -3.24146719e-03 -1.68093829e+02] [-7.89014862e-03 3.15149299e-05 -9.99968872e-01 2.88817718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.35, Y:-168.07, Z:2.89 [[-9.37143134e-01 3.48880810e-01 6.70280383e-03 2.73549805e+01] [ 3.48872099e-01 9.37167103e-01 -2.46546804e-03 -1.68069014e+02] [-7.14180174e-03 2.79248002e-05 -9.99974497e-01 2.88742997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.84762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.37, Y:-168.04, Z:2.89 [[-9.59691835e-01 2.80992728e-01 5.88801130e-03 2.73672288e+01] [ 2.80987569e-01 9.59709897e-01 -1.70291423e-03 -1.68042924e+02] [-6.12928924e-03 2.01851025e-05 -9.99981216e-01 2.88623913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.877628 meters Centerline goodness [0,1] 0.999933818663137 Centerline is valid? [True, True] Translation: X:27.38, Y:-168.02, Z:2.89 [[-9.77289438e-01 2.11841321e-01 5.34870840e-03 2.73776204e+01] [ 2.11838238e-01 9.77304075e-01 -1.14305661e-03 -1.68016394e+02] [-5.46946113e-03 1.59638111e-05 -9.99985042e-01 2.88607855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.90762800000005 meters Centerline goodness [0,1] 0.9999339221603049 Centerline is valid? [True, True] Translation: X:27.38, Y:-167.99, Z:2.89 [[-9.89906591e-01 1.41636519e-01 4.90277631e-03 2.73844970e+01] [ 1.41634847e-01 9.89918732e-01 -6.88286215e-04 -1.67988911e+02] [-4.95083658e-03 1.30649114e-05 -9.99987744e-01 2.88573603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.38, Y:-167.96, Z:2.89 [[-9.97467833e-01 7.10001649e-02 4.11086720e-03 2.73842332e+01] [ 7.09996083e-02 9.97476304e-01 -2.81367109e-04 -1.67960710e+02] [-4.12046973e-03 1.12153206e-05 -9.99991511e-01 2.88565348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.96762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.39, Y:-167.93, Z:2.89 [[-9.99995292e-01 1.09799425e-03 2.86537446e-03 2.73924867e+01] [ 1.09802339e-03 9.99999397e-01 8.59675698e-06 -1.67933554e+02] [-2.86536330e-03 1.17429647e-05 -9.99995895e-01 2.88506361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.997628 meters Centerline goodness [0,1] 0.9999559578075796 Centerline is valid? [True, True] Translation: X:27.39, Y:-167.91, Z:2.88 [[-9.97615534e-01 -6.89917516e-02 1.83947943e-03 2.73934836e+01] [-6.89916155e-02 9.97617230e-01 1.37416863e-04 -1.67906052e+02] [-1.84457701e-03 1.01805399e-05 -9.99998299e-01 2.88483166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.02762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.39, Y:-167.88, Z:2.88 [[-9.90391158e-01 -1.38291755e-01 8.62985903e-04 2.73866947e+01] [-1.38291697e-01 9.90391534e-01 1.27685056e-04 -1.67879930e+02] [-8.72351723e-04 7.11436591e-06 -9.99999620e-01 2.88438023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.057628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.26, Y:-167.09, Z:1.97 [[-9.96454285e-01 8.41321025e-02 8.03942223e-04 2.72634743e+01] [-8.41320841e-02 -9.96454610e-01 5.67365044e-05 -1.67090787e+02] [ 8.05865295e-04 -1.11020017e-05 9.99999675e-01 1.97376544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.08762800000005 meters Centerline goodness [0,1] 0.9998897925896537 Centerline is valid? [True, True] Translation: X:27.26, Y:-167.90, Z:2.88 [[-9.89501659e-01 -1.44520784e-01 4.59114381e-04 2.72593124e+01] [-1.44520766e-01 9.89501765e-01 7.20231306e-05 -1.67898121e+02] [-4.64703330e-04 4.91544528e-06 -9.99999892e-01 2.88423176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.24, Y:-167.87, Z:2.88 [[-9.76490843e-01 -2.15555733e-01 1.16594308e-03 2.72406260e+01] [-2.15555568e-01 9.76491539e-01 2.67186526e-04 -1.67874185e+02] [-1.19612715e-03 9.57967265e-06 -9.99999285e-01 2.88478392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.147628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.20, Y:-167.86, Z:2.89 [[-9.57623251e-01 -2.88011245e-01 2.68928648e-03 2.71978634e+01] [-2.88010067e-01 9.57627027e-01 8.23567194e-04 -1.67856440e+02] [-2.81253003e-03 1.41255137e-05 -9.99996045e-01 2.88636997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.177628 meters Centerline goodness [0,1] 0.9999778672922846 Centerline is valid? [True, True] Translation: X:27.14, Y:-167.85, Z:2.89 [[-9.33190294e-01 -3.59364112e-01 3.64823204e-03 2.71404893e+01] [-3.59361315e-01 9.33197425e-01 1.41775965e-03 -1.67846155e+02] [-3.91401268e-03 1.20060809e-05 -9.99992340e-01 2.88809891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.207628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.07, Y:-167.85, Z:2.89 [[-9.03053106e-01 -4.29501917e-01 4.81566413e-03 2.70686693e+01] [-4.29495787e-01 9.03065946e-01 2.29475199e-03 -1.67845544e+02] [-5.33446266e-03 3.97545533e-06 -9.99985772e-01 2.88974070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.23762800000003 meters Centerline goodness [0,1] 0.9999778403173266 Centerline is valid? [True, True] Translation: X:26.99, Y:-167.85, Z:2.89 [[-8.65949768e-01 -5.00101412e-01 5.43849251e-03 2.69923859e+01] [-5.00091746e-01 8.65966845e-01 3.10945767e-03 -1.67850485e+02] [-6.26459837e-03 -2.71110620e-05 -9.99980377e-01 2.89169636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.91, Y:-167.87, Z:2.89 [[-8.24538471e-01 -5.65784641e-01 4.90404131e-03 2.69080072e+01] [-5.65774928e-01 8.24553054e-01 3.31556995e-03 -1.67868102e+02] [-5.91954079e-03 -4.07686411e-05 -9.99982479e-01 2.89140785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.29762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.82, Y:-167.90, Z:2.89 [[-7.76916606e-01 -6.29589164e-01 4.25119980e-03 2.68187587e+01] [-6.29580160e-01 7.76928234e-01 3.36757758e-03 -1.67895120e+02] [-5.42306751e-03 -6.01441085e-05 -9.99985293e-01 2.89001708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.73, Y:-167.93, Z:2.89 [[-7.25845007e-01 -6.87848224e-01 3.72115849e-03 2.67296562e+01] [-6.87839639e-01 7.25854543e-01 3.43713640e-03 -1.67932842e+02] [-5.06524796e-03 -6.47320227e-05 -9.99987169e-01 2.88954862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.35762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.64, Y:-167.98, Z:2.89 [[-6.70794177e-01 -7.41634688e-01 3.62789801e-03 2.66394086e+01] [-7.41624425e-01 6.70803983e-01 3.90233022e-03 -1.67979971e+02] [-5.32771189e-03 -7.28773928e-05 -9.99985805e-01 2.89032432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.55, Y:-168.04, Z:2.89 [[-6.12045010e-01 -7.90815659e-01 3.39116169e-03 2.65529873e+01] [-7.90804201e-01 6.12054400e-01 4.25759567e-03 -1.68036857e+02] [-5.44254875e-03 -7.59047321e-05 -9.99985186e-01 2.89038238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.41762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.47, Y:-168.10, Z:2.89 [[-5.50485308e-01 -8.34839420e-01 3.01143677e-03 2.64693209e+01] [-8.34827619e-01 5.50493541e-01 4.43938403e-03 -1.68104386e+02] [-5.36394927e-03 -7.02149016e-05 -9.99985611e-01 2.89054855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.39, Y:-168.18, Z:2.89 [[-4.85776236e-01 -8.74079759e-01 2.45401936e-03 2.63885111e+01] [-8.74069219e-01 4.85782431e-01 4.29303672e-03 -1.68181243e+02] [-4.94457599e-03 -5.95275618e-05 -9.99987774e-01 2.89068013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.47762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.31, Y:-168.27, Z:2.89 [[-4.18603383e-01 -9.08167076e-01 1.94155104e-03 2.63140933e+01] [-9.08157827e-01 4.18607882e-01 4.09899795e-03 -1.68265393e+02] [-4.53532355e-03 -4.73803709e-05 -9.99989714e-01 2.89095894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.25, Y:-168.36, Z:2.89 [[-3.48923539e-01 -9.37149729e-01 1.65840911e-03 2.62463015e+01] [-9.37139699e-01 3.48927477e-01 4.33585080e-03 -1.68357950e+02] [-4.64200591e-03 -4.12806052e-05 -9.99989225e-01 2.89106100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.53762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.19, Y:-168.46, Z:2.89 [[-2.79697050e-01 -9.60087413e-01 1.31137789e-03 2.61886650e+01] [-9.60077216e-01 2.79700123e-01 4.42500623e-03 -1.68456919e+02] [-4.61518534e-03 -2.13628512e-05 -9.99989350e-01 2.89050624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.14, Y:-168.56, Z:2.89 [[-2.07484318e-01 -9.78237922e-01 9.09302078e-04 2.61357095e+01] [-9.78228689e-01 2.07486310e-01 4.25001282e-03 -1.68561961e+02] [-4.34619144e-03 -7.69436829e-06 -9.99990555e-01 2.89092236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.59762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.09, Y:-168.67, Z:2.89 [[-1.37260227e-01 -9.90534839e-01 6.02969395e-04 2.60930703e+01] [-9.90524642e-01 1.37261550e-01 4.49452403e-03 -1.68674314e+02] [-4.53474715e-03 1.96633465e-05 -9.99989718e-01 2.89173189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.627628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.05, Y:-168.78, Z:2.89 [[-6.21265367e-02 -9.98068257e-01 2.20688347e-04 2.60548091e+01] [-9.98060459e-01 6.21269237e-02 3.94529993e-03 -1.68784333e+02] [-3.95138931e-03 2.48475076e-05 -9.99992193e-01 2.89128612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.65762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.03, Y:-168.90, Z:2.89 [[ 1.37386970e-02 -9.99905616e-01 -8.91731822e-05 2.60258932e+01] [-9.99897109e-01 -1.37389479e-02 4.12453960e-03 -1.68903557e+02] [-4.12537545e-03 3.24982076e-05 -9.99991490e-01 2.89201115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.01, Y:-169.02, Z:2.89 [[ 8.79740661e-02 -9.96122618e-01 -5.41428803e-04 2.60059430e+01] [-9.96107691e-01 -8.79757120e-02 5.45358892e-03 -1.69022101e+02] [-5.48007585e-03 5.95470036e-05 -9.99984983e-01 2.89354498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.71762800000005 meters Centerline goodness [0,1] 0.999888920978384 Centerline is valid? [True, True] Translation: X:26.00, Y:-169.15, Z:2.90 [[ 1.63318248e-01 -9.86572658e-01 -1.24152924e-03 2.59964380e+01] [-9.86548071e-01 -1.63322944e-01 6.96567710e-03 -1.69147346e+02] [-7.07491678e-03 8.72060990e-05 -9.99974969e-01 2.89590263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.99, Y:-169.27, Z:2.89 [[ 2.38853956e-01 -9.71053797e-01 -1.81973404e-03 2.59943381e+01] [-9.71028464e-01 -2.38860870e-01 7.01472006e-03 -1.69270512e+02] [-7.24633380e-03 9.15199126e-05 -9.99973741e-01 2.89470973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.77762800000005 meters Centerline goodness [0,1] 0.9999333348147819 Centerline is valid? [True, True] Translation: X:26.00, Y:-169.39, Z:2.90 [[ 3.12062975e-01 -9.50057103e-01 -2.86368282e-03 2.60009612e+01] [-9.50020620e-01 -3.12076090e-01 8.32678617e-03 -1.69388340e+02] [-8.80460929e-03 1.22076062e-04 -9.99961231e-01 2.89687767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.807628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.02, Y:-169.51, Z:2.90 [[ 3.84060329e-01 -9.23300561e-01 -3.70651684e-03 2.60164143e+01] [-9.23260870e-01 -3.84078190e-01 8.56206936e-03 -1.69506334e+02] [-9.32895573e-03 1.33730788e-04 -9.99956475e-01 2.89668153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.83762800000005 meters Centerline goodness [0,1] 0.9999111959682969 Centerline is valid? [True, True] Translation: X:26.04, Y:-169.62, Z:2.90 [[ 4.53479965e-01 -8.91254357e-01 -4.64665564e-03 2.60396525e+01] [-8.91210899e-01 -4.53503746e-01 8.80254932e-03 -1.69622138e+02] [-9.95258618e-03 1.49370394e-04 -9.99950461e-01 2.89889445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.07, Y:-169.74, Z:2.90 [[ 5.20668996e-01 -8.53743562e-01 -5.07213013e-03 2.60702277e+01] [-8.53705722e-01 -5.20693680e-01 8.03932008e-03 -1.69736037e+02] [-9.50454387e-03 1.44281804e-04 -9.99954820e-01 2.89878007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.897628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.11, Y:-169.85, Z:2.90 [[ 5.84726671e-01 -8.11210319e-01 -5.70424133e-03 2.61120065e+01] [-8.11174121e-01 -5.84754476e-01 7.66472395e-03 -1.69846480e+02] [-9.55328381e-03 1.45364424e-04 -9.99954356e-01 2.89854625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.927628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.16, Y:-169.95, Z:2.90 [[ 6.45491432e-01 -7.63742040e-01 -6.23756809e-03 2.61587613e+01] [-7.63708479e-01 -6.45521553e-01 7.16122171e-03 -1.69950422e+02] [-9.49581072e-03 1.41176384e-04 -9.99954904e-01 2.89788562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.957628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.21, Y:-170.05, Z:2.90 [[ 7.02206471e-01 -7.11938555e-01 -7.04037124e-03 2.62082124e+01] [-7.11904825e-01 -7.02241749e-01 6.93152948e-03 -1.70045105e+02] [-9.87886569e-03 1.44709411e-04 -9.99951192e-01 2.89816186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.20, Y:-170.06, Z:2.90 [[ 7.56662573e-01 -6.53764999e-01 -7.28542026e-03 2.61998695e+01] [-6.53736279e-01 -7.56697635e-01 6.12915290e-03 -1.70057402e+02] [-9.51988592e-03 1.25042925e-04 -9.99954677e-01 2.89756306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.19, Y:-170.07, Z:2.90 [[ 8.05417488e-01 -5.92657347e-01 -7.74198999e-03 2.61941159e+01] [-5.92631454e-01 -8.05454687e-01 5.54135939e-03 -1.70065761e+02] [-9.51994948e-03 1.25039020e-04 -9.99954676e-01 2.89756374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.19, Y:-170.07, Z:2.90 [[ 8.49640426e-01 -5.27301909e-01 -7.99017683e-03 2.61876745e+01] [-5.27279876e-01 -8.49677988e-01 4.82171275e-03 -1.70074273e+02] [-9.33157572e-03 1.16337368e-04 -9.99956453e-01 2.89758180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.18, Y:-170.08, Z:2.90 [[ 8.89206756e-01 -4.57455041e-01 -6.79929622e-03 2.61819876e+01] [-4.57442352e-01 -8.89232747e-01 3.40818575e-03 -1.70083787e+02] [-7.60524861e-03 7.97042575e-05 -9.99971077e-01 2.89732992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.18, Y:-170.10, Z:2.90 [[ 9.22656309e-01 -3.85565752e-01 -6.66232517e-03 2.61769927e+01] [-3.85556230e-01 -9.22680360e-01 2.71054262e-03 -1.70095327e+02] [-7.19228899e-03 6.78017305e-05 -9.99974133e-01 2.89635039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.17, Y:-170.10, Z:2.90 [[ 9.50351239e-01 -3.11108976e-01 -6.61272662e-03 2.61738739e+01] [-3.11101861e-01 -9.50374243e-01 2.10490083e-03 -1.70103863e+02] [-6.93941860e-03 5.68364423e-05 -9.99975920e-01 2.89730232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.16762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.17, Y:-170.12, Z:2.90 [[ 9.72369073e-01 -2.33358681e-01 -6.48930963e-03 2.61715309e+01] [-2.33353742e-01 -9.72390726e-01 1.51869684e-03 -1.70115820e+02] [-6.66454560e-03 3.75708460e-05 -9.99977791e-01 2.89698359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.17, Y:-170.12, Z:2.90 [[ 9.87859883e-01 -1.55194230e-01 -6.89944889e-03 2.61667917e+01] [-1.55190659e-01 -9.87883976e-01 1.05323490e-03 -1.70123863e+02] [-6.97931098e-03 3.02815132e-05 -9.99975644e-01 2.89714144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.22762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.16, Y:-170.13, Z:2.90 [[ 9.97072999e-01 -7.60637340e-02 -7.72931277e-03 2.61617730e+01] [-7.60616303e-02 -9.97102958e-01 5.66193691e-04 -1.70131857e+02] [-7.74998743e-03 2.33676890e-05 -9.99969968e-01 2.89757793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.16, Y:-170.14, Z:2.90 [[ 9.99954041e-01 3.94118275e-03 -8.73978433e-03 2.61587669e+01] [ 3.94093384e-03 -9.99992233e-01 -4.57015597e-05 -1.70140124e+02] [-8.73989657e-03 1.12565474e-05 -9.99961806e-01 2.89787884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.28762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.16, Y:-170.15, Z:2.90 [[ 9.96209485e-01 8.64502309e-02 -9.64462868e-03 2.61560007e+01] [ 8.64464597e-02 -9.96256170e-01 -8.07998780e-04 -1.70149536e+02] [-9.67837251e-03 -2.88079548e-05 -9.99953163e-01 2.89914223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.317628 meters Centerline goodness [0,1] 0.9998239010323802 Centerline is valid? [True, True] Translation: X:26.15, Y:-170.16, Z:2.90 [[ 9.86147677e-01 1.65517256e-01 -1.08072768e-02 2.61540408e+01] [ 1.65507847e-01 -9.86206893e-01 -1.76548964e-03 -1.70156704e+02] [-1.09504299e-02 -4.76556011e-05 -9.99940041e-01 2.90213945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.34762800000004 meters Centerline goodness [0,1] 0.9998679664634817 Centerline is valid? [True, True] Translation: X:26.15, Y:-170.16, Z:2.90 [[ 9.69457957e-01 2.44990316e-01 -1.14461515e-02 2.61525498e+01] [ 2.44974275e-01 -9.69525522e-01 -2.80478956e-03 -1.70163697e+02] [-1.17844823e-02 -8.48871150e-05 -9.99930557e-01 2.90237390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.15, Y:-170.17, Z:2.90 [[ 9.45935331e-01 3.24146301e-01 -1.16415465e-02 2.61534911e+01] [ 3.24123577e-01 -9.46006953e-01 -3.84069722e-03 -1.70173909e+02] [-1.22579317e-02 -1.40248505e-04 -9.99924859e-01 2.90111072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.40762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.15, Y:-170.18, Z:2.90 [[ 9.17198639e-01 3.98246232e-01 -1.21076812e-02 2.61531333e+01] [ 3.98213904e-01 -9.17278536e-01 -5.07692883e-03 -1.70182835e+02] [-1.31279839e-02 -1.64894790e-04 -9.99913811e-01 2.90303731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.15, Y:-170.18, Z:2.90 [[ 8.83075573e-01 4.69072961e-01 -1.21691955e-02 2.61505416e+01] [ 4.69031152e-01 -8.83159401e-01 -6.26511908e-03 -1.70184949e+02] [-1.36861374e-02 -1.75158175e-04 -9.99906325e-01 2.90387700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.46762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.15, Y:-170.19, Z:2.90 [[ 8.43956571e-01 5.36297176e-01 -1.10745628e-02 2.61484451e+01] [ 5.36253482e-01 -8.44029214e-01 -6.84756411e-03 -1.70185102e+02] [-1.30195839e-02 -1.59726170e-04 -9.99915229e-01 2.90315643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.14, Y:-170.18, Z:2.90 [[ 7.99940384e-01 5.99997578e-01 -9.91405338e-03 2.61446326e+01] [ 5.99953656e-01 -8.00001804e-01 -7.26107493e-03 -1.70184941e+02] [-1.22878880e-02 -1.39545505e-04 -9.99924491e-01 2.90131379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.52762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.14, Y:-170.18, Z:2.90 [[ 7.52321401e-01 6.58754444e-01 -7.42242042e-03 2.61369514e+01] [ 6.58723486e-01 -7.52358010e-01 -6.38704419e-03 -1.70182691e+02] [-9.79181120e-03 -8.42126209e-05 -9.99952056e-01 2.89774212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.557628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.13, Y:-170.19, Z:2.90 [[ 6.99638873e-01 7.14471737e-01 -5.96534733e-03 2.61349829e+01] [ 7.14446482e-01 -6.99664301e-01 -6.00759524e-03 -1.70185672e+02] [-8.46599758e-03 -5.87742509e-05 -9.99964161e-01 2.89551566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.58762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.13, Y:-170.19, Z:2.89 [[ 6.42756644e-01 7.66057314e-01 -4.48192847e-03 2.61320179e+01] [ 7.66039090e-01 -6.42772269e-01 -5.28412388e-03 -1.70190300e+02] [-6.92880109e-03 -3.69266740e-05 -9.99975995e-01 2.89416361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.13, Y:-170.20, Z:2.89 [[ 5.81879211e-01 8.13268230e-01 -3.37200038e-03 2.61305332e+01] [ 8.13254801e-01 -5.81888981e-01 -4.67367662e-03 -1.70195420e+02] [-5.76308258e-03 -2.27802307e-05 -9.99983393e-01 2.89327906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.647628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.13, Y:-170.20, Z:2.89 [[ 5.17818465e-01 8.55486648e-01 -2.57548034e-03 2.61302897e+01] [ 8.55476173e-01 -5.17824870e-01 -4.23346859e-03 -1.70201745e+02] [-4.95532362e-03 -1.10938594e-05 -9.99987722e-01 2.89237976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.677628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.14, Y:-170.21, Z:2.89 [[ 4.48571935e-01 8.93744860e-01 -1.82854828e-03 2.61357440e+01] [ 8.93737543e-01 -4.48575662e-01 -3.61656106e-03 -1.70210621e+02] [-4.05252512e-03 -1.19544512e-05 -9.99991788e-01 2.89141984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.707628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.14, Y:-170.22, Z:2.89 [[ 3.75770451e-01 9.26711640e-01 -1.45051969e-03 2.61417207e+01] [ 9.26704910e-01 -3.75773250e-01 -3.53191007e-03 -1.70220696e+02] [-3.81812868e-03 -1.70162811e-05 -9.99992711e-01 2.89128720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.15, Y:-170.23, Z:2.89 [[ 3.00499943e-01 9.53780763e-01 -1.42810541e-03 2.61472309e+01] [ 9.53770439e-01 -3.00503336e-01 -4.43800673e-03 -1.70228705e+02] [-4.66203589e-03 -2.84639528e-05 -9.99989132e-01 2.89174337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.16, Y:-170.24, Z:2.89 [[ 2.21769566e-01 9.75097361e-01 -1.84277458e-03 2.61554992e+01] [ 9.75066468e-01 -2.21777209e-01 -7.76229488e-03 -1.70237823e+02] [-7.97767866e-03 -7.53869352e-05 -9.99968175e-01 2.89479162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.16, Y:-170.24, Z:2.90 [[ 1.43472020e-01 9.89653253e-01 -1.48948438e-03 2.61626305e+01] [ 9.89607149e-01 -1.43479714e-01 -9.55317179e-03 -1.70244949e+02] [-9.66803833e-03 -1.03391543e-04 -9.99953258e-01 2.89827574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.17, Y:-170.25, Z:2.90 [[ 6.41826533e-02 9.97937716e-01 -9.49700231e-04 2.61682938e+01] [ 9.97860330e-01 -6.41895040e-02 -1.24285915e-02 -1.70250313e+02] [-1.24639210e-02 -1.49968204e-04 -9.99922311e-01 2.89829953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.85762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.18, Y:-170.26, Z:2.90 [[-1.42618506e-02 9.99898294e-01 2.73653792e-05 2.61751744e+01] [ 9.99813960e-01 1.42610032e-02 -1.29872506e-02 -1.70256288e+02] [-1.29863200e-02 -1.57861940e-04 -9.99915662e-01 2.89961231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.18, Y:-170.26, Z:2.90 [[-9.14660267e-02 9.95807639e-01 1.05466652e-03 2.61799450e+01] [ 9.95721924e-01 9.14719922e-02 -1.30661967e-02 -1.70261347e+02] [-1.31078909e-02 -1.44958520e-04 -9.99914077e-01 2.89926534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.91762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.18, Y:-170.27, Z:2.90 [[-1.67700134e-01 9.85835991e-01 2.01581069e-03 2.61844115e+01] [ 9.85755835e-01 1.67712205e-01 -1.25717756e-02 -1.70266001e+02] [-1.27317849e-02 -1.21191312e-04 -9.99918940e-01 2.89923211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.19, Y:-170.27, Z:2.90 [[-2.42435154e-01 9.70163412e-01 2.85471255e-03 2.61904172e+01] [ 9.70091694e-01 2.42451944e-01 -1.17966329e-02 -1.70270127e+02] [-1.21367922e-02 -9.05855751e-05 -9.99926342e-01 2.89807048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.97762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.20, Y:-170.27, Z:2.90 [[-3.14017217e-01 9.49410859e-01 3.49413762e-03 2.61954161e+01] [ 9.49350657e-01 3.14036654e-01 -1.06916018e-02 -1.70273950e+02] [-1.12480101e-02 -4.01851956e-05 -9.99936738e-01 2.89576678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.20, Y:-170.28, Z:2.89 [[-3.85811696e-01 9.22568718e-01 4.03677879e-03 2.62027283e+01] [ 9.22517705e-01 3.85832813e-01 -9.70174829e-03 -1.70278261e+02] [-1.05080512e-02 -1.90480535e-05 -9.99944789e-01 2.89469536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.03762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.21, Y:-170.28, Z:2.89 [[-4.55533993e-01 8.90207410e-01 4.42139900e-03 2.62103512e+01] [ 8.90165423e-01 4.55555449e-01 -8.64589477e-03 -1.70281685e+02] [-9.71083200e-03 -2.72245381e-06 -9.99952849e-01 2.89424197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.22, Y:-170.28, Z:2.89 [[-5.23415105e-01 8.52064350e-01 4.79288283e-03 2.62182824e+01] [ 8.52028668e-01 5.23437049e-01 -7.79777429e-03 -1.70283399e+02] [-9.15297792e-03 2.20072643e-06 -9.99958111e-01 2.89366125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.09762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.23, Y:-170.29, Z:2.89 [[-5.89057817e-01 8.08076237e-01 4.86650609e-03 2.62266783e+01] [ 8.08048620e-01 5.89077919e-01 -6.68072117e-03 -1.70285473e+02] [-8.26528331e-03 -2.95750184e-06 -9.99965842e-01 2.89278229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.24, Y:-170.28, Z:2.89 [[-6.51045063e-01 7.59022812e-01 4.96959162e-03 2.62358830e+01] [ 7.59000607e-01 6.51064029e-01 -5.80590284e-03 -1.70284881e+02] [-7.64233505e-03 -7.98132339e-06 -9.99970797e-01 2.89215140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.15762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.25, Y:-170.28, Z:2.89 [[-7.08956802e-01 7.05232283e-01 5.26105402e-03 2.62461739e+01] [ 7.05212734e-01 7.08976323e-01 -5.25103144e-03 -1.70281533e+02] [-7.43315962e-03 -1.25921636e-05 -9.99972374e-01 2.89147077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.80, Y:-169.73, Z:1.97 [[-6.56084242e-01 -7.54664499e-01 5.91276049e-03 2.68004610e+01] [ 7.54635244e-01 -6.56110877e-01 -6.64566988e-03 -1.69732418e+02] [ 8.89467761e-03 1.01858172e-04 9.99960436e-01 1.96600865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.21762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.78, Y:-169.71, Z:1.97 [[-6.55696553e-01 -7.55000708e-01 5.99684406e-03 2.67821148e+01] [ 7.54969640e-01 -6.55723974e-01 -6.84927861e-03 -1.69711170e+02] [ 9.10348462e-03 3.63868224e-05 9.99958562e-01 1.96577195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.76, Y:-169.69, Z:1.97 [[-6.54737340e-01 -7.55825181e-01 6.87835679e-03 2.67647410e+01] [ 7.55784403e-01 -6.54773467e-01 -7.85136320e-03 -1.69690693e+02] [ 1.04380235e-02 5.79741188e-05 9.99945521e-01 1.96505820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.27762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.75, Y:-169.67, Z:1.96 [[-6.54779871e-01 -7.55784437e-01 7.29418808e-03 2.67477076e+01] [ 7.55738638e-01 -6.54820495e-01 -8.32046655e-03 -1.69670144e+02] [ 1.10648630e-02 6.44257528e-05 9.99938780e-01 1.96405931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.307628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.73, Y:-169.65, Z:1.96 [[-6.54915078e-01 -7.55657821e-01 8.21576008e-03 2.67305688e+01] [ 7.55599781e-01 -6.54966604e-01 -9.36582533e-03 -1.69648997e+02] [ 1.24584076e-02 7.40062856e-05 9.99922388e-01 1.96353514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.33762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.71, Y:-169.63, Z:1.96 [[-6.55523517e-01 -7.55123532e-01 8.79605021e-03 2.67137613e+01] [ 7.55057039e-01 -6.55582524e-01 -1.00210565e-02 -1.69627895e+02] [ 1.33336724e-02 7.24814491e-05 9.99911100e-01 1.96339172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.70, Y:-169.61, Z:1.96 [[-6.57298529e-01 -7.53577941e-01 8.88421835e-03 2.66988301e+01] [ 7.53510053e-01 -6.57358566e-01 -1.01151709e-02 -1.69605350e+02] [ 1.34626867e-02 4.56609121e-05 9.99909373e-01 1.96428814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.397628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.68, Y:-169.58, Z:1.97 [[-6.58434449e-01 -7.52590886e-01 8.42820775e-03 2.66822569e+01] [ 7.52529785e-01 -6.58488388e-01 -9.58987840e-03 -1.69583999e+02] [ 1.27671320e-02 2.81710625e-05 9.99918496e-01 1.96563174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.427628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.67, Y:-169.56, Z:1.97 [[-6.59610166e-01 -7.51568824e-01 7.66362561e-03 2.66658559e+01] [ 7.51518304e-01 -6.59654684e-01 -8.71410994e-03 -1.69563279e+02] [ 1.16045999e-02 1.14394193e-05 9.99932664e-01 1.96649498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.65, Y:-169.54, Z:1.97 [[-6.62398852e-01 -7.49128407e-01 5.86442419e-03 2.66504968e+01] [ 7.49098767e-01 -6.62424811e-01 -6.66394948e-03 -1.69541828e+02] [ 8.87689394e-03 -2.11595514e-05 9.99960599e-01 1.96839342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.63, Y:-169.52, Z:1.97 [[-6.64140472e-01 -7.47589064e-01 5.29383490e-03 2.66331104e+01] [ 7.47564892e-01 -6.64161569e-01 -6.01181773e-03 -1.69520525e+02] [ 8.01033089e-03 -3.52063504e-05 9.99967916e-01 1.96920425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.62, Y:-169.50, Z:1.97 [[-6.65910882e-01 -7.46014136e-01 5.06017758e-03 2.66168165e+01] [ 7.45992034e-01 -6.65930106e-01 -5.74271492e-03 -1.69500097e+02] [ 7.65387111e-03 -4.92841957e-05 9.99970708e-01 1.96975662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.60, Y:-169.48, Z:1.97 [[-6.69667561e-01 -7.42648125e-01 4.37259945e-03 2.66008441e+01] [ 7.42631569e-01 -6.69681832e-01 -4.95951949e-03 -1.69477890e+02] [ 6.61142826e-03 -7.39989351e-05 9.99978142e-01 1.97039953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.58, Y:-169.46, Z:1.97 [[-6.71491132e-01 -7.40998752e-01 4.52871134e-03 2.65828518e+01] [ 7.40980973e-01 -6.71506397e-01 -5.13380885e-03 -1.69456854e+02] [ 6.84520458e-03 -9.16181808e-05 9.99976567e-01 1.96991894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.60762800000003 meters Centerline goodness [0,1] 0.9998438545616775 Centerline is valid? [True, True] Translation: X:26.56, Y:-169.44, Z:1.97 [[-6.73392046e-01 -7.39267209e-01 5.21024780e-03 2.65645341e+01] [ 7.39243649e-01 -6.73412191e-01 -5.90322811e-03 -1.69435014e+02] [ 7.87270735e-03 -1.23544255e-04 9.99969002e-01 1.96630767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.637628 meters Centerline goodness [0,1] 0.9998439207117216 Centerline is valid? [True, True] Translation: X:26.55, Y:-169.41, Z:1.96 [[-6.74331786e-01 -7.38401849e-01 6.27305814e-03 2.65469505e+01] [ 7.38367698e-01 -6.74360945e-01 -7.10336167e-03 -1.69414381e+02] [ 9.47544081e-03 -1.58199066e-04 9.99955095e-01 1.96478159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.66762800000004 meters Centerline goodness [0,1] 0.9998215321465221 Centerline is valid? [True, True] Translation: X:26.53, Y:-169.39, Z:1.96 [[-6.74299719e-01 -7.38423557e-01 7.10904193e-03 2.65286579e+01] [ 7.38379750e-01 -6.74337170e-01 -8.04519102e-03 -1.69394348e+02] [ 1.07346498e-02 -1.75697449e-04 9.99942367e-01 1.96383310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.51, Y:-169.38, Z:1.96 [[-6.72286651e-01 -7.40241038e-01 8.59449109e-03 2.65077995e+01] [ 7.40177233e-01 -6.72341562e-01 -9.72046734e-03 -1.69376142e+02] [ 1.29739224e-02 -1.73493794e-04 9.99915820e-01 1.96437393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.72762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.49, Y:-169.36, Z:1.96 [[-6.71349246e-01 -7.41079262e-01 9.57697829e-03 2.64878787e+01] [ 7.41000212e-01 -6.71417530e-01 -1.08252723e-02 -1.69357608e+02] [ 1.44525359e-02 -1.70995482e-04 9.99895542e-01 1.96232274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.47, Y:-169.34, Z:1.96 [[-6.70350808e-01 -7.41969887e-01 1.05110119e-02 2.64684053e+01] [ 7.41874892e-01 -6.70433189e-01 -1.18736886e-02 -1.69339142e+02] [ 1.58568506e-02 -1.61680901e-04 9.99874259e-01 1.96082510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.78762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.45, Y:-169.32, Z:1.96 [[-6.69174999e-01 -7.43024544e-01 1.09246445e-02 2.64486813e+01] [ 7.42922183e-01 -6.69264154e-01 -1.23337491e-02 -1.69319765e+02] [ 1.64757512e-02 -1.37275802e-04 9.99864256e-01 1.96088217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.43, Y:-169.30, Z:1.96 [[-6.66772918e-01 -7.45198210e-01 9.66966766e-03 2.64267991e+01] [ 7.45118330e-01 -6.66843027e-01 -1.09110651e-02 -1.69302073e+02] [ 1.45790566e-02 -7.01560964e-05 9.99893717e-01 1.96406523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.84762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.41, Y:-169.28, Z:1.97 [[-6.65775240e-01 -7.46100521e-01 8.79444677e-03 2.64071024e+01] [ 7.46034605e-01 -6.65833321e-01 -9.91749557e-03 -1.69283348e+02] [ 1.32550843e-02 -4.18613710e-05 9.99912147e-01 1.96526594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.39, Y:-169.27, Z:1.97 [[-6.64673809e-01 -7.47089346e-01 8.13862264e-03 2.63883111e+01] [ 7.47033041e-01 -6.64723633e-01 -9.17211457e-03 -1.69265292e+02] [ 1.22623239e-02 -1.66443127e-05 9.99924815e-01 1.96664184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.90762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.37, Y:-169.25, Z:1.97 [[-6.62401825e-01 -7.49118527e-01 6.72718073e-03 2.63678197e+01] [ 7.49080211e-01 -6.62435983e-01 -7.57669002e-03 -1.69247868e+02] [ 1.01321655e-02 2.03846588e-05 9.99948668e-01 1.96898750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.35, Y:-169.23, Z:1.97 [[-6.62621945e-01 -7.48923810e-01 6.72940734e-03 2.63499475e+01] [ 7.48885504e-01 -6.62656115e-01 -7.57471248e-03 -1.69227939e+02] [ 1.01321655e-02 2.03848925e-05 9.99948668e-01 1.96898786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.96762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.33, Y:-169.21, Z:1.97 [[-6.61873573e-01 -7.49592728e-01 5.84087204e-03 2.63313711e+01] [ 7.49563931e-01 -6.61899344e-01 -6.57048922e-03 -1.69209745e+02] [ 8.79126031e-03 2.92738298e-05 9.99961356e-01 1.96990099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.31, Y:-169.19, Z:1.97 [[-6.61287843e-01 -7.50116438e-01 4.87018158e-03 2.63121843e+01] [ 7.50096456e-01 -6.61305775e-01 -5.47528399e-03 -1.69190145e+02] [ 7.32777973e-03 3.23672059e-05 9.99973151e-01 1.97158599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.02762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.29, Y:-169.17, Z:1.97 [[-6.60708263e-01 -7.50637258e-01 2.88062490e-03 2.62926298e+01] [ 7.50630280e-01 -6.60714542e-01 -3.23668413e-03 -1.69170156e+02] [ 4.33284646e-03 2.37803316e-05 9.99990613e-01 1.97471938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.057628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.27, Y:-169.15, Z:1.98 [[-6.60880858e-01 -7.50487147e-01 2.35239500e-03 2.62742983e+01] [ 7.50482499e-01 -6.60885044e-01 -2.64138435e-03 -1.69151114e+02] [ 3.53698768e-03 1.97909261e-05 9.99993745e-01 1.97506430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.08762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.25, Y:-169.13, Z:1.97 [[-6.61296958e-01 -7.50120005e-01 2.51232688e-03 2.62547422e+01] [ 7.50114707e-01 -6.61301730e-01 -2.81932507e-03 -1.69130257e+02] [ 3.77623824e-03 2.01222508e-05 9.99992870e-01 1.97480845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.24, Y:-169.11, Z:1.97 [[-6.61959666e-01 -7.49529462e-01 3.87107368e-03 2.62357337e+01] [ 7.49516890e-01 -6.61970984e-01 -4.34144315e-03 -1.69110669e+02] [ 5.81657800e-03 2.75748425e-05 9.99983083e-01 1.97300997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.147628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.22, Y:-169.09, Z:1.97 [[-6.62676089e-01 -7.48890369e-01 4.85962430e-03 2.62179556e+01] [ 7.48870557e-01 -6.62693907e-01 -5.44742971e-03 -1.69090874e+02] [ 7.29997106e-03 2.93481398e-05 9.99973354e-01 1.97167618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.177628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.20, Y:-169.07, Z:1.97 [[-6.64928571e-01 -7.46872190e-01 7.20597225e-03 2.61994935e+01] [ 7.46828558e-01 -6.64967617e-01 -8.07299812e-03 -1.69069563e+02] [ 1.08212360e-02 1.36587586e-05 9.99941449e-01 1.96857871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.207628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.18, Y:-169.05, Z:1.97 [[-6.66493366e-01 -7.45460413e-01 8.68129294e-03 2.61816866e+01] [ 7.45397018e-01 -6.66549902e-01 -9.72180232e-03 -1.69049231e+02] [ 1.30337337e-02 -8.50688453e-06 9.99915057e-01 1.96632643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.16, Y:-169.03, Z:1.96 [[-6.68205040e-01 -7.43911083e-01 9.91593428e-03 2.61633567e+01] [ 7.43828294e-01 -6.68278609e-01 -1.10981709e-02 -1.69027668e+02] [ 1.48826591e-02 -4.01012389e-05 9.99889246e-01 1.96483809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.267628 meters Centerline goodness [0,1] 0.999889819303658 Centerline is valid? [True, True] Translation: X:26.15, Y:-169.01, Z:1.96 [[-6.70242390e-01 -7.42062089e-01 1.09084278e-02 2.61463881e+01] [ 7.41961771e-01 -6.70331148e-01 -1.22017503e-02 -1.69006237e+02] [ 1.63667153e-02 -8.44938750e-05 9.99866053e-01 1.96075607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.29762800000003 meters Centerline goodness [0,1] 0.9998234619119075 Centerline is valid? [True, True] Translation: X:26.13, Y:-168.98, Z:1.96 [[-6.73949385e-01 -7.38690834e-01 1.13171321e-02 2.61296287e+01] [ 7.38582503e-01 -6.74044378e-01 -1.26516291e-02 -1.68983102e+02] [ 1.69738918e-02 -1.67921881e-04 9.99855919e-01 1.96203849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.11, Y:-168.96, Z:1.97 [[-6.75391269e-01 -7.37381613e-01 1.07233624e-02 2.61117165e+01] [ 7.37284297e-01 -6.75476367e-01 -1.19809386e-02 -1.68961079e+02] [ 1.60779017e-02 -1.85654596e-04 9.99870725e-01 1.96686920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.35762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.09, Y:-168.94, Z:1.97 [[-6.77256886e-01 -7.35681209e-01 9.81167777e-03 2.60948154e+01] [ 7.35599657e-01 -6.77327925e-01 -1.09556855e-02 -1.68939276e+02] [ 1.47056153e-02 -2.02346649e-04 9.99891846e-01 1.96758324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.08, Y:-168.92, Z:1.97 [[-6.79762691e-01 -7.33390153e-01 7.84646411e-03 2.60771127e+01] [ 7.33337905e-01 -6.79807947e-01 -8.75629679e-03 -1.68917455e+02] [ 1.17558705e-02 -1.98094320e-04 9.99930878e-01 1.97122791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.41762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.06, Y:-168.90, Z:1.97 [[-6.80873585e-01 -7.32369953e-01 6.73892731e-03 2.60588567e+01] [ 7.32331408e-01 -6.80906909e-01 -7.51602758e-03 -1.68896503e+02] [ 1.00930949e-02 -1.82336526e-04 9.99949047e-01 1.97248376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.04, Y:-168.88, Z:1.97 [[-6.82241673e-01 -7.31109002e-01 5.09188813e-03 2.60414041e+01] [ 7.31086987e-01 -6.82260658e-01 -5.67563389e-03 -1.68876353e+02] [ 7.62350197e-03 -1.49540807e-04 9.99970930e-01 1.97401521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.47762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.02, Y:-168.86, Z:1.97 [[-6.82820684e-01 -7.30570044e-01 4.82950072e-03 2.60222972e+01] [ 7.30550248e-01 -6.82837747e-01 -5.38012020e-03 -1.68855626e+02] [ 7.22832005e-03 -1.45464408e-04 9.99973865e-01 1.97460980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.00, Y:-168.84, Z:1.97 [[-6.83307616e-01 -7.30116827e-01 4.48550558e-03 2.60031958e+01] [ 7.30099760e-01 -6.83322325e-01 -4.99406256e-03 -1.68835658e+02] [ 6.71129521e-03 -1.37614435e-04 9.99977470e-01 1.97486018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.53762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.99, Y:-168.82, Z:1.97 [[-6.83893293e-01 -7.29567884e-01 4.54596211e-03 2.59854635e+01] [ 7.29550365e-01 -6.83908387e-01 -5.05798458e-03 -1.68816235e+02] [ 6.79916472e-03 -1.42613413e-04 9.99976875e-01 1.97454792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.97, Y:-168.80, Z:1.97 [[-6.84363897e-01 -7.29125636e-01 4.67584925e-03 2.59652649e+01] [ 7.29107111e-01 -6.84379854e-01 -5.19955006e-03 -1.68797195e+02] [ 6.99118227e-03 -1.49189403e-04 9.99975550e-01 1.97445929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.59762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.95, Y:-168.78, Z:1.97 [[-6.84673088e-01 -7.28832159e-01 5.14263717e-03 2.59485573e+01] [ 7.28809773e-01 -6.84692381e-01 -5.71479989e-03 -1.68777374e+02] [ 7.68625443e-03 -1.64765461e-04 9.99970447e-01 1.97354831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.627628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.93, Y:-168.76, Z:1.97 [[-6.84634057e-01 -7.28865053e-01 5.65175006e-03 2.59281992e+01] [ 7.28838046e-01 -6.84657361e-01 -6.27696283e-03 -1.68758470e+02] [ 8.44457113e-03 -1.78212055e-04 9.99964328e-01 1.97394889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.65762800000005 meters Centerline goodness [0,1] 0.9998462720983858 Centerline is valid? [True, True] Translation: X:25.91, Y:-168.74, Z:1.97 [[-6.84962779e-01 -7.28541994e-01 7.24943789e-03 2.59073147e+01] [ 7.28497590e-01 -6.85001102e-01 -8.04677342e-03 -1.68739162e+02] [ 1.08282853e-02 -2.30542256e-04 9.99941346e-01 1.96993184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.89, Y:-168.72, Z:1.97 [[-6.84193782e-01 -7.29261948e-01 7.47532500e-03 2.58871561e+01] [ 7.29214830e-01 -6.84234581e-01 -8.29276805e-03 -1.68719668e+02] [ 1.11624760e-02 -2.22742483e-04 9.99937673e-01 1.97247976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.71762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.87, Y:-168.70, Z:1.97 [[-6.83466194e-01 -7.29939988e-01 7.84700008e-03 2.58661396e+01] [ 7.29888173e-01 -6.83511204e-01 -8.69996486e-03 -1.68702323e+02] [ 1.17139647e-02 -2.18699321e-04 9.99931365e-01 1.97234664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.85, Y:-168.68, Z:1.97 [[-6.83014478e-01 -7.30362397e-01 7.87347745e-03 2.58463057e+01] [ 7.30310325e-01 -6.83059825e-01 -8.72379327e-03 -1.68683784e+02] [ 1.17495867e-02 -2.08395230e-04 9.99930950e-01 1.97238189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.77762800000005 meters Centerline goodness [0,1] 0.9998691869971875 Centerline is valid? [True, True] Translation: X:25.83, Y:-168.66, Z:1.97 [[-6.83185479e-01 -7.30199338e-01 8.15651147e-03 2.58252516e+01] [ 7.30143506e-01 -6.83234133e-01 -9.03213822e-03 -1.68664618e+02] [ 1.21680684e-02 -2.15201791e-04 9.99925943e-01 1.97090446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.807628 meters Centerline goodness [0,1] 0.9998912854409463 Centerline is valid? [True, True] Translation: X:25.81, Y:-168.65, Z:1.97 [[-6.82214151e-01 -7.31118943e-01 6.99604418e-03 2.58064743e+01] [ 7.31077948e-01 -6.82250001e-01 -7.74409357e-03 -1.68645111e+02] [ 1.04349046e-02 -1.68476598e-04 9.99945541e-01 1.97299558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.83762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.79, Y:-168.63, Z:1.98 [[-6.80915689e-01 -7.32338929e-01 5.78949022e-03 2.57856325e+01] [ 7.32310930e-01 -6.80940290e-01 -6.40488749e-03 -1.68625875e+02] [ 8.63284559e-03 -1.21481405e-04 9.99962729e-01 1.97702145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.77, Y:-168.61, Z:1.98 [[-6.79730197e-01 -7.33445350e-01 4.97766903e-03 2.57653655e+01] [ 7.33424706e-01 -6.79748417e-01 -5.50367205e-03 -1.68606989e+02] [ 7.42020531e-03 -9.02666392e-05 9.99972466e-01 1.97785956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.897628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.74, Y:-168.59, Z:1.98 [[-6.78197963e-01 -7.34868300e-01 4.01311553e-03 2.57442246e+01] [ 7.34854921e-01 -6.78209834e-01 -4.43466244e-03 -1.68588707e+02] [ 5.98062727e-03 -5.85213353e-05 9.99982114e-01 1.97881084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.927628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.72, Y:-168.57, Z:1.98 [[-6.74088294e-01 -7.38647725e-01 2.12364251e-03 2.57213311e+01] [ 7.38644002e-01 -6.74091639e-01 -2.34537237e-03 -1.68571926e+02] [ 3.16393362e-03 -1.23722623e-05 9.99994995e-01 1.98101239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.957628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.70, Y:-168.55, Z:1.98 [[-6.72064548e-01 -7.40491154e-01 1.44734143e-03 2.57005761e+01] [ 7.40489430e-01 -6.72066106e-01 -1.59754048e-03 -1.68552710e+02] [ 2.15567371e-03 -1.90929111e-06 9.99997677e-01 1.98139635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.68, Y:-168.54, Z:1.98 [[-6.67935463e-01 -7.44216970e-01 1.82194589e-03 2.56779282e+01] [ 7.44214255e-01 -6.67937948e-01 -2.01017160e-03 -1.68536306e+02] [ 2.71295061e-03 1.32532040e-05 9.99996320e-01 1.98021238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.66, Y:-168.52, Z:1.98 [[-6.66002973e-01 -7.45944557e-01 2.59939451e-03 2.56568417e+01] [ 7.45939051e-01 -6.66008045e-01 -2.86631014e-03 -1.68517717e+02] [ 3.86932611e-03 3.00187974e-05 9.99992514e-01 1.97887768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.63, Y:-168.50, Z:1.98 [[-6.63022054e-01 -7.48583790e-01 4.90557967e-03 2.56343575e+01] [ 7.48564273e-01 -6.63040196e-01 -5.40622463e-03 -1.68500606e+02] [ 7.29960863e-03 8.76955218e-05 9.99973354e-01 1.97531801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.61, Y:-168.48, Z:1.97 [[-6.62117965e-01 -7.49377199e-01 5.79774556e-03 2.56145136e+01] [ 7.49350001e-01 -6.62143338e-01 -6.38555882e-03 -1.68481393e+02] [ 8.62413078e-03 1.16547436e-04 9.99962805e-01 1.97429317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.59, Y:-168.46, Z:1.97 [[-6.61775543e-01 -7.49673310e-01 6.56190266e-03 2.55948500e+01] [ 7.49638515e-01 -6.61808060e-01 -7.22417120e-03 -1.68462023e+02] [ 9.75848841e-03 1.38275141e-04 9.99952375e-01 1.97334643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.58, Y:-168.44, Z:1.97 [[-6.61952180e-01 -7.49514917e-01 6.83373894e-03 2.55760903e+01] [ 7.49477215e-01 -6.61987438e-01 -7.51909185e-03 -1.68441697e+02] [ 1.01595208e-02 1.44452387e-04 9.99948380e-01 1.97298753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.16762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.56, Y:-168.42, Z:1.97 [[-6.63364644e-01 -7.48257182e-01 7.65108326e-03 2.55575025e+01] [ 7.48209892e-01 -6.63408750e-01 -8.41356989e-03 -1.68421030e+02] [ 1.13713097e-02 1.43351382e-04 9.99935334e-01 1.97282499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.54, Y:-168.40, Z:1.97 [[-6.64892110e-01 -7.46897800e-01 7.88403851e-03 2.55398145e+01] [ 7.46847534e-01 -6.64938839e-01 -8.66610227e-03 -1.68401158e+02] [ 1.17150961e-02 1.26151695e-04 9.99931368e-01 1.97212295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.22762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.52, Y:-168.38, Z:1.97 [[-6.66839879e-01 -7.45156704e-01 8.12788956e-03 2.55215069e+01] [ 7.45103211e-01 -6.66889403e-01 -8.92908587e-03 -1.68379502e+02] [ 1.20739716e-02 1.01846076e-04 9.99927102e-01 1.97186928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.50, Y:-168.36, Z:1.97 [[-6.69093753e-01 -7.43131183e-01 8.34231940e-03 2.55037108e+01] [ 7.43074736e-01 -6.69145754e-01 -9.15947037e-03 -1.68358167e+02] [ 1.23889157e-02 7.04223831e-05 9.99923252e-01 1.97145881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.28762800000004 meters Centerline goodness [0,1] 0.9999352401511064 Centerline is valid? [True, True] Translation: X:25.49, Y:-168.34, Z:1.97 [[-6.74240260e-01 -7.38465473e-01 8.29557073e-03 2.54878353e+01] [ 7.38409365e-01 -6.74291291e-01 -9.10300317e-03 -1.68335107e+02] [ 1.23158846e-02 -1.20841113e-05 9.99924157e-01 1.96981669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.47, Y:-168.31, Z:1.97 [[-6.76803818e-01 -7.36128298e-01 7.19172984e-03 2.54699290e+01] [ 7.36086044e-01 -6.76842025e-01 -7.88724617e-03 -1.68313069e+02] [ 1.06736901e-02 -4.43863446e-05 9.99943034e-01 1.97262168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.34762800000004 meters Centerline goodness [0,1] 0.9998923249203204 Centerline is valid? [True, True] Translation: X:25.46, Y:-168.29, Z:1.97 [[-6.82223020e-01 -7.31114890e-01 6.53978551e-03 2.54551526e+01] [ 7.31079759e-01 -6.82254356e-01 -7.16796684e-03 -1.68290187e+02] [ 9.70240444e-03 -1.09047173e-04 9.99952925e-01 1.97122656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.44, Y:-168.27, Z:1.98 [[-6.84296299e-01 -7.29181043e-01 5.79498622e-03 2.54372971e+01] [ 7.29153419e-01 -6.84320826e-01 -6.34814965e-03 -1.68268636e+02] [ 8.59458013e-03 -1.18581291e-04 9.99963059e-01 1.97532169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.40762800000005 meters Centerline goodness [0,1] 0.9998922065322842 Centerline is valid? [True, True] Translation: X:25.42, Y:-168.25, Z:1.97 [[-6.86695867e-01 -7.26920018e-01 6.00610943e-03 2.54214829e+01] [ 7.26890294e-01 -6.86722116e-01 -6.57543955e-03 -1.68246016e+02] [ 8.90434681e-03 -1.49544521e-04 9.99960344e-01 1.97303621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.437628 meters Centerline goodness [0,1] 0.9998496757290727 Centerline is valid? [True, True] Translation: X:25.40, Y:-168.22, Z:1.97 [[-6.88821456e-01 -7.24908554e-01 5.70885364e-03 2.54034143e+01] [ 7.24881659e-01 -6.88845093e-01 -6.24645844e-03 -1.68224887e+02] [ 8.46062697e-03 -1.64451296e-04 9.99964195e-01 1.97399993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.46762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.38, Y:-168.20, Z:1.98 [[-6.88444911e-01 -7.25267387e-01 5.55164198e-03 2.53838035e+01] [ 7.25241994e-01 -6.88467278e-01 -6.07102113e-03 -1.68204553e+02] [ 8.22523747e-03 -1.53279706e-04 9.99966160e-01 1.97665036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.497628 meters Centerline goodness [0,1] 0.9999140006879945 Centerline is valid? [True, True] Translation: X:25.37, Y:-168.19, Z:1.97 [[-6.87871828e-01 -7.25799892e-01 6.84580476e-03 2.53650685e+01] [ 7.25761356e-01 -6.87905869e-01 -7.48128334e-03 -1.68185658e+02] [ 1.01391839e-02 -1.77743503e-04 9.99948581e-01 1.97348667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.52762800000005 meters Centerline goodness [0,1] 0.999806514027733 Centerline is valid? [True, True] Translation: X:25.34, Y:-168.17, Z:1.97 [[-6.83944823e-01 -7.29483936e-01 8.52452725e-03 2.53426597e+01] [ 7.29424531e-01 -6.83997928e-01 -9.31065668e-03 -1.68167853e+02] [ 1.26227334e-02 -1.49976138e-04 9.99920319e-01 1.97073883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.557628 meters Centerline goodness [0,1] 0.9998495270851246 Centerline is valid? [True, True] Translation: X:25.32, Y:-168.15, Z:1.97 [[-6.81310290e-01 -7.31936928e-01 9.19903921e-03 2.53212777e+01] [ 7.31868052e-01 -6.81372381e-01 -1.00415937e-02 -1.68149724e+02] [ 1.36177845e-02 -1.08958174e-04 9.99907268e-01 1.97155674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.58762800000005 meters Centerline goodness [0,1] 0.9998925447551095 Centerline is valid? [True, True] Translation: X:25.30, Y:-168.13, Z:1.97 [[-6.78764729e-01 -7.34289682e-01 9.85425631e-03 2.53007008e+01] [ 7.34210985e-01 -6.78836254e-01 -1.07503397e-02 -1.68131564e+02] [ 1.45832899e-02 -6.18481484e-05 9.99893656e-01 1.96963985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.617628 meters Centerline goodness [0,1] 0.9998925886143931 Centerline is valid? [True, True] Translation: X:25.28, Y:-168.11, Z:1.97 [[-6.74273390e-01 -7.38394200e-01 1.13754677e-02 2.52789699e+01] [ 7.38290031e-01 -6.74369338e-01 -1.24026787e-02 -1.68114752e+02] [ 1.68293326e-02 3.55981637e-05 9.99858376e-01 1.96718851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.647628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.26, Y:-168.09, Z:1.97 [[-6.72674177e-01 -7.39860430e-01 1.07701597e-02 2.52597306e+01] [ 7.39767345e-01 -6.72760388e-01 -1.17360748e-02 -1.68093669e+02] [ 1.59287941e-02 7.28580208e-05 9.99873126e-01 1.97146802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.677628 meters Centerline goodness [0,1] 0.9998710343048749 Centerline is valid? [True, True] Translation: X:25.24, Y:-168.07, Z:1.97 [[-6.71868922e-01 -7.40603764e-01 9.91044475e-03 2.52419178e+01] [ 7.40525119e-01 -6.71942004e-01 -1.07930903e-02 -1.68071400e+02] [ 1.46526474e-02 8.73913258e-05 9.99892640e-01 1.97309897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.707628 meters Centerline goodness [0,1] 0.9999355116079106 Centerline is valid? [True, True] Translation: X:25.22, Y:-168.05, Z:1.98 [[-6.71805785e-01 -7.40682166e-01 8.18030525e-03 2.52236955e+01] [ 7.40628650e-01 -6.71855583e-01 -8.90389478e-03 -1.68050294e+02] [ 1.20909398e-02 7.68804134e-05 9.99926899e-01 1.97661122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.21, Y:-168.03, Z:1.98 [[-6.71423817e-01 -7.41048269e-01 6.12544998e-03 2.52056508e+01] [ 7.41018303e-01 -6.71451755e-01 -6.66446098e-03 -1.68030416e+02] [ 9.05163141e-03 6.43927204e-05 9.99959031e-01 1.98018245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.19, Y:-168.01, Z:1.98 [[-6.70739996e-01 -7.41684906e-01 3.37022833e-03 2.51871721e+01] [ 7.41675853e-01 -6.70748462e-01 -3.66466191e-03 -1.68009687e+02] [ 4.97859989e-03 4.15816612e-05 9.99987606e-01 1.98347170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.79762800000003 meters Centerline goodness [0,1] 0.9998283224961909 Centerline is valid? [True, True] Translation: X:25.17, Y:-167.99, Z:1.98 [[-6.70681330e-01 -7.41736515e-01 3.67360232e-03 2.51684749e+01] [ 7.41725774e-01 -6.70691390e-01 -3.99208670e-03 -1.67990541e+02] [ 5.42492992e-03 4.73874995e-05 9.99985284e-01 1.98121010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.827628 meters Centerline goodness [0,1] 0.9998283224961909 Centerline is valid? [True, True] Translation: X:25.15, Y:-167.97, Z:1.98 [[-6.70892689e-01 -7.41545344e-01 3.67474009e-03 2.51497435e+01] [ 7.41534605e-01 -6.70902751e-01 -3.99103940e-03 -1.67970287e+02] [ 5.42492992e-03 4.73877842e-05 9.99985284e-01 1.98121048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.85762800000003 meters Centerline goodness [0,1] 0.9998926554885249 Centerline is valid? [True, True] Translation: X:25.13, Y:-167.95, Z:1.98 [[-6.70119913e-01 -7.42249184e-01 2.33483931e-03 2.51312770e+01] [ 7.42244858e-01 -6.70123979e-01 -2.53433487e-03 -1.67949675e+02] [ 3.44573980e-03 3.47142086e-05 9.99994063e-01 1.98295752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.887628 meters Centerline goodness [0,1] 0.9998711810550271 Centerline is valid? [True, True] Translation: X:25.11, Y:-167.93, Z:1.98 [[-6.69568065e-01 -7.42748660e-01 1.74189146e-03 2.51133269e+01] [ 7.42746256e-01 -6.69570330e-01 -1.88992174e-03 -1.67930026e+02] [ 2.57005568e-03 2.83521156e-05 9.99996697e-01 1.98335991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.91762800000004 meters Centerline goodness [0,1] 0.9998712418721432 Centerline is valid? [True, True] Translation: X:25.10, Y:-167.91, Z:1.98 [[-6.69030769e-01 -7.43233477e-01 1.35199934e-03 2.50952975e+01] [ 7.43232032e-01 -6.69032135e-01 -1.46600714e-03 -1.67909401e+02] [ 1.99411659e-03 2.40453277e-05 9.99998011e-01 1.98384411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.947628 meters Centerline goodness [0,1] 0.9998709483148001 Centerline is valid? [True, True] Translation: X:25.08, Y:-167.89, Z:1.98 [[-6.68044173e-01 -7.44120721e-01 1.15531774e-03 2.50768863e+01] [ 7.44119669e-01 -6.68045172e-01 -1.25202659e-03 -1.67887599e+02] [ 1.70346337e-03 2.32855836e-05 9.99998549e-01 1.98448207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.97762800000004 meters Centerline goodness [0,1] 0.9998497563907193 Centerline is valid? [True, True] Translation: X:25.06, Y:-167.87, Z:1.98 [[-6.67967045e-01 -7.44190095e-01 1.06245984e-03 2.50586872e+01] [ 7.44189206e-01 -6.67967890e-01 -1.15070407e-03 -1.67867807e+02] [ 1.56603163e-03 2.20387526e-05 9.99998774e-01 1.98403445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.007628 meters Centerline goodness [0,1] 0.9998495141456704 Centerline is valid? [True, True] Translation: X:25.04, Y:-167.85, Z:1.98 [[-6.67678612e-01 -7.44447933e-01 1.59574072e-03 2.50409505e+01] [ 7.44445930e-01 -6.67680518e-01 -1.72728545e-03 -1.67845980e+02] [ 2.35131907e-03 3.46711322e-05 9.99997235e-01 1.98291798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.03762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.02, Y:-167.82, Z:1.99 [[-6.67184859e-01 -7.44891853e-01 7.00773396e-04 2.50229209e+01] [ 7.44891467e-01 -6.67185227e-01 -7.58108739e-04 -1.67824503e+02] [ 1.03225468e-03 1.62014510e-05 9.99999467e-01 1.98501591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.067628 meters Centerline goodness [0,1] 0.9999783881913077 Centerline is valid? [True, True] Translation: X:25.01, Y:-167.80, Z:1.98 [[-6.67879488e-01 -7.44265584e-01 2.39371872e-03 2.50058968e+01] [ 7.44261086e-01 -6.67883776e-01 -2.58798357e-03 -1.67803121e+02] [ 3.52487300e-03 5.30905535e-05 9.99993786e-01 1.98229294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.09762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.99, Y:-167.78, Z:1.98 [[-6.68476854e-01 -7.43727964e-01 2.72231904e-03 2.49889094e+01] [ 7.43722150e-01 -6.68482394e-01 -2.94157977e-03 -1.67780662e+02] [ 4.00755749e-03 5.82709792e-05 9.99991968e-01 1.98192338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.97, Y:-167.76, Z:1.98 [[-6.69768263e-01 -7.42560787e-01 3.73519384e-03 2.49715614e+01] [ 7.42549836e-01 -6.69778674e-01 -4.03345961e-03 -1.67759062e+02] [ 5.49684212e-03 7.20843373e-05 9.99984890e-01 1.97995208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.15762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.96, Y:-167.74, Z:1.98 [[-6.73064785e-01 -7.39565620e-01 5.14671516e-03 2.49569437e+01] [ 7.39544764e-01 -6.73084459e-01 -5.55452953e-03 -1.67735543e+02] [ 7.57211307e-03 6.76680218e-05 9.99971329e-01 1.97698284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.94, Y:-167.71, Z:1.98 [[-6.75529926e-01 -7.37314980e-01 5.09308579e-03 2.49413636e+01] [ 7.37294518e-01 -6.75549124e-01 -5.49320498e-03 -1.67712492e+02] [ 7.49085196e-03 4.42798763e-05 9.99971942e-01 1.97665837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.21762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.93, Y:-167.69, Z:1.98 [[-6.78115588e-01 -7.34937371e-01 5.12938516e-03 2.49266226e+01] [ 7.34916574e-01 -6.78134987e-01 -5.52891659e-03 -1.67688599e+02] [ 7.54182296e-03 2.04256478e-05 9.99971560e-01 1.97767467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.91, Y:-167.67, Z:1.98 [[-6.81007207e-01 -7.32261603e-01 4.70413952e-03 2.49123343e+01] [ 7.32244069e-01 -6.81023454e-01 -5.06740489e-03 -1.67665229e+02] [ 6.91429537e-03 -6.36098836e-06 9.99976096e-01 1.97872863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.27762800000005 meters Centerline goodness [0,1] 0.9998901871211455 Centerline is valid? [True, True] Translation: X:24.90, Y:-167.64, Z:1.98 [[-6.86557913e-01 -7.27059986e-01 4.69142990e-03 2.49008202e+01] [ 7.27042444e-01 -6.86573939e-01 -5.05077816e-03 -1.67639201e+02] [ 6.89323220e-03 -5.67830504e-05 9.99976240e-01 1.97831333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.307628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.88, Y:-167.62, Z:1.98 [[-6.88415061e-01 -7.25310047e-01 3.16867532e-03 2.48849176e+01] [ 7.25302035e-01 -6.88422351e-01 -3.40931406e-03 -1.67617064e+02] [ 4.65419665e-03 -4.87764863e-05 9.99989168e-01 1.98042869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.33762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.87, Y:-167.59, Z:1.98 [[-6.90609129e-01 -7.23222951e-01 2.75561937e-03 2.48689826e+01] [ 7.23216883e-01 -6.90614625e-01 -2.96320129e-03 -1.67594777e+02] [ 4.04612622e-03 -5.35034083e-05 9.99991813e-01 1.98041612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.86, Y:-167.57, Z:1.98 [[-6.93829023e-01 -7.20134659e-01 2.71270119e-03 2.48569784e+01] [ 7.20128760e-01 -6.93834323e-01 -2.91578854e-03 -1.67569459e+02] [ 3.98192558e-03 -6.95645662e-05 9.99992070e-01 1.98050224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.397628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.84, Y:-167.55, Z:1.98 [[-6.95160386e-01 -7.18848874e-01 2.88679024e-03 2.48404498e+01] [ 7.18842189e-01 -6.95166376e-01 -3.10127875e-03 -1.67546170e+02] [ 4.23615025e-03 -8.07395126e-05 9.99991024e-01 1.98055430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.427628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.82, Y:-167.52, Z:1.98 [[-6.96505133e-01 -7.17541619e-01 3.82429989e-03 2.48223725e+01] [ 7.17529880e-01 -6.96515622e-01 -4.10609387e-03 -1.67524166e+02] [ 5.60997786e-03 -1.15866018e-04 9.99984257e-01 1.97975371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.81, Y:-167.50, Z:1.98 [[-6.95764677e-01 -7.18256297e-01 4.40516581e-03 2.48068289e+01] [ 7.18240753e-01 -6.95778612e-01 -4.72698864e-03 -1.67501969e+02] [ 6.46020951e-03 -1.24902116e-04 9.99979125e-01 1.97771665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.78, Y:-167.49, Z:1.98 [[-6.93347668e-01 -7.20588517e-01 4.60446750e-03 2.47833253e+01] [ 7.20571605e-01 -6.93362948e-01 -4.93808507e-03 -1.67485283e+02] [ 6.75089456e-03 -1.05961232e-04 9.99977207e-01 1.97811935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.76, Y:-167.47, Z:1.98 [[-6.87723389e-01 -7.25944220e-01 6.44435663e-03 2.47595859e+01] [ 7.25911358e-01 -6.87753578e-01 -6.90763757e-03 -1.67468464e+02] [ 9.44668890e-03 -7.25122429e-05 9.99955376e-01 1.97557431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.74, Y:-167.45, Z:1.97 [[-6.85274322e-01 -7.28246629e-01 7.48006052e-03 2.47391329e+01] [ 7.28202547e-01 -6.85315143e-01 -8.01277979e-03 -1.67450001e+02] [ 1.09614786e-02 -4.39531144e-05 9.99939920e-01 1.97404781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.72, Y:-167.43, Z:1.97 [[-6.83506877e-01 -7.29897264e-01 8.26638939e-03 2.47199133e+01] [ 7.29843599e-01 -6.83556863e-01 -8.85081358e-03 -1.67432417e+02] [ 1.21107318e-02 -1.64205701e-05 9.99926662e-01 1.97289904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.60762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.70, Y:-167.41, Z:1.97 [[-6.82159206e-01 -7.31153647e-01 8.55354294e-03 2.47002223e+01] [ 7.31096360e-01 -6.82212830e-01 -9.15248340e-03 -1.67413640e+02] [ 1.25272083e-02 1.00133015e-05 9.99921531e-01 1.97276871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.637628 meters Centerline goodness [0,1] 0.9998451635736247 Centerline is valid? [True, True] Translation: X:24.68, Y:-167.39, Z:1.97 [[-6.81345879e-01 -7.31902757e-01 9.28158024e-03 2.46799575e+01] [ 7.31835449e-01 -6.81409094e-01 -9.92581881e-03 -1.67394176e+02] [ 1.35892873e-02 2.96737040e-05 9.99907661e-01 1.97099800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.66762800000004 meters Centerline goodness [0,1] 0.9999558118468439 Centerline is valid? [True, True] Translation: X:24.66, Y:-167.38, Z:1.97 [[-6.81300766e-01 -7.31957306e-01 8.23219917e-03 2.46607014e+01] [ 7.31904424e-01 -6.81350498e-01 -8.79841660e-03 -1.67375002e+02] [ 1.20490783e-02 3.08150318e-05 9.99927407e-01 1.97168628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.64, Y:-167.35, Z:1.97 [[-6.81618059e-01 -7.31671471e-01 7.32671436e-03 2.46411418e+01] [ 7.31629615e-01 -6.81657434e-01 -7.82617379e-03 -1.67354217e+02] [ 1.07204974e-02 2.59798233e-05 9.99942534e-01 1.97493919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.72762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.62, Y:-167.33, Z:1.98 [[-6.83933245e-01 -7.29520692e-01 5.90559291e-03 2.46235471e+01] [ 7.29493450e-01 -6.83958741e-01 -6.30448806e-03 -1.67333333e+02] [ 8.63843639e-03 -3.75763162e-06 9.99962688e-01 1.97735951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.757628 meters Centerline goodness [0,1] 0.9998895613376331 Centerline is valid? [True, True] Translation: X:24.61, Y:-167.31, Z:1.98 [[-6.86257311e-01 -7.27335157e-01 5.87134955e-03 2.46052588e+01] [ 7.27308180e-01 -6.86282426e-01 -6.26436828e-03 -1.67311287e+02] [ 8.58569931e-03 -2.86879701e-05 9.99963142e-01 1.97613364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.78762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.59, Y:-167.29, Z:1.98 [[-6.89850604e-01 -7.23939614e-01 4.19284109e-03 2.45885542e+01] [ 7.23925809e-01 -6.89863344e-01 -4.47090809e-03 -1.67288198e+02] [ 6.12915485e-03 -4.89527634e-05 9.99981215e-01 1.98072295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.57, Y:-167.27, Z:1.98 [[-6.92118262e-01 -7.21775772e-01 3.47078836e-03 2.45720127e+01] [ 7.21766297e-01 -6.92126963e-01 -3.69871739e-03 -1.67267045e+02] [ 5.07187081e-03 -5.48517915e-05 9.99987137e-01 1.98140951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.84762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.55, Y:-167.25, Z:1.98 [[-6.94237768e-01 -7.19741014e-01 2.60677557e-03 2.45544637e+01] [ 7.19735660e-01 -6.94242660e-01 -2.77639936e-03 -1.67245162e+02] [ 3.80802330e-03 -5.12919597e-05 9.99992748e-01 1.98208673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.54, Y:-167.22, Z:1.98 [[-6.96214239e-01 -7.17833673e-01 7.42268089e-04 2.45367325e+01] [ 7.17833238e-01 -6.96214635e-01 -7.90102187e-04 -1.67224988e+02] [ 1.08393986e-03 -1.72556870e-05 9.99999412e-01 1.98354231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.90762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.52, Y:-167.21, Z:1.98 [[-6.96717972e-01 -7.17344738e-01 7.70930304e-04 2.45178097e+01] [ 7.17344269e-01 -6.96718399e-01 -8.20097552e-04 -1.67205207e+02] [ 1.12541399e-03 -1.83542682e-05 9.99999367e-01 1.98348299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.50, Y:-167.19, Z:1.98 [[-6.97167830e-01 -7.16907233e-01 1.01804951e-03 2.44991852e+01] [ 7.16906416e-01 -6.97168573e-01 -1.08229397e-03 -1.67185817e+02] [ 1.48565650e-03 -2.46943160e-05 9.99998896e-01 1.98289237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.96762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.48, Y:-167.17, Z:1.98 [[-6.97118069e-01 -7.16950250e-01 2.95585771e-03 2.44800355e+01] [ 7.16943376e-01 -6.97124332e-01 -3.14028551e-03 -1.67167052e+02] [ 4.31202882e-03 -6.99671634e-05 9.99990701e-01 1.98038875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.46, Y:-167.15, Z:1.98 [[-6.96758558e-01 -7.17295196e-01 3.88753119e-03 2.44602241e+01] [ 7.17283326e-01 -6.96769398e-01 -4.12748197e-03 -1.67148042e+02] [ 5.66933575e-03 -8.73970778e-05 9.99983925e-01 1.97878492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.02762800000005 meters Centerline goodness [0,1] 0.999867197875166 Centerline is valid? [True, True] Translation: X:24.44, Y:-167.13, Z:1.97 [[-6.96942262e-01 -7.17108699e-01 5.15715516e-03 2.44414316e+01] [ 7.17087832e-01 -6.96961333e-01 -5.47184381e-03 -1.67129302e+02] [ 7.51824453e-03 -1.15425990e-04 9.99971731e-01 1.97468520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.057628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.42, Y:-167.11, Z:1.98 [[-6.95166742e-01 -7.18818647e-01 6.55380233e-03 2.44200524e+01] [ 7.18785061e-01 -6.95197625e-01 -6.94971458e-03 -1.67110887e+02] [ 9.55177224e-03 -1.20435241e-04 9.99954374e-01 1.97577160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.08762800000005 meters Centerline goodness [0,1] 0.9999557727604431 Centerline is valid? [True, True] Translation: X:24.40, Y:-167.09, Z:1.97 [[-6.95415996e-01 -7.18566946e-01 7.62475167e-03 2.44012460e+01] [ 7.18521512e-01 -6.95457780e-01 -8.08160632e-03 -1.67092113e+02] [ 1.11098680e-02 -1.41530200e-04 9.99938274e-01 1.97306765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.38, Y:-167.07, Z:1.97 [[-6.95051536e-01 -7.18917129e-01 7.84373300e-03 2.43811862e+01] [ 7.18869124e-01 -6.95095780e-01 -8.30899609e-03 -1.67072895e+02] [ 1.14256253e-02 -1.36563031e-04 9.99934716e-01 1.97357524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.147628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.36, Y:-167.05, Z:1.97 [[-6.95578838e-01 -7.18401140e-01 8.35956350e-03 2.43622629e+01] [ 7.18346648e-01 -6.95629053e-01 -8.84951607e-03 -1.67054307e+02] [ 1.21726577e-02 -1.50471678e-04 9.99925899e-01 1.97292902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.177628 meters Centerline goodness [0,1] 0.9998233644653464 Centerline is valid? [True, True] Translation: X:24.34, Y:-167.03, Z:1.97 [[-6.96955698e-01 -7.17054040e-01 9.28758450e-03 2.43428767e+01] [ 7.16986733e-01 -6.97017552e-01 -9.82634267e-03 -1.67034122e+02] [ 1.35196281e-02 -1.89450655e-04 9.99908588e-01 1.97052912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.207628 meters Centerline goodness [0,1] 0.9998233332597222 Centerline is valid? [True, True] Translation: X:24.33, Y:-167.01, Z:1.97 [[-6.98022980e-01 -7.16013804e-01 9.38891790e-03 2.43254572e+01] [ 7.15945007e-01 -6.98086090e-01 -9.92760589e-03 -1.67013841e+02] [ 1.36625758e-02 -2.07748156e-04 9.99906641e-01 1.97040242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.23762800000003 meters Centerline goodness [0,1] 0.9998230127652044 Centerline is valid? [True, True] Translation: X:24.31, Y:-166.99, Z:1.97 [[-7.00071476e-01 -7.14011734e-01 9.33659961e-03 2.43083483e+01] [ 7.13943598e-01 -7.00133691e-01 -9.86677605e-03 -1.66991704e+02] [ 1.35818618e-02 -2.41642951e-04 9.99907733e-01 1.97073355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.29, Y:-166.97, Z:1.97 [[-7.00548832e-01 -7.13548350e-01 8.94910940e-03 2.42905971e+01] [ 7.13485792e-01 -7.00605949e-01 -9.45133015e-03 -1.66970912e+02] [ 1.30137803e-02 -2.36055885e-04 9.99915289e-01 1.97378556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.29762800000003 meters Centerline goodness [0,1] 0.999889356052224 Centerline is valid? [True, True] Translation: X:24.27, Y:-166.95, Z:1.97 [[-7.02080034e-01 -7.12038456e-01 9.21216797e-03 2.42729091e+01] [ 7.11972113e-01 -7.02140418e-01 -9.72341155e-03 -1.66950618e+02] [ 1.33916784e-02 -2.67806414e-04 9.99910292e-01 1.97136850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.25, Y:-166.93, Z:1.97 [[-7.02403945e-01 -7.11727785e-01 8.50042547e-03 2.42541922e+01] [ 7.11671346e-01 -7.02455335e-01 -8.96650969e-03 -1.66930769e+02] [ 1.23528833e-02 -2.48602547e-04 9.99923669e-01 1.97362866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.35762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.24, Y:-166.91, Z:1.97 [[-7.02467370e-01 -7.11668411e-01 8.22600058e-03 2.42365434e+01] [ 7.11615621e-01 -7.02515492e-01 -8.67130562e-03 -1.66911645e+02] [ 1.19499871e-02 -2.37558747e-04 9.99928568e-01 1.97371602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.22, Y:-166.89, Z:1.97 [[-7.00628337e-01 -7.13488784e-01 7.32722492e-03 2.42185591e+01] [ 7.13447032e-01 -7.00666627e-01 -7.72073690e-03 -1.66891838e+02] [ 1.06426012e-02 -1.81780181e-04 9.99943349e-01 1.97464916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.41762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.20, Y:-166.87, Z:1.98 [[-6.99185085e-01 -7.14909177e-01 6.71458988e-03 2.41965210e+01] [ 7.14874218e-01 -6.99217311e-01 -7.07140392e-03 -1.66873446e+02] [ 9.75036904e-03 -1.44132953e-04 9.99952454e-01 1.97734179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.18, Y:-166.85, Z:1.98 [[-6.97553567e-01 -7.16504419e-01 6.35918812e-03 2.41774883e+01] [ 7.16473164e-01 -6.97582544e-01 -6.69330634e-03 -1.66854365e+02] [ 9.23184219e-03 -1.12752085e-04 9.99957379e-01 1.97827379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.47762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.16, Y:-166.84, Z:1.98 [[-6.93367738e-01 -7.20559492e-01 5.93281234e-03 2.41570566e+01] [ 7.20532466e-01 -6.93393118e-01 -6.24099987e-03 -1.66835391e+02] [ 8.61078294e-03 -5.25240571e-05 9.99962925e-01 1.97966243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.507628 meters Centerline goodness [0,1] 0.999889098369746 Centerline is valid? [True, True] Translation: X:24.14, Y:-166.82, Z:1.98 [[-6.91465868e-01 -7.22381855e-01 6.27762113e-03 2.41361596e+01] [ 7.22351705e-01 -6.91494363e-01 -6.59995968e-03 -1.66816339e+02] [ 9.10863074e-03 -2.89965199e-05 9.99958515e-01 1.97767822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.53762800000004 meters Centerline goodness [0,1] 0.9998447962396346 Centerline is valid? [True, True] Translation: X:24.12, Y:-166.80, Z:1.98 [[-6.89310530e-01 -7.24437685e-01 6.40579256e-03 2.41165532e+01] [ 7.24406411e-01 -6.89340294e-01 -6.73137426e-03 -1.66799372e+02] [ 9.29223211e-03 3.90040318e-07 9.99956826e-01 1.97706060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.10, Y:-166.78, Z:1.98 [[-6.87245745e-01 -7.26407829e-01 4.99518126e-03 2.40966708e+01] [ 7.26388889e-01 -6.87263898e-01 -5.24558397e-03 -1.66782627e+02] [ 7.24344100e-03 2.34389004e-05 9.99973766e-01 1.97837980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.59762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.08, Y:-166.76, Z:1.98 [[-6.84964192e-01 -7.28561637e-01 4.69006814e-03 2.40759420e+01] [ 7.28545011e-01 -6.84980247e-01 -4.92214761e-03 -1.66764522e+02] [ 6.79869195e-03 4.54308850e-05 9.99976888e-01 1.97741584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.627628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.06, Y:-166.74, Z:1.98 [[-6.84793182e-01 -7.28724641e-01 4.32379077e-03 2.40582254e+01] [ 7.28710532e-01 -6.84806831e-01 -4.53486249e-03 -1.66744140e+02] [ 6.26562749e-03 4.53489605e-05 9.99980370e-01 1.97821166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.65762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.04, Y:-166.72, Z:1.98 [[-6.86809299e-01 -7.26829510e-01 3.44251990e-03 2.40423718e+01] [ 7.26820553e-01 -6.86817926e-01 -3.60829626e-03 -1.66721046e+02] [ 4.98700058e-03 2.38827962e-05 9.99987565e-01 1.97981300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.03, Y:-166.70, Z:1.98 [[-6.88413713e-01 -7.25313076e-01 2.73877423e-03 2.40250026e+01] [ 7.25307402e-01 -6.88419161e-01 -2.86902468e-03 -1.66698563e+02] [ 3.96636577e-03 1.13772885e-05 9.99992134e-01 1.98105078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.71762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.01, Y:-166.68, Z:1.98 [[-6.90155943e-01 -7.23657558e-01 2.12439917e-03 2.40087341e+01] [ 7.23654141e-01 -6.90159212e-01 -2.22393747e-03 -1.66677341e+02] [ 3.07554281e-03 2.46659859e-06 9.99995271e-01 1.98186672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.99, Y:-166.66, Z:1.98 [[-6.90385667e-01 -7.23438397e-01 2.12510534e-03 2.39901622e+01] [ 7.23434981e-01 -6.90388938e-01 -2.22326269e-03 -1.66658044e+02] [ 3.07554281e-03 2.46684720e-06 9.99995271e-01 1.98186708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.77762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.98, Y:-166.64, Z:1.98 [[-6.93511018e-01 -7.20444636e-01 1.41201983e-03 2.39755060e+01] [ 7.20443124e-01 -6.93512456e-01 -1.47625941e-03 -1.66635196e+02] [ 2.04281651e-03 -6.52218972e-06 9.99997913e-01 1.98242298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.807628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.96, Y:-166.61, Z:1.98 [[-6.95000315e-01 -7.19008601e-01 1.09320638e-03 2.39582213e+01] [ 7.19007693e-01 -6.95001174e-01 -1.14237896e-03 -1.66614690e+02] [ 1.58116001e-03 -7.92993783e-06 9.99998750e-01 1.98251347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.83762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.94, Y:-166.59, Z:1.98 [[-6.95923950e-01 -7.18115274e-01 5.55647647e-04 2.39399097e+01] [ 7.18115040e-01 -6.95924172e-01 -5.80276853e-04 -1.66594717e+02] [ 8.03394300e-04 -4.80962813e-06 9.99999677e-01 1.98248732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.92, Y:-166.58, Z:1.98 [[-6.96584308e-01 -7.17474903e-01 2.53819562e-04 2.39200466e+01] [ 7.17474855e-01 -6.96584355e-01 -2.64906177e-04 -1.66575465e+02] [ 3.66870269e-04 -2.42033262e-06 9.99999933e-01 1.98189421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.897628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.90, Y:-166.56, Z:1.98 [[-6.96620473e-01 -7.17439607e-01 5.71183235e-04 2.39004336e+01] [ 7.17439360e-01 -6.96620707e-01 -5.95747483e-04 -1.66557026e+02] [ 8.25310910e-04 -5.22055909e-06 9.99999659e-01 1.98147368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.927628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.88, Y:-166.54, Z:1.98 [[-6.96657674e-01 -7.17403334e-01 7.35927665e-04 2.38803560e+01] [ 7.17402924e-01 -6.96658063e-01 -7.67134057e-04 -1.66537835e+02] [ 1.06303447e-03 -6.47316964e-06 9.99999435e-01 1.98064228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.957628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.86, Y:-166.52, Z:1.98 [[-6.96922345e-01 -7.17145485e-01 1.26422161e-03 2.38610219e+01] [ 7.17144276e-01 -6.96923491e-01 -1.31727341e-03 -1.66518211e+02] [ 1.82574242e-03 -1.14079821e-05 9.99998333e-01 1.98011849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.84, Y:-166.50, Z:1.98 [[-6.97641605e-01 -7.16445895e-01 1.21295841e-03 2.38414571e+01] [ 7.16444781e-01 -6.97642659e-01 -1.26314419e-03 -1.66498639e+02] [ 1.75118600e-03 -1.22042132e-05 9.99998467e-01 1.97983695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.82, Y:-166.48, Z:1.98 [[-6.98195816e-01 -7.15905962e-01 1.12080515e-03 2.38229551e+01] [ 7.15905012e-01 -6.98196716e-01 -1.16640037e-03 -1.66479945e+02] [ 1.61757545e-03 -1.19858328e-05 9.99998692e-01 1.98013783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.80, Y:-166.46, Z:1.98 [[-6.98949855e-01 -7.15170679e-01 1.63423292e-05 2.38024382e+01] [ 7.15170678e-01 -6.98949856e-01 -1.70029355e-05 -1.66460801e+02] [ 2.35824695e-05 -1.96644690e-07 1.00000000e+00 1.98079711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.78, Y:-166.44, Z:1.98 [[-6.99027983e-01 -7.15094314e-01 -4.40827146e-05 2.37823508e+01] [ 7.15094312e-01 -6.99027984e-01 4.58178948e-05 -1.66441253e+02] [-6.35791671e-05 5.04692076e-07 9.99999998e-01 1.98069153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.76, Y:-166.42, Z:1.98 [[-6.98285981e-01 -7.15818576e-01 6.74258919e-04 2.37629784e+01] [ 7.15818233e-01 -6.98286307e-01 -7.00595610e-04 -1.66422733e+02] [ 9.72325122e-04 -6.56926461e-06 9.99999527e-01 1.97985421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.74, Y:-166.40, Z:1.98 [[-6.98100881e-01 -7.15998680e-01 1.02502105e-03 2.37443897e+01] [ 7.15997889e-01 -6.98101633e-01 -1.06435711e-03 -1.66404129e+02] [ 1.47764716e-03 -9.11573077e-06 9.99998908e-01 1.97884968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.16762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.72, Y:-166.39, Z:1.98 [[-6.97966601e-01 -7.16129197e-01 1.26357547e-03 2.37245006e+01] [ 7.16127997e-01 -6.97967745e-01 -1.31123924e-03 -1.66385215e+02] [ 1.82095163e-03 -1.03194280e-05 9.99998342e-01 1.97814860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.70, Y:-166.37, Z:1.98 [[-6.97984152e-01 -7.16110843e-01 1.83946443e-03 2.37049690e+01] [ 7.16108303e-01 -6.97986576e-01 -1.90764625e-03 -1.66365611e+02] [ 2.65000764e-03 -1.42510973e-05 9.99996489e-01 1.97707499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.22762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.69, Y:-166.35, Z:1.98 [[-6.98440601e-01 -7.15661488e-01 3.05972060e-03 2.36858688e+01] [ 7.15654463e-01 -6.98447302e-01 -3.17112215e-03 -1.66345572e+02] [ 4.40650360e-03 -2.51377590e-05 9.99990291e-01 1.97521238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.257628 meters Centerline goodness [0,1] 0.9998887677693489 Centerline is valid? [True, True] Translation: X:23.67, Y:-166.33, Z:1.97 [[-6.99276963e-01 -7.14843412e-01 3.25973776e-03 2.36685255e+01] [ 7.14835437e-01 -6.99284560e-01 -3.37665362e-03 -1.66326523e+02] [ 4.69326288e-03 -3.10400250e-05 9.99988986e-01 1.97276245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.28762800000004 meters Centerline goodness [0,1] 0.9998666222074025 Centerline is valid? [True, True] Translation: X:23.65, Y:-166.31, Z:1.97 [[-7.00073699e-01 -7.14064360e-01 2.98423075e-03 2.36500387e+01] [ 7.14057678e-01 -7.00080059e-01 -3.08933988e-03 -1.66306238e+02] [ 4.29518795e-03 -3.18527147e-05 9.99990775e-01 1.97257247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.63, Y:-166.29, Z:1.98 [[-7.01163147e-01 -7.12999084e-01 1.59606994e-03 2.36328568e+01] [ 7.12997172e-01 -7.01164963e-01 -1.65125163e-03 -1.66285551e+02] [ 2.29644922e-03 -1.98034322e-05 9.99997363e-01 1.97549149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.34762800000004 meters Centerline goodness [0,1] 0.9998884675440554 Centerline is valid? [True, True] Translation: X:23.61, Y:-166.26, Z:1.97 [[-7.01897574e-01 -7.12275531e-01 1.83415974e-03 2.36147702e+01] [ 7.12273007e-01 -7.01899970e-01 -1.89638351e-03 -1.66264825e+02] [ 2.63814424e-03 -2.46445090e-05 9.99996520e-01 1.97402646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.60, Y:-166.24, Z:1.98 [[-7.01591114e-01 -7.12579055e-01 9.99761250e-04 2.35962986e+01] [ 7.12578306e-01 -7.01591826e-01 -1.03303358e-03 -1.66244491e+02] [ 1.43754241e-03 -1.23590025e-05 9.99998967e-01 1.97679564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.40762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.58, Y:-166.23, Z:1.98 [[-7.01243428e-01 -7.12921453e-01 8.10241864e-04 2.35763449e+01] [ 7.12920962e-01 -7.01243896e-01 -8.36725110e-04 -1.66225222e+02] [ 1.16469644e-03 -9.10957489e-06 9.99999322e-01 1.97691924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.56, Y:-166.21, Z:1.98 [[-7.01009068e-01 -7.13151837e-01 8.61911430e-04 2.35577510e+01] [ 7.13151283e-01 -7.01009598e-01 -8.89542303e-04 -1.66206164e+02] [ 1.23858691e-03 -8.90397970e-06 9.99999233e-01 1.97672469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.46762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.54, Y:-166.19, Z:1.98 [[-7.00780298e-01 -7.13377137e-01 1.86235723e-04 2.35384434e+01] [ 7.13377111e-01 -7.00780323e-01 -1.92084243e-04 -1.66188120e+02] [ 2.67538837e-04 -1.75255073e-06 9.99999964e-01 1.97616899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.52, Y:-166.17, Z:1.98 [[-7.01180078e-01 -7.12984165e-01 -2.81009563e-04 2.35191358e+01] [ 7.12984106e-01 -7.01180134e-01 2.89641724e-04 -1.66169181e+02] [-4.03548286e-04 2.73565471e-06 9.99999919e-01 1.97619256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.52762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.50, Y:-166.15, Z:1.98 [[-7.01922953e-01 -7.12252559e-01 -6.78690487e-04 2.34991742e+01] [ 7.12252216e-01 -7.01923281e-01 6.99149658e-04 -1.66149201e+02] [-9.74359787e-04 7.35038893e-06 9.99999525e-01 1.97674687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.557628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.48, Y:-166.13, Z:1.98 [[-7.02924090e-01 -7.11263935e-01 -1.15719571e-03 2.34814503e+01] [ 7.11262937e-01 -7.02925042e-01 1.19149543e-03 -1.66129207e+02] [-1.66088957e-03 1.44604186e-05 9.99998621e-01 1.97726758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.58762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.46, Y:-166.11, Z:1.98 [[-7.05707676e-01 -7.08501027e-01 -1.72360855e-03 2.34629513e+01] [ 7.08498808e-01 -7.05709780e-01 1.77370114e-03 -1.66108506e+02] [-2.47303649e-03 3.05399050e-05 9.99996942e-01 1.97773929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.44, Y:-166.09, Z:1.98 [[-7.07438435e-01 -7.06772964e-01 -1.68436535e-03 2.34439870e+01] [ 7.06770842e-01 -7.07440440e-01 1.73234830e-03 -1.66087897e+02] [-2.41596511e-03 3.50694566e-05 9.99997081e-01 1.97727075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.647628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.43, Y:-166.07, Z:1.98 [[-7.10009357e-01 -7.04190920e-01 -1.36432616e-03 2.34259155e+01] [ 7.04189524e-01 -7.10010667e-01 1.40261515e-03 -1.66067109e+02] [-1.95639499e-03 3.51256929e-05 9.99998086e-01 1.97640168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.677628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.41, Y:-166.05, Z:1.98 [[-7.11382602e-01 -7.02804375e-01 -8.97265805e-04 2.34062932e+01] [ 7.02803770e-01 -7.11383167e-01 9.21916580e-04 -1.66047494e+02] [-1.28622680e-03 2.52336247e-05 9.99999173e-01 1.97557076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.707628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.39, Y:-166.03, Z:1.97 [[-7.12879919e-01 -7.01286070e-01 -2.62748598e-04 2.33871165e+01] [ 7.01286018e-01 -7.12879967e-01 2.69809962e-04 -1.66027216e+02] [-3.76522180e-04 8.08018606e-06 9.99999929e-01 1.97428370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.37, Y:-166.01, Z:1.97 [[-7.14999422e-01 -6.99122251e-01 1.97580350e-03 2.33693362e+01] [ 6.99119314e-01 -7.15002149e-01 -2.02773586e-03 -1.66007029e+02] [ 2.83033901e-03 -6.85075846e-05 9.99995992e-01 1.97066560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.35, Y:-165.99, Z:1.97 [[-7.15724961e-01 -6.98375539e-01 3.06360741e-03 2.33485224e+01] [ 6.98368479e-01 -7.15731510e-01 -3.14233814e-03 -1.65987616e+02] [ 4.38725245e-03 -1.09522996e-04 9.99990370e-01 1.96933386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.79762800000003 meters Centerline goodness [0,1] 0.9997989096433998 Centerline is valid? [True, True] Translation: X:23.33, Y:-165.97, Z:1.97 [[-7.16183425e-01 -6.97901603e-01 3.82810200e-03 2.33286034e+01] [ 6.97890584e-01 -7.16193642e-01 -3.92424720e-03 -1.65968123e+02] [ 5.48040073e-03 -1.38884459e-04 9.99984973e-01 1.96556641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.31, Y:-165.95, Z:1.97 [[-7.14465656e-01 -6.99658999e-01 4.01386717e-03 2.33075459e+01] [ 6.99646926e-01 -7.14476919e-01 -4.11233588e-03 -1.65949847e+02] [ 5.74504826e-03 -1.29832925e-04 9.99983489e-01 1.96832435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.85762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.29, Y:-165.93, Z:1.97 [[-7.13035726e-01 -7.01115819e-01 4.08178046e-03 2.32880450e+01] [ 7.01103371e-01 -7.13047399e-01 -4.17958874e-03 -1.65930510e+02] [ 5.84087872e-03 -1.18446051e-04 9.99982935e-01 1.96804733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.26, Y:-165.91, Z:1.97 [[-7.08417632e-01 -7.05783309e-01 3.79210169e-03 2.32639225e+01] [ 7.05772643e-01 -7.08427778e-01 -3.88081229e-03 -1.65914473e+02] [ 5.42544271e-03 -7.28742211e-05 9.99985280e-01 1.96873888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.91762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.24, Y:-165.90, Z:1.97 [[-7.05713758e-01 -7.08490108e-01 3.13977725e-03 2.32416908e+01] [ 7.08482831e-01 -7.05720741e-01 -3.21144484e-03 -1.65896486e+02] [ 4.49108283e-03 -4.18825303e-05 9.99989914e-01 1.96873579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.947628 meters Centerline goodness [0,1] 0.9999333437020907 Centerline is valid? [True, True] Translation: X:23.22, Y:-165.88, Z:1.97 [[-7.03105295e-01 -7.11079768e-01 2.91659098e-03 2.32200458e+01] [ 7.11073519e-01 -7.03111344e-01 -2.98139507e-03 -1.65878773e+02] [ 4.17069792e-03 -2.23240498e-05 9.99991302e-01 1.96785464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.97762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.20, Y:-165.86, Z:1.97 [[-6.97708648e-01 -7.16381125e-01 8.52021660e-04 2.31973754e+01] [ 7.16380596e-01 -6.97709168e-01 -8.70412851e-04 -1.65863425e+02] [ 1.21801066e-03 3.07721138e-06 9.99999258e-01 1.97108303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.18, Y:-165.85, Z:1.97 [[-6.95853161e-01 -7.18184022e-01 2.99252956e-04 2.31773420e+01] [ 7.18183957e-01 -6.95853225e-01 -3.05567054e-04 -1.65846186e+02] [ 4.27689510e-04 2.28887100e-06 9.99999909e-01 1.97121901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.03762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.16, Y:-165.83, Z:1.97 [[-6.94355376e-01 -7.19632241e-01 -2.24264866e-04 2.31567630e+01] [ 7.19632204e-01 -6.94355412e-01 2.28857823e-04 -1.65826678e+02] [-3.20412992e-04 -2.47956038e-06 9.99999949e-01 1.97074805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.14, Y:-165.81, Z:1.97 [[-6.92789579e-01 -7.21139758e-01 -2.19434906e-04 2.31368868e+01] [ 7.21139723e-01 -6.92789614e-01 2.23800962e-04 -1.65806295e+02] [-3.13413996e-04 -3.19625362e-06 9.99999951e-01 1.97010080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.09762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.12, Y:-165.79, Z:1.97 [[-6.93060251e-01 -7.20879652e-01 -1.28183698e-04 2.31174515e+01] [ 7.20879640e-01 -6.93060263e-01 1.30657547e-04 -1.65785309e+02] [-1.83027394e-04 -1.85146543e-06 9.99999983e-01 1.96997840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.10, Y:-165.76, Z:1.97 [[-6.94690334e-01 -7.19308932e-01 1.82717326e-05 2.31018491e+01] [ 7.19308931e-01 -6.94690334e-01 -1.86207266e-05 -1.65763902e+02] [ 2.60872510e-05 2.07381622e-07 1.00000000e+00 1.96913425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.15762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.09, Y:-165.74, Z:1.97 [[-6.96384263e-01 -7.17669053e-01 2.99559604e-04 2.30856736e+01] [ 7.17668988e-01 -6.96384327e-01 -3.05007638e-04 -1.65743146e+02] [ 4.27503156e-04 2.58211890e-06 9.99999909e-01 1.96886835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.07, Y:-165.72, Z:1.97 [[-6.98467711e-01 -7.15640782e-01 1.06170063e-03 2.30689346e+01] [ 7.15639967e-01 -6.98468518e-01 -1.08031933e-03 -1.65721152e+02] [ 1.51468504e-03 5.22722811e-06 9.99998853e-01 1.96839766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.21762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.05, Y:-165.70, Z:1.97 [[-7.01500102e-01 -7.12666262e-01 2.09887239e-03 2.30525669e+01] [ 7.12663066e-01 -7.01503242e-01 -2.13445162e-03 -1.65698251e+02] [ 2.99351745e-03 -1.52919113e-06 9.99995519e-01 1.96743816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.03, Y:-165.68, Z:1.97 [[-7.02410603e-01 -7.11769145e-01 2.00696315e-03 2.30332443e+01] [ 7.11766223e-01 -7.02413471e-01 -2.03975617e-03 -1.65678970e+02] [ 2.86155345e-03 -4.25778214e-06 9.99995906e-01 1.96747889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.27762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.01, Y:-165.66, Z:1.97 [[-7.04737876e-01 -7.09463912e-01 2.34192833e-03 2.30129848e+01] [ 7.09459924e-01 -7.04741767e-01 -2.37884380e-03 -1.65658826e+02] [ 3.33815854e-03 -1.49570318e-05 9.99994428e-01 1.96736290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.307628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.99, Y:-165.64, Z:1.97 [[-7.06362400e-01 -7.07845842e-01 2.53450148e-03 2.29932368e+01] [ 7.07841166e-01 -7.06366947e-01 -2.57299243e-03 -1.65639141e+02] [ 3.61157007e-03 -2.34406297e-05 9.99993478e-01 1.96715677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.33762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.97, Y:-165.62, Z:1.97 [[-7.08090852e-01 -7.06117665e-01 2.27792647e-03 2.29739194e+01] [ 7.06113883e-01 -7.08094516e-01 -2.31105787e-03 -1.65619701e+02] [ 3.24486603e-03 -2.79634316e-05 9.99994735e-01 1.96675362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.367628 meters Centerline goodness [0,1] 0.999888851839502 Centerline is valid? [True, True] Translation: X:22.95, Y:-165.60, Z:1.97 [[-7.09622746e-01 -7.04577918e-01 2.34860621e-03 2.29546231e+01] [ 7.04573894e-01 -7.09626632e-01 -2.38141870e-03 -1.65599291e+02] [ 3.34452854e-03 -3.51422523e-05 9.99994406e-01 1.96519379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.397628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.94, Y:-165.58, Z:1.97 [[-7.10936235e-01 -7.03254869e-01 1.50293180e-03 2.29358881e+01] [ 7.03253220e-01 -7.10937823e-01 -1.52296965e-03 -1.65580040e+02] [ 2.13952689e-03 -2.57926773e-05 9.99997711e-01 1.96835836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.427628 meters Centerline goodness [0,1] 0.9998225377107365 Centerline is valid? [True, True] Translation: X:22.91, Y:-165.56, Z:1.96 [[-7.11860231e-01 -7.02319994e-01 1.27973651e-03 2.29149291e+01] [ 7.02318798e-01 -7.11861381e-01 -1.29597694e-03 -1.65562322e+02] [ 1.82118552e-03 -2.37714326e-05 9.99998341e-01 1.96491060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.90, Y:-165.54, Z:1.97 [[-7.12303969e-01 -7.01871103e-01 1.06005390e-04 2.28951505e+01] [ 7.01871095e-01 -7.12303977e-01 -1.07288386e-04 -1.65543935e+02] [ 1.50810679e-04 -2.01982359e-06 9.99999989e-01 1.96744978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.87, Y:-165.52, Z:1.97 [[-7.13365468e-01 -7.00792109e-01 -3.59575577e-04 2.28749572e+01] [ 7.00792015e-01 -7.13365558e-01 3.63689403e-04 -1.65524916e+02] [-5.11379496e-04 7.45576854e-06 9.99999869e-01 1.96791092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.86, Y:-165.50, Z:1.97 [[-7.14742911e-01 -6.99386993e-01 -6.35824970e-04 2.28562136e+01] [ 6.99386698e-01 -7.14743194e-01 6.42874075e-04 -1.65504360e+02] [-9.04069336e-04 1.48021622e-05 9.99999591e-01 1.96872587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.84, Y:-165.48, Z:1.97 [[-7.17929916e-01 -6.96114283e-01 -1.24129857e-03 2.28387526e+01] [ 6.96113153e-01 -7.17930988e-01 1.25446131e-03 -1.65484024e+02] [-1.76441515e-03 3.65310424e-05 9.99998443e-01 1.96980053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.82, Y:-165.46, Z:1.97 [[-7.19729775e-01 -6.94253461e-01 -1.08783940e-03 2.28193836e+01] [ 6.94252593e-01 -7.19730596e-01 1.09876241e-03 -1.65463869e+02] [-1.54577090e-03 3.55766969e-05 9.99998805e-01 1.96998080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.60762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.80, Y:-165.44, Z:1.97 [[-7.22209220e-01 -6.91673845e-01 -1.06556059e-03 2.27996970e+01] [ 6.91673009e-01 -7.22210005e-01 1.07565487e-03 -1.65444062e+02] [-1.51356086e-03 3.98283655e-05 9.99998854e-01 1.97020413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.78, Y:-165.43, Z:1.97 [[-7.22427669e-01 -6.91445678e-01 -1.06590065e-03 2.27807739e+01] [ 6.91444843e-01 -7.22428455e-01 1.07531790e-03 -1.65425098e+02] [-1.51356087e-03 3.98278945e-05 9.99998854e-01 1.97020449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.66762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.76, Y:-165.41, Z:1.97 [[-7.23378110e-01 -6.90451535e-01 -8.87482780e-04 2.27608334e+01] [ 6.90450956e-01 -7.23378653e-01 8.94820440e-04 -1.65405757e+02] [-1.25981624e-03 3.45301845e-05 9.99999206e-01 1.97004574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.74, Y:-165.39, Z:1.97 [[-7.24157742e-01 -6.89633878e-01 -8.24209406e-04 2.27402846e+01] [ 6.89633378e-01 -7.24158210e-01 8.30559262e-04 -1.65386426e+02] [-1.16963981e-03 3.30536027e-05 9.99999315e-01 1.96940992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.72762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.72, Y:-165.37, Z:1.97 [[-7.24819547e-01 -6.88938273e-01 -8.24306004e-04 2.27202951e+01] [ 6.88937774e-01 -7.24820015e-01 8.30136211e-04 -1.65368087e+02] [-1.16938610e-03 3.38034092e-05 9.99999316e-01 1.96847997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.70, Y:-165.35, Z:1.97 [[-7.25534004e-01 -6.88186312e-01 -9.47317634e-05 2.26983341e+01] [ 6.88186305e-01 -7.25534010e-01 9.53434682e-05 -1.65350139e+02] [-1.34345186e-04 3.98182596e-06 9.99999991e-01 1.96738085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.78762800000004 meters Centerline goodness [0,1] 0.9999119000947074 Centerline is valid? [True, True] Translation: X:22.68, Y:-165.33, Z:1.97 [[-7.25120424e-01 -6.88621987e-01 3.60547323e-04 2.26782903e+01] [ 6.88621892e-01 -7.25120513e-01 -3.62674531e-04 -1.65332320e+02] [ 5.11185916e-04 -1.47019301e-05 9.99999869e-01 1.96552451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.66, Y:-165.31, Z:1.97 [[-7.23977429e-01 -6.89823651e-01 -1.12733534e-04 2.26560771e+01] [ 6.89823642e-01 -7.23977438e-01 1.13327503e-04 -1.65314846e+02] [-1.59792527e-04 4.28029705e-06 9.99999987e-01 1.96772447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.84762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.63, Y:-165.30, Z:1.97 [[-7.22376018e-01 -6.91500345e-01 -4.02643331e-04 2.26348410e+01] [ 6.91500227e-01 -7.22376130e-01 4.04550525e-04 -1.65296879e+02] [-5.70606759e-04 1.38096424e-05 9.99999837e-01 1.96848771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.61, Y:-165.28, Z:1.97 [[-7.20148231e-01 -6.93819587e-01 -9.52105303e-04 2.26135789e+01] [ 6.93818929e-01 -7.20148860e-01 9.56082275e-04 -1.65279255e+02] [-1.34900616e-03 2.79322768e-05 9.99999090e-01 1.96911784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.90762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.59, Y:-165.27, Z:1.97 [[-7.13688116e-01 -7.00459659e-01 -2.35372012e-03 2.25878567e+01] [ 7.00455677e-01 -7.13691996e-01 2.36217229e-03 -1.65265681e+02] [-3.33443761e-03 3.71776723e-05 9.99994440e-01 1.97059247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.57, Y:-165.25, Z:1.97 [[-7.09944438e-01 -7.04251676e-01 -2.91057882e-03 2.25651207e+01] [ 7.04245625e-01 -7.09950404e-01 2.91938364e-03 -1.65249177e+02] [-4.12234743e-03 2.28377814e-05 9.99991503e-01 1.97052647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.96762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.54, Y:-165.23, Z:1.97 [[-7.06478884e-01 -7.07725607e-01 -3.47155809e-03 2.25439537e+01] [ 7.07717053e-01 -7.06487413e-01 3.47974116e-03 -1.65233765e+02] [-4.91531402e-03 1.48279285e-06 9.99987920e-01 1.97065073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.52, Y:-165.22, Z:1.97 [[-7.00218598e-01 -7.13917769e-01 -3.91603937e-03 2.25193013e+01] [ 7.13906992e-01 -7.00229546e-01 3.92293161e-03 -1.65219384e+02] [-5.54277705e-03 -4.87782189e-05 9.99984638e-01 1.96933492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.02762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.50, Y:-165.20, Z:1.97 [[-6.98015413e-01 -7.16070862e-01 -4.12345964e-03 2.24975309e+01] [ 7.16058965e-01 -6.98027589e-01 4.12839111e-03 -1.65200826e+02] [-5.83450917e-03 -7.09596165e-05 9.99982977e-01 1.96860730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.057628 meters Centerline goodness [0,1] 0.9998693237504084 Centerline is valid? [True, True] Translation: X:22.48, Y:-165.18, Z:1.96 [[-6.95396316e-01 -7.18619585e-01 -3.13951581e-03 2.24776716e+01] [ 7.18612720e-01 -6.95403399e-01 3.14198133e-03 -1.65182671e+02] [-4.44111928e-03 -7.11737568e-05 9.99990136e-01 1.96440957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.08762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.46, Y:-165.16, Z:1.97 [[-6.94502727e-01 -7.19482110e-01 -3.38460318e-03 2.24579622e+01] [ 7.19474150e-01 -6.94510970e-01 3.38534923e-03 -1.65162166e+02] [-4.78634224e-03 -8.40002187e-05 9.99988542e-01 1.96620353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.44, Y:-165.14, Z:1.97 [[-6.94366526e-01 -7.19616521e-01 -2.68136111e-03 2.24393970e+01] [ 7.19611533e-01 -6.94371700e-01 2.68042330e-03 -1.65141276e+02] [-3.79073817e-03 -6.83421619e-05 9.99992813e-01 1.96535269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.147628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.93, Y:-165.66, Z:2.89 [[-7.67203138e-01 6.41398826e-01 -2.62525810e-03 2.19263420e+01] [ 6.41394784e-01 7.67207627e-01 2.27796637e-03 -1.65657125e+02] [ 3.47520299e-03 6.38360930e-05 -9.99993959e-01 2.89398924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.177628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.94, Y:-165.64, Z:2.90 [[-8.09816038e-01 5.86681879e-01 -1.53518206e-03 2.19440128e+01] [ 5.86680748e-01 8.09817493e-01 1.15286456e-03 -1.65642890e+02] [ 1.91958203e-03 3.29464526e-05 -9.99998157e-01 2.89599792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.207628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.96, Y:-165.62, Z:2.90 [[-8.48622122e-01 5.28998874e-01 -8.27909835e-04 2.19613003e+01] [ 5.28998604e-01 8.48622525e-01 5.35057333e-04 -1.65624418e+02] [ 9.85627662e-04 1.60983415e-05 -9.99999514e-01 2.89731861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.98, Y:-165.61, Z:2.90 [[-8.82380735e-01 4.70534383e-01 1.27781709e-03 2.19769081e+01] [ 4.70533861e-01 8.82381660e-01 -7.00441780e-04 -1.65608827e+02] [-1.45710430e-03 -1.68001238e-05 -9.99998938e-01 2.90034400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.267628 meters Centerline goodness [0,1] 0.999822848158728 Centerline is valid? [True, True] Translation: X:21.99, Y:-165.59, Z:2.91 [[-9.12478611e-01 4.09110388e-01 3.38752699e-03 2.19917314e+01] [ 4.09107424e-01 9.12484898e-01 -1.55746497e-03 -1.65589896e+02] [-3.72824232e-03 -3.52910332e-05 -9.99993049e-01 2.90543205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.29762800000003 meters Centerline goodness [0,1] 0.9998668737519414 Centerline is valid? [True, True] Translation: X:22.01, Y:-165.57, Z:2.91 [[-9.38555476e-01 3.45104269e-01 4.08184559e-03 2.20054607e+01] [ 3.45100849e-01 9.38564352e-01 -1.53676116e-03 -1.65571119e+02] [-4.36141759e-03 -3.36872215e-05 -9.99990488e-01 2.90540713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.02, Y:-165.55, Z:2.90 [[-9.59892355e-01 2.80346360e-01 3.54753127e-03 2.20185682e+01] [ 2.80344375e-01 9.59898910e-01 -1.05513406e-03 -1.65554711e+02] [-3.70107439e-03 -1.82846764e-05 -9.99993151e-01 2.90149269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.35762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.25, Y:-164.80, Z:1.96 [[-9.35513427e-01 -3.53283168e-01 2.37287586e-03 2.22470471e+01] [ 3.53281874e-01 -9.35516435e-01 -9.57778697e-04 -1.64799682e+02] [ 2.55823145e-03 -5.77208024e-05 9.99996726e-01 1.95877913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.98, Y:-165.54, Z:2.90 [[-9.60735391e-01 2.77463451e-01 -1.24148013e-03 2.19751843e+01] [ 2.77463210e-01 9.60736193e-01 3.65749127e-04 -1.65542123e+02] [ 1.29421691e-03 6.92306679e-06 -9.99999163e-01 2.89813254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.41762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.98, Y:-165.51, Z:2.90 [[-9.78096907e-01 2.08140971e-01 -1.94351173e-03 2.19836043e+01] [ 2.08140538e-01 9.78098838e-01 4.24729741e-04 -1.65513595e+02] [ 1.98935023e-03 1.09032672e-05 -9.99998021e-01 2.89787508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.16, Y:-164.76, Z:1.96 [[-9.59089525e-01 -2.83090421e-01 -2.66383648e-03 2.21583013e+01] [ 2.83089513e-01 -9.59093222e-01 7.20129816e-04 -1.64755247e+02] [-2.75872937e-03 -6.34352083e-05 9.99996193e-01 1.96029643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.47762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.94, Y:-165.50, Z:2.90 [[-9.78933131e-01 2.04161843e-01 -2.80469877e-03 2.19382862e+01] [ 2.04160958e-01 9.78937149e-01 6.01116257e-04 -1.65500876e+02] [ 2.86834882e-03 1.58426318e-05 -9.99995886e-01 2.89868541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.11, Y:-164.75, Z:1.96 [[-9.60353596e-01 -2.78777915e-01 -1.96094209e-03 2.21072037e+01] [ 2.78777250e-01 -9.60355597e-01 6.10216294e-04 -1.64745229e+02] [-2.05331654e-03 3.93573686e-05 9.99997891e-01 1.95980165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.53762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.89, Y:-165.49, Z:2.90 [[-9.79435684e-01 2.01753120e-01 -1.19163520e-03 2.18894945e+01] [ 2.01752964e-01 9.79436409e-01 2.51128212e-04 -1.65492726e+02] [ 1.21779680e-03 5.54799828e-06 -9.99999258e-01 2.89923430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.90, Y:-165.47, Z:2.90 [[-9.90883613e-01 1.34718403e-01 7.85334914e-04 2.18970133e+01] [ 1.34718361e-01 9.90883925e-01 -1.05927400e-04 -1.65470004e+02] [-7.92446112e-04 8.37308344e-07 -9.99999686e-01 2.90069340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.59762800000004 meters Centerline goodness [0,1] 0.9999777792591605 Centerline is valid? [True, True] Translation: X:21.90, Y:-165.45, Z:2.90 [[-9.97800620e-01 6.62149459e-02 3.08271851e-03 2.19035533e+01] [ 6.62146498e-02 9.97805382e-01 -1.98128819e-04 -1.65445461e+02] [-3.08907221e-03 6.42806807e-06 -9.99995229e-01 2.90314195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.627628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.96, Y:-164.66, Z:1.96 [[-9.91531992e-01 -1.29803276e-01 3.92659983e-03 2.19555822e+01] [ 1.29802450e-01 -9.91539766e-01 -4.65545181e-04 -1.64656340e+02] [ 3.95380917e-03 4.80793368e-05 9.99992183e-01 1.95547823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.65762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.83, Y:-165.44, Z:2.90 [[-9.98136570e-01 6.08689281e-02 4.28496769e-03 2.18273606e+01] [ 6.08683993e-02 9.98145768e-01 -2.53836113e-04 -1.65440952e+02] [-4.29247309e-03 7.45601707e-06 -9.99990787e-01 2.90335040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.88, Y:-164.65, Z:1.96 [[-9.92000958e-01 -1.26138317e-01 4.81920600e-03 2.18788804e+01] [ 1.26136970e-01 -9.92012663e-01 -5.83647774e-04 -1.64652904e+02] [ 4.85433373e-03 2.89008926e-05 9.99988217e-01 1.95566280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.71762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.75, Y:-165.43, Z:2.90 [[-9.98551966e-01 5.36235079e-02 4.30015491e-03 2.17544822e+01] [ 5.36230006e-02 9.98561225e-01 -2.33261748e-04 -1.65433820e+02] [-4.30647627e-03 -2.33676746e-06 -9.99990727e-01 2.90157830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.75, Y:-165.40, Z:2.90 [[-9.99829340e-01 -1.81705092e-02 3.33531528e-03 2.17517150e+01] [-1.81704212e-02 9.99834903e-01 5.66807164e-05 -1.65404638e+02] [-3.33579454e-03 -3.93304010e-06 -9.99994436e-01 2.90044407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.77762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.74, Y:-164.62, Z:1.96 [[-9.98580341e-01 -5.32598373e-02 8.32628849e-04 2.17447259e+01] [ 5.32596786e-02 -9.98580674e-01 -2.11668300e-04 -1.64624808e+02] [ 8.42720496e-04 -1.67022258e-04 9.99999631e-01 1.95973959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.807628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.66, Y:-165.40, Z:2.90 [[-9.99683916e-01 -2.51281273e-02 -8.02866910e-04 2.16604944e+01] [-2.51281222e-02 9.99684239e-01 -1.65337737e-05 -1.65402695e+02] [ 8.03028859e-04 3.64599016e-06 -9.99999678e-01 2.89797152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.83762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.66, Y:-165.38, Z:2.90 [[-9.95502268e-01 -9.46924929e-02 -2.92682280e-03 2.16595611e+01] [-9.46920962e-02 9.95506570e-01 -2.74145607e-04 -1.65376511e+02] [ 2.93963086e-03 4.23441289e-06 -9.99995679e-01 2.89632459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.65, Y:-165.35, Z:2.89 [[-9.86897776e-01 -1.61225907e-01 -6.24394940e-03 2.16528611e+01] [-1.61222551e-01 9.86917528e-01 -1.04054898e-03 -1.65353567e+02] [ 6.33002656e-03 -2.02500298e-05 -9.99979965e-01 2.89419185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.897628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.51, Y:-164.58, Z:1.96 [[-9.94630782e-01 1.03216765e-01 -7.47706554e-03 2.15115620e+01] [-1.03213451e-01 -9.94658885e-01 -8.28845756e-04 -1.64577223e+02] [-7.52268044e-03 -5.26617683e-05 9.99971703e-01 1.96436388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.927628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.52, Y:-165.38, Z:2.89 [[-9.86544370e-01 -1.63237762e-01 -9.14539909e-03 2.15208294e+01] [-1.63230046e-01 9.86586756e-01 -1.58883755e-03 -1.65377213e+02] [ 9.28208791e-03 -7.46548276e-05 -9.99956918e-01 2.89422675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.957628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.50, Y:-165.35, Z:2.89 [[-9.72229951e-01 -2.33829508e-01 -9.62726040e-03 2.15000346e+01] [-2.33817229e-01 9.72277612e-01 -2.39764163e-03 -1.65353427e+02] [ 9.92100911e-03 -8.00396562e-05 -9.99950782e-01 2.89384163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.46, Y:-165.34, Z:2.89 [[-9.52472590e-01 -3.04473461e-01 -9.58527833e-03 2.14552826e+01] [-3.04457227e-01 9.52520816e-01 -3.14508378e-03 -1.65337238e+02] [ 1.00877717e-02 -7.72988409e-05 -9.99949114e-01 2.89360064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.39, Y:-165.33, Z:2.89 [[-9.26997971e-01 -3.74965694e-01 -8.68852271e-03 2.13947900e+01] [-3.74948620e-01 9.27038686e-01 -3.57874030e-03 -1.65329062e+02] [ 9.39650151e-03 -5.97354008e-05 -9.99955850e-01 2.89439108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.33, Y:-165.33, Z:2.90 [[-8.96312795e-01 -4.43357152e-01 -7.60329587e-03 2.13251048e+01] [-4.43340743e-01 8.96345042e-01 -3.81470789e-03 -1.65328965e+02] [ 8.50645457e-03 -4.83206524e-05 -9.99963818e-01 2.89505761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.25, Y:-165.34, Z:2.90 [[-8.59826684e-01 -5.10561051e-01 -5.04852904e-03 2.12450291e+01] [-5.10552094e-01 8.59841505e-01 -3.02418999e-03 -1.65337880e+02] [ 5.88496843e-03 -2.27421729e-05 -9.99982683e-01 2.89812314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.16, Y:-165.36, Z:2.90 [[-8.18570073e-01 -5.74395095e-01 -3.64842072e-03 2.11595781e+01] [-5.74389318e-01 8.18578203e-01 -2.57617878e-03 -1.65358997e+02] [ 4.46626213e-03 -1.31689581e-05 -9.99990026e-01 2.89980790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.07, Y:-165.39, Z:2.90 [[-7.72429595e-01 -6.35093975e-01 -2.85743634e-03 2.10724714e+01] [-6.35089589e-01 7.72434880e-01 -2.36008398e-03 -1.65389827e+02] [ 3.70605861e-03 -8.27064242e-06 -9.99993133e-01 2.90101393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.16762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.98, Y:-165.43, Z:2.90 [[-7.21474489e-01 -6.92438845e-01 -1.73441559e-03 2.09823928e+01] [-6.92436835e-01 7.21476574e-01 -1.66826101e-03 -1.65432170e+02] [ 2.40650895e-03 -2.63452240e-06 -9.99997104e-01 2.90247042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.89, Y:-165.48, Z:2.90 [[-6.66422909e-01 -7.45573466e-01 -8.44470473e-04 2.08938093e+01] [-7.45572868e-01 6.66423444e-01 -9.44535159e-04 -1.65483834e+02] [ 1.26699527e-03 1.54404312e-07 -9.99999197e-01 2.90312746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.22762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.81, Y:-165.55, Z:2.90 [[-6.07308069e-01 -7.94466296e-01 -4.62003476e-04 2.08062356e+01] [-7.94466068e-01 6.07308245e-01 -6.02380266e-04 -1.65545635e+02] [ 7.59149339e-04 1.21568910e-06 -9.99999712e-01 2.90401221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.72, Y:-165.62, Z:2.90 [[-5.44742753e-01 -8.38602879e-01 -7.37785329e-04 2.07213065e+01] [-8.38602111e-01 5.44743253e-01 -1.13512842e-03 -1.65617101e+02] [ 1.35382554e-03 3.55352620e-07 -9.99999084e-01 2.90456729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.28762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.64, Y:-165.70, Z:2.90 [[-4.78877267e-01 -8.77881776e-01 -3.88172997e-04 2.06417916e+01] [-8.77881489e-01 4.78877425e-01 -7.09528520e-04 -1.65697169e+02] [ 8.08769443e-04 9.92809813e-07 -9.99999673e-01 2.90459621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.57, Y:-165.78, Z:2.90 [[-4.09999805e-01 -9.12085535e-01 -3.69356438e-04 2.05686407e+01] [-9.12085167e-01 4.09999971e-01 -8.19591976e-04 -1.65783747e+02] [ 8.98974115e-04 8.51977901e-07 -9.99999596e-01 2.90420494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.34762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.50, Y:-165.88, Z:2.90 [[-3.38482542e-01 -9.40972468e-01 -6.18649622e-04 2.05011698e+01] [-9.40970894e-01 3.38483108e-01 -1.72092855e-03 -1.65878936e+02] [ 1.82874883e-03 -3.72982394e-07 -9.99998328e-01 2.90306411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.44, Y:-165.98, Z:2.90 [[-2.64417733e-01 -9.64408072e-01 -5.77548658e-04 2.04390957e+01] [-9.64405774e-01 2.64418364e-01 -2.10502491e-03 -1.65983994e+02] [ 2.18281749e-03 3.85345823e-07 -9.99997618e-01 2.90244677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.40762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.39, Y:-166.09, Z:2.90 [[-1.88236211e-01 -9.82123701e-01 -4.04763459e-04 2.03861531e+01] [-9.82121460e-01 1.88236647e-01 -2.09850157e-03 -1.66088824e+02] [ 2.13717944e-03 2.51289499e-06 -9.99997716e-01 2.90251443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.437628 meters Centerline goodness [0,1] 0.9999117426415427 Centerline is valid? [True, True] Translation: X:20.34, Y:-166.20, Z:2.91 [[-1.09804118e-01 -9.93953246e-01 2.20870801e-05 2.03387546e+01] [-9.93953223e-01 1.09804120e-01 2.15643605e-04 -1.66201276e+02] [-2.16764914e-04 1.72503147e-06 -9.99999977e-01 2.90543597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.46762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.30, Y:-166.32, Z:2.91 [[-3.18043156e-02 -9.99494115e-01 -1.01209200e-05 2.03011748e+01] [-9.99494089e-01 3.18043171e-02 -2.27773785e-04 -1.66319716e+02] [ 2.27980446e-04 2.87161038e-06 -9.99999974e-01 2.90525161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.497628 meters Centerline goodness [0,1] 0.9998675701326506 Centerline is valid? [True, True] Translation: X:20.27, Y:-166.44, Z:2.91 [[ 4.56476350e-02 -9.98957596e-01 -1.19337837e-04 2.02738154e+01] [-9.98953804e-01 -4.56477906e-02 2.75260022e-03 -1.66436475e+02] [-2.75517841e-03 -6.43670423e-06 -9.99996204e-01 2.90907238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.52762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.26, Y:-166.56, Z:2.91 [[ 1.22863220e-01 -9.92423571e-01 -2.89974441e-04 2.02571716e+01] [-9.92420698e-01 -1.22863562e-01 2.38829752e-03 -1.66556338e+02] [-2.40583005e-03 -5.65728714e-06 -9.99997106e-01 2.90713157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.557628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.25, Y:-166.68, Z:2.91 [[ 1.99195630e-01 -9.79959630e-01 -4.73697770e-04 2.02485696e+01] [-9.79956791e-01 -1.99196193e-01 2.35882678e-03 -1.66677830e+02] [-2.40591381e-03 -5.66463865e-06 -9.99997106e-01 2.90713579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.58762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.25, Y:-166.80, Z:2.91 [[ 2.74334977e-01 -9.61633701e-01 -9.71993451e-04 2.02504301e+01] [-9.61627543e-01 -2.74336699e-01 3.44160568e-03 -1.66800970e+02] [-3.57621749e-03 -9.45714347e-06 -9.99993605e-01 2.90761191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.26, Y:-166.92, Z:2.91 [[ 3.48490811e-01 -9.37309827e-01 -2.10770186e-03 2.02607454e+01] [-9.37292298e-01 -3.48497184e-01 5.73238340e-03 -1.66923773e+02] [-6.10754745e-03 -2.21502236e-05 -9.99981349e-01 2.90950646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.647628 meters Centerline goodness [0,1] 0.9998894661213662 Centerline is valid? [True, True] Translation: X:20.28, Y:-167.04, Z:2.91 [[ 4.20282464e-01 -9.07385928e-01 -3.66448596e-03 2.02782921e+01] [-9.07350646e-01 -4.20298438e-01 8.00175614e-03 -1.67040756e+02] [-8.80085864e-03 -3.80240879e-05 -9.99961271e-01 2.91232491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.677628 meters Centerline goodness [0,1] 0.9998229383382763 Centerline is valid? [True, True] Translation: X:20.30, Y:-167.16, Z:2.92 [[ 4.90028269e-01 -8.71688021e-01 -5.68244711e-03 2.03025920e+01] [-8.71627854e-01 -4.90061211e-01 1.02417273e-02 -1.67155456e+02] [-1.17123379e-02 -6.57567096e-05 -9.99931406e-01 2.91509540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.707628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.34, Y:-167.27, Z:2.91 [[ 5.55314942e-01 -8.31617347e-01 -6.15657346e-03 2.03356947e+01] [-8.31565073e-01 -5.55349065e-01 9.32443483e-03 -1.67265431e+02] [-1.11734091e-02 -5.84065236e-05 -9.99937574e-01 2.91352052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.73762800000003 meters Centerline goodness [0,1] 0.999867727783779 Centerline is valid? [True, True] Translation: X:20.38, Y:-167.37, Z:2.92 [[ 6.16176164e-01 -7.87567007e-01 -8.07129296e-03 2.03775460e+01] [-7.87498471e-01 -6.16229023e-01 1.03899096e-02 -1.67371566e+02] [-1.31565150e-02 -4.58837664e-05 -9.99913448e-01 2.91637500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.43, Y:-167.47, Z:2.91 [[ 6.71478288e-01 -7.40976698e-01 -8.39290435e-03 2.04264593e+01] [-7.40919042e-01 -6.71530738e-01 9.24340211e-03 -1.67470061e+02] [-1.24852388e-02 1.17188255e-05 -9.99922056e-01 2.91444071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.79762800000003 meters Centerline goodness [0,1] 0.9998233605652462 Centerline is valid? [True, True] Translation: X:20.48, Y:-167.56, Z:2.92 [[ 7.23776866e-01 -6.89971913e-01 -9.26325863e-03 2.04833329e+01] [-6.89916414e-01 -7.23836139e-01 8.75131134e-03 -1.67564279e+02] [-1.27432404e-02 5.68774833e-05 -9.99918800e-01 2.91512818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.48, Y:-167.57, Z:2.91 [[ 7.70647421e-01 -6.37221699e-01 -7.14556761e-03 2.04824265e+01] [-6.37195649e-01 -7.70680540e-01 5.76285275e-03 -1.67566599e+02] [-9.17916472e-03 1.11996979e-04 -9.99957864e-01 2.90926274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.85762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.48, Y:-167.57, Z:2.91 [[ 8.15271824e-01 -5.79038350e-01 -6.81492541e-03 2.04791070e+01] [-5.79019561e-01 -8.15300294e-01 4.66671038e-03 -1.67569519e+02] [-8.25841497e-03 1.41337640e-04 -9.99965889e-01 2.90817892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.48, Y:-167.57, Z:2.91 [[ 8.55460586e-01 -5.17826739e-01 -6.53108624e-03 2.04761277e+01] [-5.17813125e-01 -8.55485500e-01 3.75849522e-03 -1.67573922e+02] [-7.53349890e-03 1.66637657e-04 -9.99971609e-01 2.90803147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.91762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.47, Y:-167.58, Z:2.91 [[ 8.91299504e-01 -4.53366737e-01 -6.61786613e-03 2.04734247e+01] [-4.53355851e-01 -8.91324051e-01 3.14767329e-03 -1.67577514e+02] [-7.32571361e-03 1.94728691e-04 -9.99973148e-01 2.90819135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.47, Y:-167.58, Z:2.91 [[ 9.21692716e-01 -3.87863732e-01 -6.65302851e-03 2.04705295e+01] [-3.87855435e-01 -9.21716698e-01 2.54753248e-03 -1.67578407e+02] [-7.12030292e-03 2.32371137e-04 -9.99974623e-01 2.90827741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.97762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.47, Y:-167.58, Z:2.91 [[ 9.48648893e-01 -3.16265801e-01 -6.42029275e-03 2.04682325e+01] [-3.16260190e-01 -9.48670591e-01 1.89790061e-03 -1.67581463e+02] [-6.69098398e-03 2.30041696e-04 -9.99977589e-01 2.90816462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.47, Y:-167.58, Z:2.91 [[ 9.70665726e-01 -2.40326740e-01 -7.14889629e-03 2.04652049e+01] [-2.40322074e-01 -9.70692020e-01 1.51747478e-03 -1.67583668e+02] [-7.30406635e-03 2.45076826e-04 -9.99973295e-01 2.90728807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.03762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.46, Y:-167.59, Z:2.91 [[ 9.86821273e-01 -1.61628363e-01 -7.74906634e-03 2.04597621e+01] [-1.61625333e-01 -9.86851667e-01 1.01982534e-03 -1.67587665e+02] [-7.81201173e-03 2.46060086e-04 -9.99969456e-01 2.90737695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.45, Y:-167.60, Z:2.91 [[ 9.96973688e-01 -7.71457341e-02 -9.59169080e-03 2.04535200e+01] [-7.71444506e-02 -9.97019799e-01 5.04274454e-04 -1.67596064e+02] [-9.60200826e-03 2.37197355e-04 -9.99953872e-01 2.90958750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.09762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.45, Y:-167.60, Z:2.91 [[ 9.99933368e-01 5.73080303e-03 -1.00208695e-02 2.04483071e+01] [ 5.72849875e-03 -9.99983559e-01 -2.58636125e-04 -1.67601381e+02] [-1.00221870e-02 2.01214353e-04 -9.99949756e-01 2.91075459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.44, Y:-167.61, Z:2.91 [[ 9.95947394e-01 8.93814119e-02 -9.98753675e-03 2.04448220e+01] [ 8.93754356e-02 -9.95997461e-01 -1.04400784e-03 -1.67611318e+02] [-1.00408761e-02 1.47136440e-04 -9.99949578e-01 2.91045847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.15762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.44, Y:-167.62, Z:2.91 [[ 9.83902270e-01 1.78477642e-01 -9.05838381e-03 2.04437442e+01] [ 1.78469811e-01 -9.83943967e-01 -1.67215510e-03 -1.67624840e+02] [-9.21138440e-03 2.85891522e-05 -9.99957574e-01 2.90836053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.44, Y:-167.63, Z:2.91 [[ 9.65515572e-01 2.60200417e-01 -8.68462555e-03 2.04418527e+01] [ 2.60190084e-01 -9.65554629e-01 -2.31900845e-03 -1.67633906e+02] [-8.98888737e-03 -2.06146828e-05 -9.99959599e-01 2.90844520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.21762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.44, Y:-167.65, Z:2.91 [[ 9.40609229e-01 3.39399846e-01 -7.87544898e-03 2.04432455e+01] [ 3.39388466e-01 -9.40642196e-01 -2.77996018e-03 -1.67645830e+02] [-8.35149768e-03 -5.79803450e-05 -9.99965124e-01 2.90635267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.45, Y:-167.66, Z:2.91 [[ 9.08305354e-01 4.18266027e-01 -5.90888806e-03 2.04461693e+01] [ 4.18257813e-01 -9.08324569e-01 -2.62287603e-03 -1.67659419e+02] [-6.46424813e-03 -8.90662552e-05 -9.99979103e-01 2.90572725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.27762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.45, Y:-167.67, Z:2.90 [[ 8.71900603e-01 4.89659270e-01 -4.81011832e-03 2.04485736e+01] [ 4.89652354e-01 -8.71913867e-01 -2.60389502e-03 -1.67668114e+02] [-5.46903020e-03 -8.49481198e-05 -9.99985041e-01 2.90477765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.307628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.45, Y:-167.67, Z:2.90 [[ 8.30705496e-01 5.56706566e-01 -2.48569183e-03 2.04505966e+01] [ 5.56704238e-01 -8.30709214e-01 -1.61032194e-03 -1.67674618e+02] [-2.96136391e-03 -4.60918908e-05 -9.99995614e-01 2.90309707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.33762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.45, Y:-167.68, Z:2.90 [[ 7.85181062e-01 6.19264181e-01 -1.60420658e-03 2.04519396e+01] [ 6.19262963e-01 -7.85182701e-01 -1.22851472e-03 -1.67680497e+02] [-2.02037042e-03 -2.88192272e-05 -9.99997959e-01 2.90259761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.45, Y:-167.69, Z:2.90 [[ 7.35216338e-01 6.77831674e-01 -1.07602713e-03 2.04538190e+01] [ 6.77830984e-01 -7.35217126e-01 -9.67518194e-04 -1.67686370e+02] [-1.44692805e-03 -1.80293417e-05 -9.99998953e-01 2.90196773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.397628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.45, Y:-167.69, Z:2.90 [[ 6.81960106e-01 7.31387005e-01 -1.86097541e-03 2.04534923e+01] [ 7.31384392e-01 -6.81962644e-01 -1.95515411e-03 -1.67691927e+02] [-2.69909002e-03 -2.77512660e-05 -9.99996357e-01 2.90280418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.427628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.46, Y:-167.70, Z:2.90 [[ 6.23259368e-01 7.82010843e-01 -2.60793148e-03 2.04555603e+01] [ 7.82004264e-01 -6.23264823e-01 -3.20801314e-03 -1.67697898e+02] [-4.13413301e-03 -3.99892954e-05 -9.99991454e-01 2.90441459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.46, Y:-167.70, Z:2.91 [[ 5.61482327e-01 8.27476839e-01 -4.43590014e-03 2.04569817e+01] [ 8.27451917e-01 -5.61499845e-01 -6.42252512e-03 -1.67703149e+02] [-7.80524802e-03 -6.43597236e-05 -9.99969537e-01 2.90856177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.46, Y:-167.71, Z:2.91 [[ 4.96079865e-01 8.68263840e-01 -4.76151035e-03 2.04592954e+01] [ 8.68225126e-01 -4.96102711e-01 -8.19938615e-03 -1.67709166e+02] [-9.48142870e-03 -6.65125543e-05 -9.99955048e-01 2.91008283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.46, Y:-167.72, Z:2.91 [[ 4.27792943e-01 9.03863666e-01 -4.86532596e-03 2.04606558e+01] [ 9.03806901e-01 -4.27820604e-01 -1.01300050e-02 -1.67715742e+02] [-1.12376302e-02 -6.37705127e-05 -9.99936854e-01 2.91069422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.54762800000003 meters Centerline goodness [0,1] 0.9998894661213662 Centerline is valid? [True, True] Translation: X:20.46, Y:-167.72, Z:2.91 [[ 3.60280151e-01 9.32833705e-01 -4.41503690e-03 2.04626549e+01] [ 9.32764009e-01 -3.60307202e-01 -1.14028202e-02 -1.67721277e+02] [-1.22277046e-02 -9.97773877e-06 -9.99925239e-01 2.91189160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.47, Y:-167.73, Z:2.91 [[ 2.88454710e-01 9.57488095e-01 -3.22931443e-03 2.04672048e+01] [ 9.57427387e-01 -2.88472785e-01 -1.07819373e-02 -1.67728740e+02] [-1.12551459e-02 1.82665138e-05 -9.99936659e-01 2.90991584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.60762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.47, Y:-167.74, Z:2.91 [[ 2.17394125e-01 9.76082085e-01 -1.88606364e-03 2.04696845e+01] [ 9.76042951e-01 -2.17402299e-01 -8.74062348e-03 -1.67735004e+02] [-8.94160056e-03 5.92810731e-05 -9.99960021e-01 2.90788881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.47, Y:-167.74, Z:2.91 [[ 1.42179363e-01 9.89840319e-01 -1.08289441e-03 2.04739663e+01] [ 9.89807782e-01 -1.42183470e-01 -8.02597855e-03 -1.67741151e+02] [-8.09840685e-03 6.92712002e-05 -9.99967205e-01 2.90674807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.66762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.48, Y:-167.75, Z:2.91 [[ 6.58230499e-02 9.97831223e-01 -4.19694571e-04 2.04807973e+01] [ 9.97802807e-01 -6.58243429e-02 -7.53091689e-03 -1.67746848e+02] [-7.54221013e-03 7.69354967e-05 -9.99971554e-01 2.90578043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.49, Y:-167.75, Z:2.91 [[-1.06017984e-02 9.99943788e-01 1.47953167e-04 2.04873415e+01] [ 9.99922700e-01 1.06025357e-02 -6.49462600e-03 -1.67753703e+02] [-6.49582960e-03 7.90870145e-05 -9.99978899e-01 2.90528752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.72762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.49, Y:-167.76, Z:2.91 [[-8.84769689e-02 9.96077995e-01 6.74270601e-04 2.04940707e+01] [ 9.96055849e-01 8.84794983e-02 -6.64264454e-03 -1.67758842e+02] [-6.67625118e-03 8.38901210e-05 -9.99977710e-01 2.90537586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.50, Y:-167.76, Z:2.91 [[-1.66173132e-01 9.86095690e-01 1.33461120e-03 2.05009154e+01] [ 9.86068287e-01 1.66178464e-01 -7.35195443e-03 -1.67764256e+02] [-7.47151422e-03 9.43204905e-05 -9.99972083e-01 2.90612827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.78762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.51, Y:-167.77, Z:2.91 [[-2.42958820e-01 9.70034128e-01 2.19138463e-03 2.05098448e+01] [ 9.69998571e-01 2.42968678e-01 -8.30624558e-03 -1.67767856e+02] [-8.58977951e-03 1.07564342e-04 -9.99963101e-01 2.90711439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.817628 meters Centerline goodness [0,1] 0.9998677102855253 Centerline is valid? [True, True] Translation: X:20.52, Y:-167.77, Z:2.91 [[-3.17049319e-01 9.48402156e-01 3.61674848e-03 2.05199364e+01] [ 9.48345738e-01 3.17069912e-01 -1.03456649e-02 -1.67770327e+02] [-1.09586130e-02 1.49842012e-04 -9.99939941e-01 2.91093387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.84762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.53, Y:-167.77, Z:2.91 [[-3.90445772e-01 9.20614853e-01 4.51580696e-03 2.05313363e+01] [ 9.20557724e-01 3.90471855e-01 -1.02570022e-02 -1.67771456e+02] [-1.12060441e-02 1.52257838e-04 -9.99937199e-01 2.90937480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.54, Y:-167.77, Z:2.91 [[-4.61860707e-01 8.86935667e-01 5.45973862e-03 2.05423709e+01] [ 8.86877500e-01 4.61892952e-01 -1.01587601e-02 -1.67772706e+02] [-1.15319815e-02 1.50187200e-04 -9.99933493e-01 2.90919395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.90762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.55, Y:-167.77, Z:2.91 [[-5.30113941e-01 8.47903876e-01 6.18282794e-03 2.05525049e+01] [ 8.47849394e-01 5.30149975e-01 -9.61292230e-03 -1.67772923e+02] [-1.14286602e-02 1.46162801e-04 -9.99934680e-01 2.90818918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.56, Y:-167.77, Z:2.91 [[-5.95453502e-01 8.03362572e-01 6.61097720e-03 2.05628849e+01] [ 8.03315515e-01 5.95490185e-01 -8.69620771e-03 -1.67771460e+02] [-1.09229798e-02 1.32513223e-04 -9.99940334e-01 2.90705812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.96762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.57, Y:-167.77, Z:2.90 [[-6.57965174e-01 7.53026200e-01 5.77682631e-03 2.05734007e+01] [ 7.52998368e-01 6.57990528e-01 -6.47479329e-03 -1.67768464e+02] [-8.67678598e-03 8.97522908e-05 -9.99962352e-01 2.90498686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.58, Y:-167.77, Z:2.90 [[-7.15894250e-01 6.98185559e-01 5.68750888e-03 2.05826017e+01] [ 6.98164306e-01 7.15916839e-01 -5.44809039e-03 -1.67766993e+02] [-7.87556141e-03 7.05591028e-05 -9.99968985e-01 2.90490999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.02762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.60, Y:-167.74, Z:2.90 [[-7.65872238e-01 6.42969441e-01 5.47843636e-03 2.06007337e+01] [ 6.42953343e-01 7.65891831e-01 -4.55004844e-03 -1.67741799e+02] [-7.12143176e-03 3.76231858e-05 -9.99974642e-01 2.90448070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.057628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.63, Y:-167.72, Z:2.90 [[-8.10881660e-01 5.85185535e-01 5.36870370e-03 2.06251014e+01] [ 5.85172863e-01 8.10899432e-01 -3.85108606e-03 -1.67723358e+02] [-6.60707864e-03 1.88446621e-05 -9.99978173e-01 2.90412999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.08762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.64, Y:-167.70, Z:2.90 [[-8.51748318e-01 5.23923567e-01 5.37585619e-03 2.06424565e+01] [ 5.23913134e-01 8.51765282e-01 -3.30636266e-03 -1.67699968e+02] [-6.31124899e-03 2.92826438e-07 -9.99980084e-01 2.90269409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.65, Y:-167.67, Z:2.90 [[-8.88986879e-01 4.57900489e-01 5.42878479e-03 2.06518323e+01] [ 4.57891743e-01 8.89003454e-01 -2.83038186e-03 -1.67669989e+02] [-6.12224167e-03 -3.03766053e-05 -9.99981258e-01 2.90284953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.147628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.01, Y:-167.01, Z:1.96 [[-8.49802837e-01 -5.27077170e-01 4.97952766e-03 2.10123699e+01] [ 5.27068205e-01 -8.49817426e-01 -3.07420293e-03 -1.67012131e+02] [ 5.85203156e-03 1.20843394e-05 9.99982877e-01 1.95647430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.177628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.62, Y:-167.65, Z:2.90 [[-8.92125491e-01 4.51764502e-01 4.57641830e-03 2.06225816e+01] [ 4.51758316e-01 8.92137227e-01 -2.36461030e-03 -1.67652969e+02] [-5.15104013e-03 -4.20940932e-05 -9.99986732e-01 2.90265708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.207628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.63, Y:-167.63, Z:2.90 [[-9.22747296e-01 3.85382617e-01 4.20305120e-03 2.06321400e+01] [ 3.85378384e-01 9.22756867e-01 -1.80694281e-03 -1.67625484e+02] [-4.57475871e-03 -4.75865155e-05 -9.99989535e-01 2.90252694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.65, Y:-167.60, Z:2.90 [[-9.47963408e-01 3.18354873e-01 3.94368021e-03 2.06462544e+01] [ 3.18351914e-01 9.47971610e-01 -1.37340879e-03 -1.67600775e+02] [-4.17572826e-03 -4.64631290e-05 -9.99991281e-01 2.90276510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.89, Y:-166.90, Z:1.96 [[-9.14738332e-01 -4.04028651e-01 3.82520957e-03 2.08947884e+01] [ 4.04025326e-01 -9.14746329e-01 -1.63989176e-03 -1.66901557e+02] [ 4.16165967e-03 4.54096906e-05 9.99991339e-01 1.95627628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.29762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.60, Y:-167.59, Z:2.90 [[-9.49792501e-01 3.12851849e-01 4.23390728e-03 2.06025386e+01] [ 3.12848463e-01 9.49801936e-01 -1.45664421e-03 -1.67587001e+02] [-4.47708716e-03 -5.89383578e-05 -9.99989976e-01 2.90261772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.61, Y:-167.56, Z:2.90 [[-9.69634107e-01 2.44504975e-01 5.19762470e-03 2.06098723e+01] [ 2.44501061e-01 9.69648035e-01 -1.38536436e-03 -1.67562625e+02] [-5.37859505e-03 -7.24717832e-05 -9.99985533e-01 2.90312985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.35762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.81, Y:-166.84, Z:1.95 [[-9.42228960e-01 -3.34927166e-01 5.32731382e-03 2.08124374e+01] [ 3.34922357e-01 -9.42244016e-01 -1.79707621e-03 -1.66843509e+02] [ 5.62151921e-03 9.09792554e-05 9.99984195e-01 1.95475783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.57, Y:-167.56, Z:2.91 [[-9.69907281e-01 2.43381812e-01 6.72013594e-03 2.05689655e+01] [ 2.43375430e-01 9.69930558e-01 -1.76414920e-03 -1.67555581e+02] [-6.94742703e-03 -7.55451757e-05 -9.99975864e-01 2.90640439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.41762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.58, Y:-167.53, Z:2.91 [[-9.84061755e-01 1.77650935e-01 7.91247044e-03 2.05764119e+01] [ 1.77644721e-01 9.84093564e-01 -1.48704045e-03 -1.67534187e+02] [-8.05078536e-03 -5.77310378e-05 -9.99967590e-01 2.90754141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.58, Y:-167.51, Z:2.91 [[-9.94185615e-01 1.07382460e-01 7.99809711e-03 2.05819807e+01] [ 1.07378518e-01 9.94217785e-01 -9.21919759e-04 -1.67507229e+02] [-8.05084841e-03 -5.77355448e-05 -9.99967590e-01 2.90754210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.47762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.58, Y:-167.48, Z:2.91 [[-9.99202326e-01 3.90511899e-02 8.34960282e-03 2.05845727e+01] [ 3.90495023e-02 9.99237211e-01 -3.65109293e-04 -1.67482820e+02] [-8.35749179e-03 -3.87702206e-05 -9.99965075e-01 2.90734283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.59, Y:-167.46, Z:2.91 [[-9.99528306e-01 -2.94655621e-02 8.65709357e-03 2.05874647e+01] [-2.94646066e-02 9.99565796e-01 2.37917751e-04 -1.67457973e+02] [-8.66034500e-03 -1.72723294e-05 -9.99962498e-01 2.90817909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.53762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.57, Y:-166.68, Z:1.95 [[-9.99282561e-01 -3.66422329e-02 9.57654215e-03 2.05711648e+01] [ 3.66412705e-02 -9.99328445e-01 -2.75996909e-04 -1.66679748e+02] [ 9.58022412e-03 7.50977729e-05 9.99954106e-01 1.94956230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.49, Y:-167.47, Z:2.91 [[-9.99554995e-01 -2.83774457e-02 9.19413746e-03 2.04937337e+01] [-2.83758006e-02 9.99597278e-01 3.09350927e-04 -1.67465106e+02] [-9.19921336e-03 4.83222536e-05 -9.99957685e-01 2.90867330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.59762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.49, Y:-167.44, Z:2.91 [[-9.95125828e-01 -9.82716979e-02 8.20123925e-03 2.04857318e+01] [-9.82679160e-02 9.95159621e-01 8.63819893e-04 -1.67436409e+02] [-8.24643119e-03 5.36907966e-05 -9.99965996e-01 2.90756328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.627628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.41, Y:-166.66, Z:1.95 [[-9.98969548e-01 4.46953689e-02 7.88459241e-03 2.04095339e+01] [-4.46945682e-02 -9.99000660e-01 2.77818850e-04 -1.66660334e+02] [ 7.88913023e-03 -7.48658817e-05 9.99968878e-01 1.95105101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.65762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.38, Y:-167.45, Z:2.91 [[-9.94685208e-01 -1.02700109e-01 7.35015181e-03 2.03767465e+01] [-1.02696831e-01 9.94712362e-01 8.22991967e-04 -1.67445566e+02] [-7.39580824e-03 6.37806344e-05 -9.99972649e-01 2.90777101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.36, Y:-167.42, Z:2.91 [[-9.85285726e-01 -1.70774019e-01 6.94783332e-03 2.03632299e+01] [-1.70769178e-01 9.85310219e-01 1.28850868e-03 -1.67420721e+02] [-7.06581497e-03 8.30734276e-05 -9.99975033e-01 2.90682473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.71762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.33, Y:-167.40, Z:2.91 [[-9.70799877e-01 -2.39786648e-01 7.06834034e-03 2.03330019e+01] [-2.39779550e-01 9.70825604e-01 1.84763750e-03 -1.67399244e+02] [-7.30516459e-03 9.88427926e-05 -9.99973312e-01 2.90660080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.747628 meters Centerline goodness [0,1] 0.9998894367910134 Centerline is valid? [True, True] Translation: X:20.28, Y:-167.39, Z:2.91 [[-9.51276368e-01 -3.08248045e-01 7.51099999e-03 2.02789650e+01] [-3.08237384e-01 9.51306011e-01 2.56672124e-03 -1.67387752e+02] [-7.93644624e-03 1.26490271e-04 -9.99968498e-01 2.90895085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.77762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.21, Y:-167.38, Z:2.91 [[-9.26639974e-01 -3.75872775e-01 7.61677364e-03 2.02138984e+01] [-3.75858752e-01 9.26671266e-01 3.25021722e-03 -1.67382060e+02] [-8.27991344e-03 1.48950162e-04 -9.99965710e-01 2.90695867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.807628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.14, Y:-167.39, Z:2.91 [[-8.96278622e-01 -4.43394527e-01 9.26958572e-03 2.01376348e+01] [-4.43368581e-01 8.96326534e-01 4.80056471e-03 -1.67385207e+02] [-1.04371198e-02 1.92800466e-04 -9.99945513e-01 2.90847402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.83762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.05, Y:-167.40, Z:2.91 [[-8.60382973e-01 -5.09563461e-01 9.28542197e-03 2.00529741e+01] [-5.09531291e-01 8.60433054e-01 5.72920837e-03 -1.67399319e+02] [-1.09088792e-02 1.98100282e-04 -9.99940477e-01 2.90921074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.867628 meters Centerline goodness [0,1] 0.9998675905901045 Centerline is valid? [True, True] Translation: X:19.97, Y:-167.42, Z:2.91 [[-8.19390803e-01 -5.73155691e-01 9.55332630e-03 1.99661903e+01] [-5.73113707e-01 8.19446465e-01 6.94051288e-03 -1.67422948e+02] [-1.18064339e-02 2.11850172e-04 -9.99930279e-01 2.91126658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.897628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.87, Y:-167.46, Z:2.91 [[-7.72869672e-01 -6.34512791e-01 8.12328273e-03 1.98722216e+01] [-6.34475329e-01 7.72912341e-01 6.89711730e-03 -1.67460085e+02] [-1.06548946e-02 1.76550299e-04 -9.99943219e-01 2.90785931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.927628 meters Centerline goodness [0,1] 0.9998241719598233 Centerline is valid? [True, True] Translation: X:19.78, Y:-167.50, Z:2.91 [[-7.21632568e-01 -6.92237530e-01 7.32380810e-03 1.97840220e+01] [-6.92199642e-01 7.21669714e-01 7.24421006e-03 -1.67498974e+02] [-1.03000846e-02 1.58120567e-04 -9.99946940e-01 2.90842103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.957628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.69, Y:-167.55, Z:2.91 [[-6.64872593e-01 -7.46936789e-01 5.46512569e-03 1.96939896e+01] [-7.46910233e-01 6.64895046e-01 6.29937121e-03 -1.67552391e+02] [-8.33896711e-03 1.06320970e-04 -9.99965225e-01 2.90619874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.60, Y:-167.61, Z:2.90 [[-6.01971549e-01 -7.98508110e-01 3.87966878e-03 1.96037124e+01] [-7.98490992e-01 6.01984049e-01 5.22875150e-03 -1.67612821e+02] [-6.51069920e-03 4.96790672e-05 -9.99978804e-01 2.90453513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.017628 meters Centerline goodness [0,1] 0.9999560700243811 Centerline is valid? [True, True] Translation: X:19.52, Y:-167.69, Z:2.90 [[-5.36777927e-01 -8.43717800e-01 3.11947155e-03 1.95174474e+01] [-8.43703247e-01 5.36786990e-01 4.95565850e-03 -1.67686544e+02] [-5.85566903e-03 2.81798239e-05 -9.99982855e-01 2.90376282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.44, Y:-167.77, Z:2.90 [[-4.68227941e-01 -8.83605028e-01 2.17930893e-03 1.94380119e+01] [-8.83595355e-01 4.68233013e-01 4.13456419e-03 -1.67765962e+02] [-4.67374609e-03 1.02912264e-05 -9.99989078e-01 2.90365797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.36, Y:-167.86, Z:2.90 [[-3.95159532e-01 -9.18611457e-01 1.39122524e-03 1.93612305e+01] [-9.18605825e-01 3.95161981e-01 3.21677451e-03 -1.67858487e+02] [-3.50472524e-03 -6.84849741e-06 -9.99993858e-01 2.90220461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.30, Y:-167.95, Z:2.90 [[-3.21819553e-01 -9.46800720e-01 7.56116186e-04 1.92956127e+01] [-9.46798164e-01 3.21820442e-01 2.20005933e-03 -1.67950837e+02] [-2.32635141e-03 -7.86730457e-06 -9.99997294e-01 2.90157502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.24, Y:-168.06, Z:2.90 [[-2.46315359e-01 -9.69189643e-01 4.25107546e-04 1.92351028e+01] [-9.69188257e-01 2.46315725e-01 1.63892468e-03 -1.68055627e+02] [-1.69313950e-03 -8.31692141e-06 -9.99998567e-01 2.90098041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.16762800000004 meters Centerline goodness [0,1] 0.9999558937038262 Centerline is valid? [True, True] Translation: X:19.18, Y:-168.16, Z:2.90 [[-1.68283535e-01 -9.85738552e-01 3.98708774e-04 1.91849543e+01] [-9.85736026e-01 1.68284006e-01 2.23152261e-03 -1.68162679e+02] [-2.26679418e-03 -1.74930881e-05 -9.99997431e-01 2.90175198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.14, Y:-168.28, Z:2.90 [[-9.02288121e-02 -9.95921035e-01 2.31784172e-04 1.91405384e+01] [-9.95918339e-01 9.02291072e-02 2.31743068e-03 -1.68280746e+02] [-2.32889164e-03 -2.17390897e-05 -9.99997288e-01 2.90135113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.22762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.11, Y:-168.39, Z:2.90 [[-1.13881604e-02 -9.99935149e-01 9.23278717e-05 1.91073484e+01] [-9.99927062e-01 1.13884396e-02 4.02161126e-03 -1.68385989e+02] [-4.02240192e-03 -4.65223835e-05 -9.99991909e-01 2.90357570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.08, Y:-168.51, Z:2.90 [[ 6.60460263e-02 -9.97816539e-01 -2.78231816e-04 1.90828457e+01] [-9.97803363e-01 -6.60465841e-02 5.12812575e-03 -1.68506504e+02] [-5.13530495e-03 -6.10716866e-05 -9.99986812e-01 2.90438183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.28762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.07, Y:-168.63, Z:2.90 [[ 1.42850926e-01 -9.89743913e-01 -7.74455239e-04 1.90682929e+01] [-9.89726601e-01 -1.42853009e-01 5.85427690e-03 -1.68625989e+02] [-5.90486819e-03 -6.97899272e-05 -9.99982564e-01 2.90475791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.06, Y:-168.74, Z:2.91 [[ 2.16713851e-01 -9.76234144e-01 -1.41497251e-03 1.90625283e+01] [-9.76211309e-01 -2.16718461e-01 6.67750558e-03 -1.68744714e+02] [-6.82545961e-03 -6.57957895e-05 -9.99976704e-01 2.90709842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.34762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.07, Y:-168.86, Z:2.91 [[ 2.90055434e-01 -9.57007408e-01 -2.16005630e-03 1.90665570e+01] [-9.56979242e-01 -2.90063470e-01 7.34261482e-03 -1.68862512e+02] [-7.65349021e-03 -6.26362889e-05 -9.99970710e-01 2.90724632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.08, Y:-168.98, Z:2.91 [[ 3.59508055e-01 -9.33137137e-01 -3.00683207e-03 1.90804489e+01] [-9.33103634e-01 -3.59520627e-01 7.90739671e-03 -1.68977583e+02] [-8.45970368e-03 -3.70868801e-05 -9.99964215e-01 2.90805980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.40762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.10, Y:-169.09, Z:2.91 [[ 4.28748818e-01 -9.03416176e-01 -3.69643296e-03 1.91012408e+01] [-9.03382156e-01 -4.28764751e-01 7.84017312e-03 -1.69093555e+02] [-8.66783938e-03 -2.21733809e-05 -9.99962433e-01 2.90835695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.13, Y:-169.21, Z:2.91 [[ 4.96196087e-01 -8.68200721e-01 -4.11728170e-03 1.91289188e+01] [-8.68170620e-01 -4.96213168e-01 7.22954683e-03 -1.69206067e+02] [-8.31974717e-03 -1.27698369e-05 -9.99965390e-01 2.90820285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.46762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.17, Y:-169.32, Z:2.91 [[ 5.61140165e-01 -8.27709860e-01 -4.25469688e-03 1.91659475e+01] [-8.27685959e-01 -5.61156295e-01 6.29012210e-03 -1.69320963e+02] [-7.59394602e-03 -8.08727989e-06 -9.99971166e-01 2.90733689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.21, Y:-169.43, Z:2.91 [[ 6.23551926e-01 -7.81768795e-01 -4.53281796e-03 1.92076704e+01] [-7.81747994e-01 -6.23568401e-01 5.70299848e-03 -1.69426560e+02] [-7.28494830e-03 -1.25943382e-05 -9.99973464e-01 2.90715770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.52762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.25, Y:-169.52, Z:2.91 [[ 6.82496740e-01 -7.30872609e-01 -4.84035664e-03 1.92531828e+01] [-7.30854013e-01 -6.82513904e-01 5.21374681e-03 -1.69524934e+02] [-7.11419544e-03 -2.07711241e-05 -9.99974694e-01 2.90774778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.557628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.31, Y:-169.62, Z:2.91 [[ 7.38005840e-01 -6.74769628e-01 -5.77318797e-03 1.93060040e+01] [-6.74748527e-01 -7.38028419e-01 5.33649102e-03 -1.69621848e+02] [-7.86167885e-03 -4.29114554e-05 -9.99969096e-01 2.90845529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.58762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.30, Y:-169.63, Z:2.91 [[ 7.89173450e-01 -6.14131620e-01 -6.90069879e-03 1.93015526e+01] [-6.14107496e-01 -7.89203618e-01 5.44365576e-03 -1.69629668e+02] [-8.78917758e-03 -5.82177382e-05 -9.99961373e-01 2.90929038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.30, Y:-169.64, Z:2.91 [[ 8.35800603e-01 -5.48962735e-01 -8.79018528e-03 1.92975689e+01] [-5.48931236e-01 -8.35846820e-01 5.88140182e-03 -1.69637540e+02] [-1.05759188e-02 -9.04719130e-05 -9.99944069e-01 2.91096855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.647628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.29, Y:-169.64, Z:2.91 [[ 8.76234946e-01 -4.81781175e-01 -9.96085473e-03 1.92943594e+01] [-4.81748752e-01 -8.76291555e-01 5.59022494e-03 -1.69644703e+02] [-1.14218780e-02 -9.97211136e-05 -9.99934763e-01 2.91222374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.677628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.29, Y:-169.65, Z:2.91 [[ 9.11060515e-01 -4.12101389e-01 -1.18820654e-02 1.92915777e+01] [-4.12064757e-01 -9.11137988e-01 5.49573334e-03 -1.69651824e+02] [-1.30910005e-02 -1.10765242e-04 -9.99914303e-01 2.91336054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.707628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.29, Y:-169.66, Z:2.91 [[ 9.39732734e-01 -3.41631460e-01 -1.37961426e-02 1.92897385e+01] [-3.41593196e-01 -9.39833994e-01 5.11386575e-03 -1.69657780e+02] [-1.47131412e-02 -9.29985931e-05 -9.99891752e-01 2.91419874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.73762800000003 meters Centerline goodness [0,1] 0.9998667791642613 Centerline is valid? [True, True] Translation: X:19.29, Y:-169.66, Z:2.92 [[ 9.62235585e-01 -2.71726288e-01 -1.63555378e-02 1.92881603e+01] [-2.71686584e-01 -9.62374576e-01 4.64507726e-03 -1.69661796e+02] [-1.70023433e-02 -2.60784507e-05 -9.99855449e-01 2.91751941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.29, Y:-169.66, Z:2.92 [[ 9.80145284e-01 -1.97595851e-01 -1.64651477e-02 1.92873894e+01] [-1.97568098e-01 -9.80283571e-01 3.31163182e-03 -1.69664737e+02] [-1.67948784e-02 7.10760518e-06 -9.99858956e-01 2.91552024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.28, Y:-169.67, Z:2.92 [[ 9.92240407e-01 -1.23209088e-01 -1.66881668e-02 1.92838959e+01] [-1.23192642e-01 -9.92380732e-01 2.01388018e-03 -1.69665678e+02] [-1.68091436e-02 5.76060765e-05 -9.99858715e-01 2.91534158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.827628 meters Centerline goodness [0,1] 0.999844212494158 Centerline is valid? [True, True] Translation: X:19.28, Y:-169.66, Z:2.91 [[ 9.98532423e-01 -5.20312264e-02 -1.50250272e-02 1.92799492e+01] [-5.20276770e-02 -9.98645446e-01 6.27279907e-04 -1.69662068e+02] [-1.50373131e-02 1.55357936e-04 -9.99886921e-01 2.91462372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.85762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.28, Y:-169.67, Z:2.91 [[ 9.99647366e-01 2.36049961e-02 -1.21634205e-02 1.92755746e+01] [ 2.36013166e-02 -9.99721351e-01 -4.45980980e-04 -1.69668191e+02] [-1.21705585e-02 1.58750974e-04 -9.99925923e-01 2.90882290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.27, Y:-169.67, Z:2.91 [[ 9.95340717e-01 9.61245449e-02 -7.54507190e-03 1.92706634e+01] [ 9.61206946e-02 -9.95369304e-01 -8.72129445e-04 -1.69672029e+02] [-7.59396601e-03 1.42828396e-04 -9.99971155e-01 2.90556893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.91762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.27, Y:-169.68, Z:2.90 [[ 9.85154237e-01 1.71567419e-01 -5.97906639e-03 1.92680894e+01] [ 1.71563468e-01 -9.85172373e-01 -1.17144992e-03 -1.69680196e+02] [-6.09139367e-03 1.28269492e-04 -9.99981439e-01 2.90420259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.27, Y:-169.69, Z:2.90 [[ 9.69113422e-01 2.46563142e-01 -5.07856630e-03 1.92660209e+01] [ 2.46559107e-01 -9.69126722e-01 -1.41570286e-03 -1.69691398e+02] [-5.27083446e-03 1.19809875e-04 -9.99986102e-01 2.90303435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.97762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.26, Y:-169.70, Z:2.90 [[ 9.47283655e-01 3.20369120e-01 -4.15980908e-03 1.92647586e+01] [ 3.20365533e-01 -9.47292782e-01 -1.51983257e-03 -1.69701766e+02] [-4.42746454e-03 1.07053100e-04 -9.99990193e-01 2.90248116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.26, Y:-169.71, Z:2.90 [[ 9.20176934e-01 3.91493091e-01 -2.75137722e-03 1.92628165e+01] [ 3.91491079e-01 -9.20181044e-01 -1.25777747e-03 -1.69712297e+02] [-3.02417635e-03 8.02381792e-05 -9.99995424e-01 2.90242126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.03762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.26, Y:-169.73, Z:2.90 [[ 8.87483735e-01 4.60829034e-01 -3.03663180e-03 1.92646364e+01] [ 4.60825957e-01 -8.87488925e-01 -1.68694420e-03 -1.69726163e+02] [-3.47236996e-03 9.77767851e-05 -9.99993967e-01 2.90244028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.27, Y:-169.74, Z:2.90 [[ 8.48929818e-01 5.28490794e-01 -3.95533774e-03 1.92653645e+01] [ 5.28484310e-01 -8.48939022e-01 -2.62143391e-03 -1.69737350e+02] [-4.74324424e-03 1.35079475e-04 -9.99988742e-01 2.90368319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.09762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.27, Y:-169.75, Z:2.91 [[ 8.05113773e-01 5.93097299e-01 -5.23507223e-03 1.92670819e+01] [ 5.93083204e-01 -8.05130770e-01 -4.09331433e-03 -1.69747458e+02] [-6.64265141e-03 1.90750336e-04 -9.99977919e-01 2.90540435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.27, Y:-169.76, Z:2.91 [[ 7.56275286e-01 6.54226907e-01 -5.90308888e-03 1.92706264e+01] [ 6.54204569e-01 -7.56298288e-01 -5.41114024e-03 -1.69758523e+02] [-8.00460956e-03 2.30483911e-04 -9.99967936e-01 2.90656401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.15762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.28, Y:-169.77, Z:2.91 [[ 7.02390426e-01 7.11763194e-01 -6.39105679e-03 1.92766565e+01] [ 7.11730247e-01 -7.02419451e-01 -6.85346132e-03 -1.69770713e+02] [-9.36724412e-03 2.65097190e-04 -9.99956091e-01 2.90727283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.28, Y:-169.78, Z:2.91 [[ 6.44279410e-01 7.64768102e-01 -5.81308371e-03 1.92825082e+01] [ 7.64733252e-01 -6.44305581e-01 -7.30563643e-03 -1.69781107e+02] [-9.33251998e-03 2.61412718e-04 -9.99956417e-01 2.90795365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.21762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.29, Y:-169.79, Z:2.91 [[ 5.81328313e-01 8.13654179e-01 -4.92632393e-03 1.92908925e+01] [ 8.13621478e-01 -5.81349139e-01 -7.29851156e-03 -1.69791887e+02] [-8.80237861e-03 2.34668459e-04 -9.99961231e-01 2.90711803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.30, Y:-169.80, Z:2.91 [[ 5.14814526e-01 8.57291247e-01 -4.20962328e-03 1.92959750e+01] [ 8.57259059e-01 -5.14831691e-01 -7.43202697e-03 -1.69801558e+02] [-8.53865915e-03 2.17377748e-04 -9.99963521e-01 2.90624176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.27762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.31, Y:-169.81, Z:2.91 [[ 4.44537564e-01 8.95754387e-01 -3.22985675e-03 1.93051346e+01] [ 8.95727717e-01 -4.44549261e-01 -6.91466010e-03 -1.69810791e+02] [-7.62966755e-03 1.80753943e-04 -9.99970877e-01 2.90502763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.307628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.32, Y:-169.82, Z:2.90 [[ 3.68610527e-01 9.29582116e-01 -1.83539289e-03 1.93182955e+01] [ 9.29569216e-01 -3.68615083e-01 -4.89838263e-03 -1.69820402e+02] [-5.23000239e-03 9.94706701e-05 -9.99986319e-01 2.90350082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.33762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.33, Y:-169.83, Z:2.90 [[ 2.91651767e-01 9.56523769e-01 -1.23535740e-03 1.93307067e+01] [ 9.56514128e-01 -2.91654374e-01 -4.29518793e-03 -1.69828624e+02] [-4.46874673e-03 7.10623362e-05 -9.99990013e-01 2.90378115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.34, Y:-169.83, Z:2.90 [[ 2.15817221e-01 9.76433370e-01 -8.95066918e-04 1.93396021e+01] [ 9.76423554e-01 -2.15819066e-01 -4.37881648e-03 -1.69834814e+02] [-4.46879504e-03 7.10595846e-05 -9.99990012e-01 2.90378157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.397628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.36, Y:-169.84, Z:2.90 [[ 1.30712312e-01 9.91420323e-01 -1.87942475e-04 1.93553404e+01] [ 9.91419151e-01 -1.30712447e-01 -1.52446706e-03 -1.69841792e+02] [-1.53595404e-03 1.29368443e-05 -9.99998820e-01 2.90309846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.427628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.37, Y:-169.85, Z:2.90 [[ 4.77895924e-02 9.98857425e-01 3.61215154e-07 1.93681803e+01] [ 9.98857425e-01 -4.77895924e-02 -1.91531586e-05 -1.69846015e+02] [-1.91140123e-05 1.27612408e-06 -1.00000000e+00 2.90191392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.38, Y:-169.85, Z:2.90 [[-3.51788164e-02 9.99381033e-01 -4.88903705e-05 1.93800605e+01] [ 9.99379906e-01 3.51788501e-02 1.50101000e-03 -1.69849684e+02] [ 1.50180083e-03 3.94370128e-06 -9.99998872e-01 2.90117678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.40, Y:-169.85, Z:2.90 [[-1.21488549e-01 9.92592799e-01 -2.61633050e-04 1.93957507e+01] [ 9.92590036e-01 1.21488828e-01 2.34219541e-03 -1.69850547e+02] [ 2.35663179e-03 2.48555625e-05 -9.99997223e-01 2.90080509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.517628 meters Centerline goodness [0,1] 0.9999782887166461 Centerline is valid? [True, True] Translation: X:19.41, Y:-169.85, Z:2.90 [[-2.02219866e-01 9.79340099e-01 -3.10203929e-04 1.94071990e+01] [ 9.79338763e-01 2.02220103e-01 1.61800230e-03 -1.69850362e+02] [ 1.64730401e-03 2.33974777e-05 -9.99998643e-01 2.90196741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.42, Y:-169.85, Z:2.90 [[-2.82564625e-01 9.59248263e-01 -6.03404373e-05 1.94193993e+01] [ 9.59248236e-01 2.82564631e-01 2.23812678e-04 -1.69850398e+02] [ 2.31741996e-04 5.36008727e-06 -9.99999973e-01 2.90299065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.43, Y:-169.85, Z:2.90 [[-3.57939340e-01 9.33744839e-01 7.03839397e-05 1.94268279e+01] [ 9.33744819e-01 3.57939346e-01 -1.91112094e-04 -1.69849749e+02] [-2.03643113e-04 -2.68589758e-06 -9.99999979e-01 2.90394732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.60762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.43, Y:-169.85, Z:2.91 [[-4.29997581e-01 9.02829026e-01 1.35255486e-03 1.94334160e+01] [ 9.02824101e-01 4.29999704e-01 -2.98273375e-03 -1.69849569e+02] [-3.27449680e-03 -6.14491735e-05 -9.99994637e-01 2.90706975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.44, Y:-169.85, Z:2.91 [[-4.98835301e-01 8.66693259e-01 2.47740073e-03 1.94399835e+01] [ 8.66681624e-01 4.98841445e-01 -4.49168030e-03 -1.69848878e+02] [-5.12873919e-03 -9.34910076e-05 -9.99986844e-01 2.90854779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.66762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.45, Y:-169.85, Z:2.91 [[-5.64109194e-01 8.25692423e-01 3.58314502e-03 1.94463160e+01] [ 8.25674509e-01 5.64120563e-01 -5.44023261e-03 -1.69848753e+02] [-6.51328464e-03 -1.10373730e-04 -9.99978782e-01 2.90994050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.45, Y:-169.85, Z:2.91 [[-6.22937497e-01 7.82251931e-01 5.54901368e-03 1.94483569e+01] [ 7.82219366e-01 6.22962202e-01 -7.13846101e-03 -1.69850003e+02] [-9.04090069e-03 -1.06269068e-04 -9.99959125e-01 2.91235902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.72762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.45, Y:-169.85, Z:2.91 [[-6.79559792e-01 7.33591007e-01 6.53635672e-03 1.94528400e+01] [ 7.33555963e-01 6.79591221e-01 -7.17085462e-03 -1.69851461e+02] [-9.70252511e-03 -7.82410242e-05 -9.99952926e-01 2.91300718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.46, Y:-169.85, Z:2.91 [[-7.32142030e-01 6.81117931e-01 6.81258137e-03 1.94557039e+01] [ 6.81087978e-01 7.32173724e-01 -6.38774640e-03 -1.69853049e+02] [-9.33880169e-03 -3.67703423e-05 -9.99956392e-01 2.91288977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.78762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.47, Y:-169.85, Z:2.91 [[-7.72869177e-01 6.34536845e-01 6.01896773e-03 1.94741315e+01] [ 6.34517995e-01 7.72892613e-01 -4.89113495e-03 -1.69845132e+02] [-7.75562103e-03 3.89358930e-05 -9.99969924e-01 2.91158133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.50, Y:-169.83, Z:2.91 [[-8.13367119e-01 5.81724540e-01 5.52159510e-03 1.94956512e+01] [ 5.81711659e-01 8.13385859e-01 -3.87181821e-03 -1.69833810e+02] [-6.74351905e-03 6.27666183e-05 -9.99977260e-01 2.90976140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.84762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.51, Y:-169.82, Z:2.91 [[-8.48724829e-01 5.28826938e-01 2.86947000e-03 1.95123892e+01] [ 5.28824137e-01 8.48729678e-01 -1.72211989e-03 -1.69823957e+02] [-3.34610774e-03 5.58390886e-05 -9.99994400e-01 2.90550530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.53, Y:-169.81, Z:2.90 [[-8.82635829e-01 4.70052136e-01 2.23238341e-03 1.95286183e+01] [ 4.70050774e-01 8.82638650e-01 -1.13284027e-03 -1.69806265e+02] [-2.50288187e-03 4.94481387e-05 -9.99996867e-01 2.90372536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.90762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.54, Y:-169.79, Z:2.90 [[-9.12714122e-01 4.08596413e-01 1.37981551e-03 1.95443297e+01] [ 4.08596001e-01 9.12715164e-01 -5.80828364e-04 -1.69786979e+02] [-1.49670293e-03 3.36568499e-05 -9.99998879e-01 2.90284312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.86, Y:-169.05, Z:1.96 [[-9.04105287e-01 -4.27308671e-01 9.64473616e-04 1.98613056e+01] [ 4.27308370e-01 -9.04105800e-01 -5.09427643e-04 -1.69051685e+02] [ 1.08966904e-03 -4.84485763e-05 9.99999405e-01 1.95667357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.96762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.50, Y:-169.78, Z:2.90 [[-9.12533177e-01 4.08999265e-01 1.67394329e-03 1.95038960e+01] [ 4.08998673e-01 9.12534711e-01 -6.97516377e-04 -1.69775983e+02] [-1.81281505e-03 4.81337501e-05 -9.99998356e-01 2.90399549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.52, Y:-169.75, Z:2.91 [[-9.38772331e-01 3.44514740e-01 4.01295029e-03 1.95176527e+01] [ 3.44512118e-01 9.38780901e-01 -1.34902735e-03 -1.69748580e+02] [-4.23204089e-03 1.16080456e-04 -9.99991038e-01 2.90548600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.02762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.53, Y:-169.73, Z:2.91 [[-9.60733978e-01 2.77423711e-01 5.12914957e-03 1.95294694e+01] [ 2.77420571e-01 9.60747658e-01 -1.32810323e-03 -1.69726342e+02] [-5.29626576e-03 1.46977709e-04 -9.99985964e-01 2.90681378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.057628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.53, Y:-169.70, Z:2.91 [[-9.77939157e-01 2.08771996e-01 7.01853095e-03 1.95347388e+01] [ 2.08768075e-01 9.77964322e-01 -1.29488195e-03 -1.69700344e+02] [-7.13420795e-03 1.98929430e-04 -9.99974531e-01 2.90814888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.08762800000005 meters Centerline goodness [0,1] 0.999889473451523 Centerline is valid? [True, True] Translation: X:19.69, Y:-168.91, Z:1.95 [[-9.75443144e-01 -2.20072748e-01 8.86892155e-03 1.96871862e+01] [ 2.20062460e-01 -9.75483454e-01 -2.13179508e-03 -1.68910483e+02] [ 9.12063623e-03 -1.27728204e-04 9.99958398e-01 1.95011920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.48, Y:-169.68, Z:2.91 [[-9.78897288e-01 2.04153102e-01 9.03381130e-03 1.94806099e+01] [ 2.04146776e-01 9.78938940e-01 -1.62672539e-03 -1.69682530e+02] [-9.17565069e-03 2.51826383e-04 -9.99957871e-01 2.90760050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.147628 meters Centerline goodness [0,1] 0.9998897537097877 Centerline is valid? [True, True] Translation: X:19.49, Y:-169.65, Z:2.91 [[-9.91020466e-01 1.33288377e-01 1.06133675e-02 1.94861526e+01] [ 1.33283786e-01 9.91077257e-01 -1.14187951e-03 -1.69650710e+02] [-1.06708664e-02 2.82963836e-04 -9.99943025e-01 2.90956363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.177628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.58, Y:-168.87, Z:1.95 [[-9.88753360e-01 -1.49219272e-01 1.00200486e-02 1.95750903e+01] [ 1.49208502e-01 -9.88804084e-01 -1.81812994e-03 -1.68870247e+02] [ 1.01791650e-02 -3.02605653e-04 9.99948145e-01 1.95111239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.207628 meters Centerline goodness [0,1] 0.9998458760843718 Centerline is valid? [True, True] Translation: X:19.42, Y:-169.64, Z:2.91 [[-9.91986110e-01 1.25868746e-01 1.09825219e-02 1.94183124e+01] [ 1.25863957e-01 9.92046869e-01 -1.12893749e-03 -1.69640822e+02] [-1.10372744e-02 2.62413351e-04 -9.99939053e-01 2.90916492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.50, Y:-168.87, Z:1.95 [[-9.88501809e-01 -1.50975249e-01 8.40526210e-03 1.94991989e+01] [ 1.50966539e-01 -9.88537471e-01 -1.66493168e-03 -1.68866016e+02] [ 8.56028002e-03 -3.76874649e-04 9.99963289e-01 1.95246700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.35, Y:-169.63, Z:2.90 [[-9.93619241e-01 1.12561226e-01 7.12562170e-03 1.93450469e+01] [ 1.12559113e-01 9.93644785e-01 -6.98138806e-04 -1.69626162e+02] [-7.15892020e-03 1.08369512e-04 -9.99974369e-01 2.90450347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.29762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.42, Y:-168.87, Z:1.96 [[-9.87387385e-01 -1.58258573e-01 4.51402236e-03 1.94226463e+01] [ 1.58255727e-01 -9.87397670e-01 -9.83140120e-04 -1.68869737e+02] [ 4.61272552e-03 -2.56370263e-04 9.99989328e-01 1.95707291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.27, Y:-169.61, Z:2.90 [[-9.95469079e-01 9.50206207e-02 3.52044483e-03 1.92739237e+01] [ 9.50200566e-02 9.95475304e-01 -3.27538928e-04 -1.69607632e+02] [-3.53563884e-03 8.45799246e-06 -9.99993750e-01 2.90147518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.35762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.35, Y:-168.87, Z:1.96 [[-9.86533320e-01 -1.63542522e-01 2.41907456e-03 1.93540472e+01] [ 1.63541827e-01 -9.86536283e-01 -4.83418792e-04 -1.68871559e+02] [ 2.46556435e-03 -8.12888722e-05 9.99996957e-01 1.95807426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.21, Y:-169.59, Z:2.90 [[-9.96949779e-01 7.80298504e-02 1.57490314e-03 1.92144059e+01] [ 7.80297301e-02 9.96951023e-01 -1.37814388e-04 -1.69594840e+02] [-1.58085493e-03 -1.45047570e-05 -9.99998750e-01 2.89985663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.41762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.22, Y:-169.57, Z:2.90 [[-9.99991791e-01 3.93869145e-03 9.50807732e-04 1.92151035e+01] [ 3.93867983e-03 9.99992243e-01 -1.40958007e-05 -1.69565329e+02] [-9.50855876e-04 -1.03507578e-05 -9.99999548e-01 2.89945382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.23, Y:-168.84, Z:1.96 [[-9.94639257e-01 -1.03403761e-01 6.40058638e-04 1.92323357e+01] [ 1.03403730e-01 -9.94639463e-01 -8.17323828e-05 -1.68842311e+02] [ 6.45079016e-04 -1.51097859e-05 9.99999792e-01 1.95970945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.47762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.14, Y:-169.56, Z:2.90 [[-9.99988789e-01 -4.56396234e-03 1.26154923e-03 1.91442376e+01] [-4.56398287e-03 9.99989585e-01 -1.33970285e-05 -1.69562343e+02] [-1.26147495e-03 -1.91545674e-05 -9.99999204e-01 2.89984244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.14, Y:-169.54, Z:2.90 [[-9.97171442e-01 -7.51261051e-02 2.27679666e-03 1.91417101e+01] [-7.51259923e-02 9.97174041e-01 1.35161253e-04 -1.69536210e+02] [-2.28051666e-03 -3.62676665e-05 -9.99997399e-01 2.90051897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.53762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.14, Y:-169.51, Z:2.90 [[-9.89729170e-01 -1.42913674e-01 3.44262455e-03 1.91370350e+01] [-1.42912973e-01 9.89735156e-01 4.50230861e-04 -1.69511226e+02] [-3.47163069e-03 -4.63890925e-05 -9.99993973e-01 2.90265552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.12, Y:-169.49, Z:2.90 [[-9.77408191e-01 -2.11336395e-01 3.18679333e-03 1.91241127e+01] [-2.11335394e-01 9.77413386e-01 6.51582306e-04 -1.69487949e+02] [-3.25251751e-03 -3.66203394e-05 -9.99994710e-01 2.90317537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.59762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.10, Y:-169.47, Z:2.90 [[-9.60252192e-01 -2.79109621e-01 3.68082795e-03 1.90989666e+01] [-2.79107709e-01 9.60259246e-01 1.03347243e-03 -1.69468571e+02] [-3.82300117e-03 -3.49532951e-05 -9.99992692e-01 2.90307462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.627628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.05, Y:-169.46, Z:2.90 [[-9.38018561e-01 -3.46564418e-01 3.77924473e-03 1.90482951e+01] [-3.46561727e-01 9.38026174e-01 1.36617330e-03 -1.69458806e+02] [-4.01849753e-03 -2.82456616e-05 -9.99991925e-01 2.90328252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.65762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.99, Y:-169.46, Z:2.90 [[-9.11770706e-01 -4.10672813e-01 4.69255254e-03 1.89874698e+01] [-4.10667446e-01 9.11782781e-01 2.09965722e-03 -1.69459496e+02] [-5.14086074e-03 -1.26726244e-05 -9.99986786e-01 2.90364967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.92, Y:-169.47, Z:2.90 [[-8.79923099e-01 -4.75090689e-01 4.91706875e-03 1.89166912e+01] [-4.75083270e-01 8.79936837e-01 2.65511891e-03 -1.69466446e+02] [-5.58813220e-03 2.83360118e-07 -9.99984386e-01 2.90453769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.71762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.84, Y:-169.48, Z:2.90 [[-8.42847732e-01 -5.38125795e-01 5.32257082e-03 1.88397298e+01] [-5.38114975e-01 8.42864537e-01 3.41258705e-03 -1.69482597e+02] [-6.32260731e-03 1.21361929e-05 -9.99980012e-01 2.90487595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.75, Y:-169.51, Z:2.91 [[-8.01232897e-01 -5.98331704e-01 5.00168204e-03 1.87534778e+01] [-5.98319845e-01 8.01248508e-01 3.76730867e-03 -1.69512575e+02] [-6.26169049e-03 2.58860184e-05 -9.99980395e-01 2.90520411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.77762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.67, Y:-169.55, Z:2.90 [[-7.53841530e-01 -6.57043708e-01 4.06365613e-03 1.86660770e+01] [-6.57033986e-01 7.53852482e-01 3.57434721e-03 -1.69549922e+02] [-5.41189961e-03 2.45311843e-05 -9.99985355e-01 2.90460825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.807628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.58, Y:-169.60, Z:2.90 [[-7.01585900e-01 -7.12580435e-01 2.51954105e-03 1.85818894e+01] [-7.12575753e-01 7.01590424e-01 2.58322622e-03 -1.69595668e+02] [-3.60844234e-03 1.69912332e-05 -9.99993489e-01 2.90246144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.83762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.49, Y:-169.65, Z:2.90 [[-6.44819010e-01 -7.64332404e-01 2.10273776e-03 1.84926809e+01] [-7.64328268e-01 6.44822438e-01 2.51443061e-03 -1.69653039e+02] [-3.27775328e-03 1.41707428e-05 -9.99994628e-01 2.90194001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.40, Y:-169.72, Z:2.90 [[-5.82832892e-01 -8.12588200e-01 2.49761232e-03 1.84047712e+01] [-8.12580675e-01 5.82838243e-01 3.49710355e-03 -1.69718473e+02] [-4.29740905e-03 8.71547394e-06 -9.99990766e-01 2.90360209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.897628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.32, Y:-169.79, Z:2.90 [[-5.18179093e-01 -8.55268064e-01 2.63941480e-03 1.83221636e+01] [-8.55256913e-01 5.18185815e-01 4.36743919e-03 -1.69792118e+02] [-5.10303856e-03 5.73792557e-06 -9.99986979e-01 2.90477732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.927628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.24, Y:-169.88, Z:2.90 [[-4.50199296e-01 -8.92923926e-01 2.73057088e-03 1.82439969e+01] [-8.92907490e-01 4.50207576e-01 5.41779070e-03 -1.69876091e+02] [-6.06699864e-03 9.38367973e-07 -9.99981596e-01 2.90496172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.957628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.17, Y:-169.97, Z:2.91 [[-3.79714485e-01 -9.25098712e-01 3.04675057e-03 1.81708699e+01] [-9.25069015e-01 3.79726708e-01 7.41244850e-03 -1.69969838e+02] [-8.01417912e-03 -3.84048606e-06 -9.99967886e-01 2.90697435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.10, Y:-170.07, Z:2.91 [[-3.07447856e-01 -9.51560370e-01 2.94598244e-03 1.81032802e+01] [-9.51516822e-01 3.07461970e-01 9.10359254e-03 -1.70072516e+02] [-9.56839544e-03 -4.27184696e-06 -9.99954222e-01 2.90792785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.05, Y:-170.17, Z:2.91 [[-2.32871924e-01 -9.72503026e-01 2.92092971e-03 1.80456466e+01] [-9.72427051e-01 2.32890241e-01 1.21559410e-02 -1.70170232e+02] [-1.25019454e-02 -9.61370980e-06 -9.99921848e-01 2.90929530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.99, Y:-170.28, Z:2.91 [[-1.57286615e-01 -9.87550514e-01 2.21424394e-03 1.79947862e+01] [-9.87453417e-01 1.57302200e-01 1.38479891e-02 -1.70278334e+02] [-1.40238942e-02 -8.35942478e-06 -9.99901660e-01 2.91037448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.95, Y:-170.39, Z:2.91 [[-8.11554824e-02 -9.96700770e-01 1.16750895e-03 1.79517980e+01] [-9.96597602e-01 8.11638799e-02 1.43403291e-02 -1.70391772e+02] [-1.43877766e-02 2.59706639e-07 -9.99896491e-01 2.91057629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.92, Y:-170.51, Z:2.91 [[-7.37137513e-03 -9.99972830e-01 4.67889144e-05 1.79184993e+01] [-9.99896976e-01 7.37139227e-03 1.23166421e-02 -1.70506351e+02] [-1.23166524e-02 4.40064955e-05 -9.99924146e-01 2.90887082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.90, Y:-170.62, Z:2.91 [[ 6.69527289e-02 -9.97755798e-01 -8.36250005e-04 1.78960321e+01] [-9.97690949e-01 -6.69579117e-02 1.13757853e-02 -1.70621104e+02] [-1.14062493e-02 7.26791941e-05 -9.99934944e-01 2.90722275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.16762800000004 meters Centerline goodness [0,1] 0.9998458353521561 Centerline is valid? [True, True] Translation: X:17.88, Y:-170.74, Z:2.91 [[ 1.39714763e-01 -9.90190416e-01 -1.65054345e-03 1.78835890e+01] [-9.90130844e-01 -1.39724463e-01 1.08621816e-02 -1.70743265e+02] [-1.09862494e-02 1.16646856e-04 -9.99939643e-01 2.90768456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.88, Y:-170.86, Z:2.90 [[ 2.09024835e-01 -9.77908354e-01 -1.96727279e-03 1.78814966e+01] [-9.77871706e-01 -2.09034036e-01 8.46750926e-03 -1.70856283e+02] [-8.69167502e-03 1.53820675e-04 -9.99962215e-01 2.90319271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.22762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.89, Y:-170.97, Z:2.90 [[ 2.80332372e-01 -9.59900238e-01 -2.30096151e-03 1.78868297e+01] [-9.59872565e-01 -2.80341767e-01 7.29065468e-03 -1.70974788e+02] [-7.64335678e-03 1.64823300e-04 -9.99970776e-01 2.90275818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.90, Y:-171.10, Z:2.90 [[ 3.53540299e-01 -9.35414933e-01 -2.85653017e-03 1.79001874e+01] [-9.35388066e-01 -3.53551801e-01 7.09156989e-03 -1.71095284e+02] [-7.64349176e-03 1.64808491e-04 -9.99970775e-01 2.90276498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.28762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.92, Y:-171.21, Z:2.90 [[ 4.21441946e-01 -9.06850319e-01 -3.03064042e-03 1.79241015e+01] [-9.06829721e-01 -4.21452808e-01 6.11457436e-03 -1.71213542e+02] [-6.82227562e-03 1.71336693e-04 -9.99976713e-01 2.90213988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.95, Y:-171.33, Z:2.90 [[ 4.85814193e-01 -8.74058352e-01 -2.56250836e-03 1.79523553e+01] [-8.74047790e-01 -4.85820928e-01 4.29973263e-03 -1.71325863e+02] [-5.00313741e-03 1.50883632e-04 -9.99987473e-01 2.90162035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.34762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.99, Y:-171.43, Z:2.90 [[ 5.50555015e-01 -8.34794646e-01 -2.65999059e-03 1.79880216e+01] [-8.34786144e-01 -5.50561422e-01 3.77024786e-03 -1.71433220e+02] [-4.61187093e-03 1.44794416e-04 -9.99989355e-01 2.90198841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.03, Y:-171.54, Z:2.90 [[ 6.13975766e-01 -7.89319420e-01 -2.93454516e-03 1.80342461e+01] [-7.89311464e-01 -6.13982763e-01 3.54675084e-03 -1.71540573e+02] [-4.60127946e-03 1.38651071e-04 -9.99989404e-01 2.90198954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.40762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.09, Y:-171.64, Z:2.90 [[ 6.74349415e-01 -7.38405432e-01 -3.20704377e-03 1.80862631e+01] [-7.38397972e-01 -6.74357029e-01 3.32148726e-03 -1.71641485e+02] [-4.61529675e-03 1.28231626e-04 -9.99989341e-01 2.90138506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.14, Y:-171.73, Z:2.90 [[ 7.30927190e-01 -6.82447881e-01 -3.21430551e-03 1.81401661e+01] [-6.82441912e-01 -7.30934250e-01 2.85636042e-03 -1.71734372e+02] [-4.29876310e-03 1.05785301e-04 -9.99990755e-01 2.90052135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.46762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.13, Y:-171.75, Z:2.90 [[ 7.87200155e-01 -6.16687125e-01 -3.59259863e-03 1.81309727e+01] [-6.16681125e-01 -7.87208349e-01 2.72136531e-03 -1.71747329e+02] [-4.50635459e-03 7.32285737e-05 -9.99989844e-01 2.90163633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.12, Y:-171.76, Z:2.90 [[ 8.35249948e-01 -5.49852679e-01 -4.42208296e-03 1.81243876e+01] [-5.49845372e-01 -8.35261652e-01 2.83537328e-03 -1.71758489e+02] [-5.25263392e-03 6.32164671e-05 -9.99986203e-01 2.90308886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.52762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.12, Y:-171.77, Z:2.91 [[ 8.79252202e-01 -4.76297174e-01 -7.52108940e-03 1.81177763e+01] [-4.76280104e-01 -8.79284368e-01 4.03260798e-03 -1.71770217e+02] [-8.53389613e-03 3.64657970e-05 -9.99963585e-01 2.90684360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.557628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.11, Y:-171.78, Z:2.91 [[ 9.14924207e-01 -4.03541618e-01 -8.23758020e-03 1.81147614e+01] [-4.03525390e-01 -9.14961290e-01 3.61893981e-03 -1.71779658e+02] [-8.99745983e-03 1.30171319e-05 -9.99959522e-01 2.90739275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.58762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.11, Y:-171.79, Z:2.91 [[ 9.44406310e-01 -3.28660010e-01 -8.90614217e-03 1.81127569e+01] [-3.28645317e-01 -9.44448303e-01 3.10774293e-03 -1.71788912e+02] [-9.43278168e-03 -8.01012017e-06 -9.99955510e-01 2.90655064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.11, Y:-171.80, Z:2.90 [[ 9.67996844e-01 -2.50867646e-01 -6.89453477e-03 1.81110005e+01] [-2.50861084e-01 -9.68021396e-01 1.81464100e-03 -1.71797766e+02] [-7.12929189e-03 -2.69962933e-05 -9.99974586e-01 2.90406183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.647628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.11, Y:-171.81, Z:2.90 [[ 9.84771918e-01 -1.73748680e-01 -5.97203531e-03 1.81094874e+01] [-1.73745323e-01 -9.84790026e-01 1.08038449e-03 -1.71807312e+02] [-6.06891619e-03 -2.63191033e-05 -9.99981584e-01 2.90322781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.677628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.11, Y:-171.82, Z:2.90 [[ 9.95357805e-01 -9.61360965e-02 -4.54882158e-03 1.81060793e+01] [-9.61350061e-02 -9.95368199e-01 4.58246061e-04 -1.71815439e+02] [-4.57180633e-03 -1.88178032e-05 -9.99989549e-01 2.90264989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.707628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.10, Y:-171.82, Z:2.90 [[ 9.99787319e-01 -2.03753064e-02 -3.18794425e-03 1.81035182e+01] [-2.03751891e-02 -9.99792402e-01 6.92804040e-05 -1.71821582e+02] [-3.18869405e-03 -4.31070256e-06 -9.99994916e-01 2.90145000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.10, Y:-171.83, Z:2.90 [[ 9.98430248e-01 5.59677732e-02 -2.15605049e-03 1.81001115e+01] [ 5.59676374e-02 -9.98432576e-01 -1.23319485e-04 -1.71827817e+02] [-2.15957296e-03 2.45685152e-06 -9.99997668e-01 2.90069070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.10, Y:-171.83, Z:2.90 [[ 9.91639416e-01 1.29034326e-01 -1.18840483e-03 1.80972312e+01] [ 1.29034223e-01 -9.91640128e-01 -1.63510756e-04 -1.71830465e+02] [-1.19956841e-03 8.79881725e-06 -9.99999281e-01 2.89913847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.09, Y:-171.83, Z:2.90 [[ 9.79565166e-01 2.01121116e-01 -1.54377850e-03 1.80933110e+01] [ 2.01120836e-01 -9.79566382e-01 -3.36227240e-04 -1.71834827e+02] [-1.57985591e-03 1.88704706e-05 -9.99998752e-01 2.89997924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.09, Y:-171.84, Z:2.90 [[ 9.61475045e-01 2.74884501e-01 -2.06134806e-03 1.80897430e+01] [ 2.74883803e-01 -9.61477254e-01 -6.20148603e-04 -1.71841379e+02] [-2.15240851e-03 2.96262116e-05 -9.99997683e-01 2.90123222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.85762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.09, Y:-171.85, Z:2.90 [[ 9.37769851e-01 3.47246659e-01 -2.73229657e-03 1.80884085e+01] [ 3.47245042e-01 -9.37773830e-01 -1.06044991e-03 -1.71849861e+02] [-2.93051391e-03 4.56815171e-05 -9.99995705e-01 2.90219108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.09, Y:-171.86, Z:2.90 [[ 9.08338622e-01 4.18222604e-01 -3.28667074e-03 1.80877501e+01] [ 4.18219620e-01 -9.08344566e-01 -1.58093623e-03 -1.71859993e+02] [-3.64661277e-03 6.14752429e-05 -9.99993349e-01 2.90261007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.91762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.09, Y:-171.87, Z:2.90 [[ 8.73382866e-01 4.87011586e-01 -4.69940975e-03 1.80895048e+01] [ 4.87003939e-01 -8.73395503e-01 -2.73084915e-03 -1.71871202e+02] [-5.43439852e-03 9.64458017e-05 -9.99985229e-01 2.90365746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.09, Y:-171.88, Z:2.90 [[ 8.32667506e-01 5.53746766e-01 -5.41685598e-03 1.80899916e+01] [ 5.53734125e-01 -8.32685117e-01 -3.74352233e-03 -1.71882097e+02] [-6.58349874e-03 1.17611396e-04 -9.99978322e-01 2.90486627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.97762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.09, Y:-171.89, Z:2.91 [[ 7.86863685e-01 6.17093378e-01 -6.42675118e-03 1.80911075e+01] [ 6.17071242e-01 -7.86889916e-01 -5.22894540e-03 -1.71891694e+02] [-8.28389328e-03 1.48703909e-04 -9.99965677e-01 2.90619441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.09, Y:-171.90, Z:2.91 [[ 7.36396452e-01 6.76497629e-01 -8.43938306e-03 1.80915101e+01] [ 6.76449862e-01 -7.36444779e-01 -8.04190442e-03 -1.71900364e+02] [-1.16554689e-02 2.13210374e-04 -9.99932050e-01 2.90820564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.03762800000004 meters Centerline goodness [0,1] 0.999867573055531 Centerline is valid? [True, True] Translation: X:18.09, Y:-171.91, Z:2.91 [[ 6.81462574e-01 7.31792196e-01 -9.43087431e-03 1.80944781e+01] [ 7.31716725e-01 -6.81527778e-01 -1.05129685e-02 -1.71909907e+02] [-1.41207111e-02 2.63466116e-04 -9.99900263e-01 2.91023127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.10, Y:-171.92, Z:2.91 [[ 6.22181648e-01 7.82828312e-01 -8.35643680e-03 1.80965313e+01] [ 7.82752062e-01 -6.22237709e-01 -1.09290118e-02 -1.71918705e+02] [-1.37552300e-02 2.58812462e-04 -9.99905359e-01 2.90918978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.09762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.10, Y:-171.93, Z:2.91 [[ 5.59402025e-01 8.28862665e-01 -7.48717225e-03 1.81028985e+01] [ 8.28781969e-01 -5.59452064e-01 -1.15687367e-02 -1.71928701e+02] [-1.37776079e-02 2.66341390e-04 -9.99905049e-01 2.90843213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.11, Y:-171.94, Z:2.91 [[ 4.92762161e-01 8.70140800e-01 -6.35932255e-03 1.81118356e+01] [ 8.70061466e-01 -4.92803127e-01 -1.17526010e-02 -1.71939636e+02] [-1.33603116e-02 2.58235545e-04 -9.99910714e-01 2.90757229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.15762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.12, Y:-171.95, Z:2.91 [[ 4.22852604e-01 9.06184677e-01 -5.00061502e-03 1.81196240e+01] [ 9.06114619e-01 -4.22882106e-01 -1.12703769e-02 -1.71950174e+02] [-1.23277135e-02 2.34577859e-04 -9.99923983e-01 2.90764915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.13, Y:-171.96, Z:2.91 [[ 3.48537818e-01 9.37287348e-01 -3.71714980e-03 1.81305257e+01] [ 9.37228145e-01 -3.48557589e-01 -1.05361671e-02 -1.71959101e+02] [-1.11710569e-02 1.88435277e-04 -9.99937584e-01 2.90736438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.21762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.14, Y:-171.97, Z:2.91 [[ 2.72479830e-01 9.62157200e-01 -2.87495961e-03 1.81403884e+01] [ 9.62096888e-01 -2.72494944e-01 -1.07742380e-02 -1.71966482e+02] [-1.11499226e-02 1.69772846e-04 -9.99937823e-01 2.90698223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.15, Y:-171.97, Z:2.91 [[ 1.94647757e-01 9.80871343e-01 -1.91305944e-03 1.81485453e+01] [ 9.80816485e-01 -1.94657105e-01 -1.03747052e-02 -1.71973857e+02] [-1.05486416e-02 1.43052862e-04 -9.99944351e-01 2.90746969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.27762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.16, Y:-171.98, Z:2.91 [[ 1.13705143e-01 9.93514107e-01 -9.27411239e-04 1.81615738e+01] [ 9.93474301e-01 -1.13708889e-01 -8.89390649e-03 -1.71980463e+02] [-8.94167646e-03 8.99236756e-05 -9.99960018e-01 2.90541560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.307628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.17, Y:-171.99, Z:2.90 [[ 3.36455313e-02 9.99433810e-01 -1.95932744e-04 1.81713198e+01] [ 9.99404170e-01 -3.36460425e-02 -7.69731211e-03 -1.71986359e+02] [-7.69954633e-03 6.31641545e-05 -9.99970356e-01 2.90497632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.33762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.18, Y:-171.99, Z:2.90 [[-4.69440982e-02 9.98897463e-01 3.32823125e-04 1.81811783e+01] [ 9.98877822e-01 4.69452623e-02 -6.26415258e-03 -1.71990539e+02] [-6.27287058e-03 3.83846440e-05 -9.99980325e-01 2.90425600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.19, Y:-171.99, Z:2.90 [[-1.27170048e-01 9.91880642e-01 7.55301325e-04 1.81906430e+01] [ 9.91864205e-01 1.27172289e-01 -5.71032932e-03 -1.71994183e+02] [-5.76001852e-03 2.29734909e-05 -9.99983411e-01 2.90359800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.397628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.20, Y:-172.00, Z:2.90 [[-2.08650748e-01 9.77989394e-01 1.26942906e-03 1.81997870e+01] [ 9.77971243e-01 2.08654609e-01 -5.95842098e-03 -1.71997572e+02] [-6.09214474e-03 -1.76387246e-06 -9.99981443e-01 2.90387919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.427628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.21, Y:-172.00, Z:2.90 [[-2.86879073e-01 9.57964778e-01 1.97030234e-03 1.82075784e+01] [ 9.57941731e-01 2.86885839e-01 -6.64497314e-03 -1.72000344e+02] [-6.93090205e-03 -1.88689053e-05 -9.99975981e-01 2.90474796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.22, Y:-172.00, Z:2.91 [[-3.64555263e-01 9.31174568e-01 3.65845157e-03 1.82157711e+01] [ 9.31125786e-01 3.64573613e-01 -9.53154460e-03 -1.72001406e+02] [-1.02093068e-02 -6.82961590e-05 -9.99947881e-01 2.90661156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.22, Y:-172.00, Z:2.91 [[-4.37906626e-01 8.99005389e-01 5.20553041e-03 1.82242424e+01] [ 8.98939071e-01 4.37937553e-01 -1.09199820e-02 -1.72002110e+02] [-1.20968199e-02 -1.02477792e-04 -9.99926826e-01 2.90801981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.23, Y:-172.00, Z:2.91 [[-5.08092210e-01 8.61275910e-01 6.79063380e-03 1.82324631e+01] [ 8.61195472e-01 5.08137569e-01 -1.17715886e-02 -1.72002532e+02] [-1.35891618e-02 -1.32989387e-04 -9.99907654e-01 2.90923363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.54762800000003 meters Centerline goodness [0,1] 0.9999116256462375 Centerline is valid? [True, True] Translation: X:18.24, Y:-172.00, Z:2.91 [[-5.73908007e-01 8.18869962e-01 9.03243474e-03 1.82393341e+01] [ 8.18764282e-01 5.73979060e-01 -1.31563566e-02 -1.72003269e+02] [-1.59577737e-02 -1.55103467e-04 -9.99872655e-01 2.91253697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.577628 meters Centerline goodness [0,1] 0.9998231418844232 Centerline is valid? [True, True] Translation: X:18.25, Y:-172.00, Z:2.91 [[-6.34909013e-01 7.72515938e-01 1.04723735e-02 1.82458565e+01] [ 7.72407420e-01 6.34995361e-01 -1.29487176e-02 -1.72003920e+02] [-1.66529993e-02 -1.32318504e-04 -9.99861320e-01 2.91329686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.60762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.25, Y:-172.01, Z:2.91 [[-6.89937520e-01 7.23795879e-01 1.02831833e-02 1.82493747e+01] [ 7.23714533e-01 6.90014147e-01 -1.08513077e-02 -1.72007763e+02] [-1.49496737e-02 -4.46351314e-05 -9.99888246e-01 2.90954752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.26, Y:-172.01, Z:2.91 [[-7.42518878e-01 6.69744270e-01 1.04081207e-02 1.82551388e+01] [ 6.69678489e-01 7.42591821e-01 -9.38660721e-03 -1.72008831e+02] [-1.40156117e-02 3.61495618e-07 -9.99901777e-01 2.90788802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.66762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.27, Y:-171.99, Z:2.91 [[-7.86608781e-01 6.17372906e-01 9.86508509e-03 1.82725121e+01] [ 6.17324828e-01 7.86670639e-01 -7.70472542e-03 -1.71989742e+02] [-1.25172615e-02 2.93572907e-05 -9.99921656e-01 2.90576334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.30, Y:-171.98, Z:2.90 [[-8.25951276e-01 5.63695292e-01 7.21858838e-03 1.82983765e+01] [ 5.63674380e-01 8.25982817e-01 -4.85585718e-03 -1.71976713e+02] [-8.69965380e-03 5.82318948e-05 -9.99962156e-01 2.90222570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.72762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.32, Y:-171.96, Z:2.90 [[-8.62572858e-01 5.05893189e-01 6.33615331e-03 1.83185963e+01] [ 5.05880109e-01 8.62596126e-01 -3.63847819e-03 -1.71957066e+02] [-7.30622263e-03 6.68813906e-05 -9.99973307e-01 2.90091456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.34, Y:-171.94, Z:2.90 [[-8.93990826e-01 4.48063353e-01 4.43117056e-03 1.83365373e+01] [ 4.48058241e-01 8.94001805e-01 -2.14153497e-03 -1.71936049e+02] [-4.92101781e-03 7.09098701e-05 -9.99987889e-01 2.89987724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.78762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.36, Y:-171.92, Z:2.90 [[-9.22537134e-01 3.85888717e-01 3.89026792e-03 1.83551873e+01] [ 3.85885610e-01 9.22545334e-01 -1.55022952e-03 -1.71915311e+02] [-4.18716460e-03 7.10541165e-05 -9.99991231e-01 2.89971211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.66, Y:-171.18, Z:1.96 [[-9.09616722e-01 -4.15430560e-01 3.85615225e-03 1.86573024e+01] [ 4.15426511e-01 -9.09624893e-01 -1.83527947e-03 -1.71183660e+02] [ 4.27008325e-03 -6.74530158e-05 9.99990881e-01 1.95943858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.84762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.32, Y:-171.90, Z:2.90 [[-9.21286777e-01 3.88841935e-01 5.71178611e-03 1.83160499e+01] [ 3.88835437e-01 9.21304471e-01 -2.25258023e-03 -1.71902775e+02] [-6.13819173e-03 1.45672464e-04 -9.99981151e-01 2.90145836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.33, Y:-171.88, Z:2.90 [[-9.45877442e-01 3.24458343e-01 6.53058088e-03 1.83294623e+01] [ 3.24451888e-01 9.45899970e-01 -2.05413568e-03 -1.71878384e+02] [-6.84375771e-03 1.75898696e-04 -9.99976566e-01 2.90247636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.90762800000005 meters Centerline goodness [0,1] 0.9999116627282967 Centerline is valid? [True, True] Translation: X:18.34, Y:-171.85, Z:2.90 [[-9.66016732e-01 2.58360654e-01 7.83878130e-03 1.83395118e+01] [ 2.58354003e-01 9.66048510e-01 -1.86700277e-03 -1.71851422e+02] [-8.05500305e-03 2.21624612e-04 -9.99967533e-01 2.90491764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.35, Y:-171.82, Z:2.90 [[-9.81672736e-01 1.90370093e-01 8.82420382e-03 1.83490106e+01] [ 1.90364747e-01 9.81712362e-01 -1.44964030e-03 -1.71821916e+02] [-8.93879813e-03 2.56744967e-04 -9.99960015e-01 2.90411842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.96762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.49, Y:-171.04, Z:1.96 [[-9.79690190e-01 -2.00318727e-01 8.91845785e-03 1.84860283e+01] [ 2.00308107e-01 -9.79730752e-01 -2.07775974e-03 -1.71044244e+02] [ 9.15390160e-03 -2.49121426e-04 9.99958071e-01 1.95508492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.997628 meters Centerline goodness [0,1] 0.9998677540224818 Centerline is valid? [True, True] Translation: X:18.29, Y:-171.81, Z:2.91 [[-9.82305726e-01 1.87051021e-01 9.34753938e-03 1.82884986e+01] [ 1.87045269e-01 9.82350160e-01 -1.49358836e-03 -1.71812756e+02] [-9.46193404e-03 2.81252616e-04 -9.99955195e-01 2.90561074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.02762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.29, Y:-171.78, Z:2.90 [[-9.93317308e-01 1.15138118e-01 7.99620012e-03 1.82949569e+01] [ 1.15136209e-01 9.93349467e-01 -7.00227444e-04 -1.71783446e+02] [-8.02364400e-03 2.25104130e-04 -9.99967785e-01 2.90179967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.057628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.37, Y:-171.00, Z:1.96 [[-9.91701451e-01 -1.28372734e-01 6.97668454e-03 1.83672944e+01] [ 1.28367694e-01 -9.91725956e-01 -1.16723296e-03 -1.71004249e+02] [ 7.06880003e-03 -2.61965716e-04 9.99974981e-01 1.95878936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.08762800000005 meters Centerline goodness [0,1] 0.9998682708351629 Centerline is valid? [True, True] Translation: X:18.22, Y:-171.77, Z:2.90 [[-9.94356266e-01 1.05900031e-01 6.38746858e-03 1.82240890e+01] [ 1.05898828e-01 9.94376770e-01 -5.27159407e-04 -1.71770386e+02] [-6.40737657e-03 1.52241178e-04 -9.99979461e-01 2.90243103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.29, Y:-171.00, Z:1.96 [[-9.91533316e-01 -1.29767857e-01 4.68905862e-03 1.82916011e+01] [ 1.29765324e-01 -9.91544377e-01 -8.41762777e-04 -1.71004540e+02] [ 4.75864346e-03 -2.26158628e-04 9.99988652e-01 1.95925334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.147628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.15, Y:-171.76, Z:2.90 [[-9.95189203e-01 9.78613734e-02 4.64773204e-03 1.81538653e+01] [ 9.78607616e-02 9.95200051e-01 -3.59421977e-04 -1.71761508e+02] [-4.66059669e-03 9.71377259e-05 -9.99989135e-01 2.90031567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.177628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.15, Y:-171.73, Z:2.90 [[-9.99788053e-01 2.03807272e-02 2.91133398e-03 1.81487853e+01] [ 2.03807663e-02 9.99792291e-01 -1.62576061e-05 -1.71726237e+02] [-2.91106061e-03 4.30810570e-05 -9.99995762e-01 2.89983232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.207628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.14, Y:-171.70, Z:2.90 [[-9.98517672e-01 -5.44036597e-02 1.64344542e-03 1.81430096e+01] [-5.44035532e-02 9.98519024e-01 1.09496881e-04 -1.71696098e+02] [-1.64696854e-03 1.99253004e-05 -9.99998644e-01 2.89886766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.23762800000003 meters Centerline goodness [0,1] 0.9998692326133862 Centerline is valid? [True, True] Translation: X:18.10, Y:-170.95, Z:1.96 [[-9.99989782e-01 4.34681905e-03 1.24122978e-03 1.80972599e+01] [-4.34687023e-03 -9.99990552e-01 -3.85358719e-05 -1.70952861e+02] [ 1.24105055e-03 -4.39309430e-05 9.99999229e-01 1.95928004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.04, Y:-171.70, Z:2.90 [[-9.97577921e-01 -6.95465325e-02 -1.25341204e-03 1.80415805e+01] [-6.95464809e-02 9.97578709e-01 -8.47587625e-05 -1.71695649e+02] [ 1.25627184e-03 2.61692627e-06 -9.99999211e-01 2.89692458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.29762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.03, Y:-171.67, Z:2.90 [[-9.89794237e-01 -1.42493304e-01 -1.73965112e-03 1.80309705e+01] [-1.42493094e-01 9.89795766e-01 -2.44782835e-04 -1.71666929e+02] [ 1.75677923e-03 5.60363066e-06 -9.99998457e-01 2.89695770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.01, Y:-171.64, Z:2.90 [[-9.76545180e-01 -2.15303474e-01 -1.98137020e-03 1.80107611e+01] [-2.15303053e-01 9.76547190e-01 -4.25630978e-04 -1.71640396e+02] [ 2.02654133e-03 1.09471754e-05 -9.99997947e-01 2.89779144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.35762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.98, Y:-171.62, Z:2.90 [[-9.58487611e-01 -2.85127540e-01 -1.94541644e-03 1.79810742e+01] [-2.85126976e-01 9.58489586e-01 -5.67270742e-04 -1.71619583e+02] [ 2.02640591e-03 1.09687293e-05 -9.99997947e-01 2.89779413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.387628 meters Centerline goodness [0,1] 0.9999126103294591 Centerline is valid? [True, True] Translation: X:17.93, Y:-171.61, Z:2.90 [[-9.34920658e-01 -3.54856504e-01 -4.73746656e-04 1.79304359e+01] [-3.54856461e-01 9.34920778e-01 -1.73717539e-04 -1.71608446e+02] [ 5.04560391e-04 5.69994639e-06 -9.99999873e-01 2.90034190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.41762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.87, Y:-171.61, Z:2.90 [[-9.06150901e-01 -4.22954405e-01 -3.40484361e-04 1.78682302e+01] [-4.22954378e-01 9.06150965e-01 -1.53147207e-04 -1.71605122e+02] [ 3.73304518e-04 5.23487138e-06 -9.99999930e-01 2.89892322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.80, Y:-171.61, Z:2.90 [[-8.72935977e-01 -4.87829811e-01 2.20353616e-03 1.77962417e+01] [-4.87828262e-01 8.72938758e-01 1.22909043e-03 -1.71612681e+02] [-2.52313907e-03 -2.02995655e-06 -9.99996817e-01 2.90256225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.47762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.72, Y:-171.63, Z:2.90 [[-8.34429693e-01 -5.51101219e-01 3.81233969e-03 1.77169137e+01] [-5.51095484e-01 8.34438402e-01 2.51415823e-03 -1.71630000e+02] [-4.56671830e-03 -3.07490710e-06 -9.99989573e-01 2.90418235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.507628 meters Centerline goodness [0,1] 0.9998461741308838 Centerline is valid? [True, True] Translation: X:17.63, Y:-171.66, Z:2.91 [[-7.91615078e-01 -6.10991222e-01 5.94100913e-03 1.76306490e+01] [-6.10973964e-01 7.91637371e-01 4.59223665e-03 -1.71659337e+02] [-7.50894113e-03 5.48187699e-06 -9.99971808e-01 2.90970268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.53762800000004 meters Centerline goodness [0,1] 0.9998245190725833 Centerline is valid? [True, True] Translation: X:17.55, Y:-171.70, Z:2.91 [[-7.44041397e-01 -6.68099001e-01 6.79157061e-03 1.75452609e+01] [-6.68070941e-01 7.44072392e-01 6.12308599e-03 -1.71696879e+02] [-9.14424782e-03 1.85784846e-05 -9.99958190e-01 2.91169001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.567628 meters Centerline goodness [0,1] 0.9998238583821393 Centerline is valid? [True, True] Translation: X:17.46, Y:-171.75, Z:2.91 [[-6.94213892e-01 -7.19735631e-01 6.90605815e-03 1.74631002e+01] [-7.19699111e-01 6.94248239e-01 7.25067767e-03 -1.71747259e+02] [-1.00130898e-02 6.32372592e-05 -9.99949866e-01 2.91463404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.59762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.38, Y:-171.81, Z:2.91 [[-6.39262312e-01 -7.68970071e-01 5.35961704e-03 1.73774724e+01] [-7.68942054e-01 6.39284775e-01 6.56456104e-03 -1.71808538e+02] [-8.47427254e-03 7.52415317e-05 -9.99964090e-01 2.91159268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.627628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.30, Y:-171.88, Z:2.91 [[-5.83010499e-01 -8.12450959e-01 4.71141894e-03 1.72999202e+01] [-8.12422765e-01 5.83029524e-01 6.76947266e-03 -1.71878286e+02] [-8.24676089e-03 1.19009633e-04 -9.99965988e-01 2.91001389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.65762800000005 meters Centerline goodness [0,1] 0.9999333525870304 Centerline is valid? [True, True] Translation: X:17.22, Y:-171.96, Z:2.91 [[-5.21038567e-01 -8.53524639e-01 3.80827042e-03 1.72197832e+01] [-8.53500031e-01 5.21052469e-01 6.48245022e-03 -1.71958828e+02] [-7.51723969e-03 1.27247660e-04 -9.99971737e-01 2.91022344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.15, Y:-172.04, Z:2.91 [[-4.55235703e-01 -8.90366026e-01 2.96560774e-03 1.71467407e+01] [-8.90345309e-01 4.55245346e-01 6.07509337e-03 -1.72043920e+02] [-6.75913586e-03 1.25184465e-04 -9.99977149e-01 2.90819540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.71762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.08, Y:-172.14, Z:2.91 [[-3.85294002e-01 -9.22791490e-01 2.09725483e-03 1.70758961e+01] [-9.22776287e-01 3.85299695e-01 5.29810071e-03 -1.72135724e+02] [-5.69711390e-03 1.06029400e-04 -9.99983766e-01 2.90688482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.747628 meters Centerline goodness [0,1] 0.9998665628822417 Centerline is valid? [True, True] Translation: X:17.01, Y:-172.24, Z:2.91 [[-3.11809375e-01 -9.50143383e-01 1.57038171e-03 1.70090749e+01] [-9.50129800e-01 3.11813316e-01 5.08120185e-03 -1.72235390e+02] [-5.31753624e-03 9.22999105e-05 -9.99985858e-01 2.90943722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.77762800000005 meters Centerline goodness [0,1] 0.9998666577771852 Centerline is valid? [True, True] Translation: X:16.95, Y:-172.34, Z:2.91 [[-2.35400414e-01 -9.71897881e-01 1.07463120e-03 1.69491705e+01] [-9.71886268e-01 2.35402855e-01 4.75162759e-03 -1.72342827e+02] [-4.87106804e-03 7.41157922e-05 -9.99988134e-01 2.90979772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.807628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.90, Y:-172.46, Z:2.91 [[-1.55002036e-01 -9.87913791e-01 8.42665110e-04 1.68959287e+01] [-9.87896990e-01 1.55004315e-01 5.76188050e-03 -1.72455711e+02] [-5.82285794e-03 6.06368828e-05 -9.99983045e-01 2.90901361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.83762800000005 meters Centerline goodness [0,1] 0.9999778412993862 Centerline is valid? [True, True] Translation: X:16.85, Y:-172.57, Z:2.91 [[-7.61545027e-02 -9.97095922e-01 4.61945624e-04 1.68540512e+01] [-9.97072854e-01 7.61558832e-02 6.78278547e-03 -1.72569711e+02] [-6.79826761e-03 5.59462128e-05 -9.99976890e-01 2.91069096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.867628 meters Centerline goodness [0,1] 0.9999115826702034 Centerline is valid? [True, True] Translation: X:16.82, Y:-172.69, Z:2.91 [[ 4.91835001e-03 -9.99987901e-01 -8.31578413e-05 1.68183897e+01] [-9.99946503e-01 -4.91890307e-03 9.09920760e-03 -1.72691494e+02] [-9.09950656e-03 3.84003048e-05 -9.99958598e-01 2.91366826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.897628 meters Centerline goodness [0,1] 0.9998673593456394 Centerline is valid? [True, True] Translation: X:16.79, Y:-172.81, Z:2.92 [[ 8.39794750e-02 -9.96467087e-01 -8.89911432e-04 1.67948118e+01] [-9.96414224e-01 -8.39841864e-02 1.02640899e-02 -1.72812973e+02] [-1.03025663e-02 2.47475263e-05 -9.99946927e-01 2.91655960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.927628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.78, Y:-172.93, Z:2.92 [[ 1.62277358e-01 -9.86743610e-01 -1.76253910e-03 1.67804118e+01] [-9.86686029e-01 -1.62286930e-01 1.06598190e-02 -1.72932881e+02] [-1.08045454e-02 9.22542611e-06 -9.99941629e-01 2.91530304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.957628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.78, Y:-173.06, Z:2.92 [[ 2.38093971e-01 -9.71238072e-01 -2.80518405e-03 1.67773424e+01] [-9.71171086e-01 -2.38110495e-01 1.14067681e-02 -1.73057374e+02] [-1.17466312e-02 8.43093491e-06 -9.99931006e-01 2.91630148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.78, Y:-173.18, Z:2.91 [[ 3.11878020e-01 -9.50116216e-01 -3.35800127e-03 1.67842532e+01] [-9.50061610e-01 -3.11896097e-01 1.01863533e-02 -1.73178786e+02] [-1.07255670e-02 1.34083803e-05 -9.99942479e-01 2.91449426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.80, Y:-173.29, Z:2.91 [[ 3.83777394e-01 -9.23417834e-01 -3.79684293e-03 1.67981923e+01] [-9.23373098e-01 -3.83796175e-01 9.08940021e-03 -1.73291775e+02] [-9.85052804e-03 1.75962987e-05 -9.99951482e-01 2.91307109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.04762800000003 meters Centerline goodness [0,1] 0.9999778570005093 Centerline is valid? [True, True] Translation: X:16.82, Y:-173.41, Z:2.91 [[ 4.53836438e-01 -8.91078422e-01 -3.42555769e-03 1.68249192e+01] [-8.91053275e-01 -4.53849365e-01 6.69431588e-03 -1.73408948e+02] [-7.51984761e-03 1.42299327e-05 -9.99971725e-01 2.91027319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.86, Y:-173.52, Z:2.91 [[ 5.21677509e-01 -8.53136924e-01 -3.15675488e-03 1.68560183e+01] [-8.53121401e-01 -5.21687060e-01 5.14663099e-03 -1.73519428e+02] [-6.03761911e-03 8.21351123e-06 -9.99981773e-01 2.90862976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.90, Y:-173.63, Z:2.91 [[ 5.87536976e-01 -8.09196015e-01 -1.45275596e-03 1.68976902e+01] [-8.09193541e-01 -5.87538772e-01 2.00093327e-03 -1.73630691e+02] [-2.47269768e-03 -6.15432100e-08 -9.99996943e-01 2.90595299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.94, Y:-173.73, Z:2.90 [[ 6.48912219e-01 -7.60862880e-01 -7.81223640e-04 1.69434779e+01] [-7.60862329e-01 -6.48912689e-01 9.15485438e-04 -1.73733326e+02] [-1.20350482e-03 3.33951124e-07 -9.99999276e-01 2.90454573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.16762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.00, Y:-173.83, Z:2.90 [[ 7.05940563e-01 -7.08271069e-01 1.19125473e-04 1.69954068e+01] [-7.08271058e-01 -7.05940574e-01 -1.25649024e-04 -1.73830062e+02] [ 1.73089074e-04 4.32761784e-06 -9.99999985e-01 2.90350469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.05, Y:-173.92, Z:2.90 [[ 7.57758478e-01 -6.52534292e-01 1.04228783e-03 1.70530154e+01] [-6.52533660e-01 -7.57759195e-01 -9.08456728e-04 -1.73921699e+02] [ 1.38260235e-03 8.26289558e-06 -9.99999044e-01 2.90249770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.22762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.05, Y:-173.93, Z:2.90 [[ 8.05612736e-01 -5.92441441e-01 1.12155783e-03 1.70486194e+01] [-5.92440856e-01 -8.05613517e-01 -8.32797826e-04 -1.73927328e+02] [ 1.39692609e-03 6.45585298e-06 -9.99999024e-01 2.90357630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.04, Y:-173.93, Z:2.90 [[ 8.48333368e-01 -5.29462185e-01 5.40272557e-04 1.70448536e+01] [-5.29462075e-01 -8.48333540e-01 -3.41465683e-04 -1.73931910e+02] [ 6.39124497e-04 3.62290431e-06 -9.99999796e-01 2.90415639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.28762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.04, Y:-173.94, Z:2.90 [[ 8.84661333e-01 -4.66234188e-01 -9.09538782e-05 1.70412413e+01] [-4.66234186e-01 -8.84661338e-01 4.31115593e-05 -1.73937873e+02] [-1.00563462e-04 4.26667783e-06 -9.99999995e-01 2.90476031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.04, Y:-173.95, Z:2.90 [[ 9.17288978e-01 -3.98222184e-01 1.51759829e-04 1.70374770e+01] [-3.98222178e-01 -9.17288990e-01 -6.84197630e-05 -1.73945165e+02] [ 1.66453888e-04 2.32656470e-06 -9.99999986e-01 2.90419470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.34762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.03, Y:-173.95, Z:2.90 [[ 9.43948347e-01 -3.30092082e-01 8.58178200e-04 1.70342567e+01] [-3.30091953e-01 -9.43948737e-01 -2.91248215e-04 -1.73951792e+02] [ 9.06214957e-04 -8.35444778e-06 -9.99999589e-01 2.90374949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.03, Y:-173.96, Z:2.90 [[ 9.66239080e-01 -2.57644838e-01 1.08511488e-03 1.70317903e+01] [-2.57644692e-01 -9.66239689e-01 -2.74963937e-04 -1.73960840e+02] [ 1.11932411e-03 -1.38931885e-05 -9.99999373e-01 2.90392497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.40762800000005 meters Centerline goodness [0,1] 0.9998226753851269 Centerline is valid? [True, True] Translation: X:17.03, Y:-173.97, Z:2.91 [[ 9.82820043e-01 -1.84566170e-01 -3.03659247e-04 1.70263397e+01] [-1.84566164e-01 -9.82820090e-01 4.73174308e-05 -1.73968577e+02] [-3.07175606e-04 9.54070312e-06 -9.99999953e-01 2.90785573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.437628 meters Centerline goodness [0,1] 0.9998451498728017 Centerline is valid? [True, True] Translation: X:17.02, Y:-173.98, Z:2.91 [[ 9.94188928e-01 -1.07647462e-01 -6.32459778e-04 1.70198113e+01] [-1.07647451e-01 -9.94189129e-01 5.22187055e-05 -1.73975505e+02] [-6.34405847e-04 1.61674238e-05 -9.99999799e-01 2.90812287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.46762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.02, Y:-173.99, Z:2.91 [[ 9.99580352e-01 -2.89669796e-02 -1.86226598e-04 1.70159679e+01] [-2.89669804e-02 -9.99580369e-01 -1.82986975e-06 -1.73985281e+02] [-1.86095446e-04 7.22352406e-06 -9.99999983e-01 2.90610937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.497628 meters Centerline goodness [0,1] 0.9998895271763146 Centerline is valid? [True, True] Translation: X:17.01, Y:-173.99, Z:2.91 [[ 9.98677658e-01 5.13627009e-02 -2.19299068e-03 1.70113383e+01] [ 5.13624859e-02 -9.98680065e-01 -1.54284297e-04 -1.73994993e+02] [-2.19802053e-03 4.14428279e-05 -9.99997584e-01 2.91003046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.52762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.01, Y:-174.01, Z:2.91 [[ 9.91279113e-01 1.31763434e-01 -2.02944474e-03 1.70087619e+01] [ 1.31763087e-01 -9.91281189e-01 -3.04109475e-04 -1.74006357e+02] [-2.05182090e-03 3.40514664e-05 -9.99997894e-01 2.90875594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.557628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.01, Y:-174.02, Z:2.91 [[ 9.77445728e-01 2.11176129e-01 -2.11925820e-03 1.70073808e+01] [ 2.11175564e-01 -9.77448025e-01 -4.89553319e-04 -1.74017048e+02] [-2.17484671e-03 3.09762551e-05 -9.99997635e-01 2.90908087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.58762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.01, Y:-174.03, Z:2.91 [[ 9.56553879e-01 2.91552228e-01 -1.40503596e-03 1.70072528e+01] [ 2.91551890e-01 -9.56554911e-01 -4.44161602e-04 -1.74029339e+02] [-1.47349035e-03 1.52236134e-05 -9.99998914e-01 2.90810511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.01, Y:-174.04, Z:2.91 [[ 9.29848866e-01 3.67940133e-01 -1.06983814e-03 1.70065603e+01] [ 3.67939878e-01 -9.29849481e-01 -4.33794841e-04 -1.74039652e+02] [-1.15439897e-03 9.72752593e-06 -9.99999334e-01 2.90719761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.647628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.01, Y:-174.05, Z:2.91 [[ 8.95980098e-01 4.44094191e-01 -1.18357972e-04 1.70082884e+01] [ 4.44094186e-01 -8.95980106e-01 -6.27087937e-05 -1.74051453e+02] [-1.33894999e-04 3.62374408e-06 -9.99999991e-01 2.90607209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.677628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.01, Y:-174.06, Z:2.91 [[ 8.57502303e-01 5.14480102e-01 -1.60077313e-04 1.70107676e+01] [ 5.14480092e-01 -8.57502318e-01 -9.98688535e-05 -1.74060870e+02] [-1.88647205e-04 3.28118093e-06 -9.99999982e-01 2.90625841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.707628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.01, Y:-174.07, Z:2.91 [[ 8.13769202e-01 5.81188041e-01 -3.82539099e-04 1.70125189e+01] [ 5.81187976e-01 -8.13769292e-01 -2.75868421e-04 -1.74068986e+02] [-4.71629999e-04 2.16610056e-06 -9.99999889e-01 2.90658708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.02, Y:-174.08, Z:2.91 [[ 7.65099049e-01 6.43912088e-01 -8.17270125e-04 1.70153645e+01] [ 6.43911722e-01 -7.65099486e-01 -6.86840044e-04 -1.74077539e+02] [-1.06755756e-03 -7.49148483e-07 -9.99999430e-01 2.90696995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.02, Y:-174.09, Z:2.91 [[ 7.12129422e-01 7.02045846e-01 -1.82086171e-03 1.70170815e+01] [ 7.02043578e-01 -7.12131750e-01 -1.78452453e-03 -1.74085675e+02] [-2.54951147e-03 -7.51184508e-06 -9.99996750e-01 2.90809297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.02, Y:-174.09, Z:2.91 [[ 6.55153394e-01 7.55492173e-01 -2.36808646e-03 1.70202334e+01] [ 7.55487299e-01 -6.55157673e-01 -2.71368765e-03 -1.74093056e+02] [-3.60163979e-03 -1.11775713e-05 -9.99993514e-01 2.90873607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.02, Y:-174.10, Z:2.91 [[ 5.94691858e-01 8.03946195e-01 -3.47987636e-03 1.70220047e+01] [ 8.03932582e-01 -5.94702039e-01 -4.67857518e-03 -1.74100018e+02] [-5.83081228e-03 -1.52754172e-05 -9.99983001e-01 2.91002309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.85762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.03, Y:-174.11, Z:2.91 [[ 5.30111793e-01 8.47920269e-01 -3.56428291e-03 1.70256993e+01] [ 8.47901310e-01 -5.30123775e-01 -5.67022944e-03 -1.74107258e+02] [-6.69741359e-03 -1.63046564e-05 -9.99977572e-01 2.91042582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.03, Y:-174.12, Z:2.91 [[ 4.62807087e-01 8.86452588e-01 -3.37792225e-03 1.70298633e+01] [ 8.86429165e-01 -4.62819414e-01 -6.44398737e-03 -1.74115347e+02] [-7.27565727e-03 -1.19657807e-05 -9.99973532e-01 2.91230741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.91762800000004 meters Centerline goodness [0,1] 0.9998448719085188 Centerline is valid? [True, True] Translation: X:17.04, Y:-174.12, Z:2.92 [[ 3.92343815e-01 9.19811582e-01 -3.60338021e-03 1.70358769e+01] [ 9.19773065e-01 -3.92360362e-01 -8.41753072e-03 -1.74123020e+02] [-9.15636581e-03 -1.17259479e-05 -9.99958080e-01 2.91502757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.04, Y:-174.13, Z:2.91 [[ 3.19729159e-01 9.47504671e-01 -2.85725415e-03 1.70432356e+01] [ 9.47466990e-01 -3.19741925e-01 -8.45008401e-03 -1.74130315e+02] [-8.92007801e-03 -5.41574148e-06 -9.99960215e-01 2.91245674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.97762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.05, Y:-174.14, Z:2.91 [[ 2.45128153e-01 9.69488360e-01 -2.12346994e-03 1.70495695e+01] [ 9.69451987e-01 -2.45137350e-01 -8.39792956e-03 -1.74136912e+02] [-8.66223675e-03 -3.31863301e-08 -9.99962482e-01 2.91202770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.06, Y:-174.14, Z:2.91 [[ 1.69668233e-01 9.85500150e-01 -1.46480763e-03 1.70569465e+01] [ 9.85462872e-01 -1.69674555e-01 -8.57166268e-03 -1.74143179e+02] [-8.69591544e-03 1.08253225e-05 -9.99962190e-01 2.91103566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.03762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.06, Y:-174.15, Z:2.91 [[ 9.63056066e-02 9.95351563e-01 -7.04372992e-04 1.70628086e+01] [ 9.95321507e-01 -9.63081724e-02 -7.73523550e-03 -1.74147998e+02] [-7.76711562e-03 4.38689595e-05 -9.99969835e-01 2.91014499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.07, Y:-174.15, Z:2.91 [[ 1.80453824e-02 9.99837164e-01 -9.63134325e-05 1.70712876e+01] [ 9.99806998e-01 -1.80455861e-02 -7.76677716e-03 -1.74153455e+02] [-7.76725048e-03 4.38596197e-05 -9.99969834e-01 2.91014615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.09762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.08, Y:-174.16, Z:2.91 [[-5.68240161e-02 9.98384109e-01 4.49640178e-04 1.70776508e+01] [ 9.98360998e-01 5.68257603e-02 -6.79347470e-03 -1.74158157e+02] [-6.80804833e-03 6.28707010e-05 -9.99976823e-01 2.90961299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.08, Y:-174.16, Z:2.91 [[-1.30394681e-01 9.91461788e-01 8.65715826e-04 1.70827636e+01] [ 9.91443954e-01 1.30397528e-01 -5.94734078e-03 -1.74163689e+02] [-6.00944833e-03 8.28071192e-05 -9.99981940e-01 2.90915970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.15762800000005 meters Centerline goodness [0,1] 0.9998669888492319 Centerline is valid? [True, True] Translation: X:17.09, Y:-174.17, Z:2.91 [[-1.98547947e-01 9.80090037e-01 1.49374579e-03 1.70853572e+01] [ 9.80067890e-01 1.98553505e-01 -6.59062797e-03 -1.74168610e+02] [-6.75599728e-03 1.55416635e-04 -9.99977166e-01 2.91157982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.187628 meters Centerline goodness [0,1] 0.9998228560040743 Centerline is valid? [True, True] Translation: X:17.10, Y:-174.17, Z:2.91 [[-2.68992178e-01 9.63140157e-01 2.06082459e-03 1.70962179e+01] [ 9.63117345e-01 2.68999997e-01 -6.63182467e-03 -1.74171981e+02] [-6.94173846e-03 2.00906948e-04 -9.99975886e-01 2.91139747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.21762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.11, Y:-174.18, Z:2.91 [[-3.42465885e-01 9.39527626e-01 2.22659293e-03 1.71074460e+01] [ 9.39511083e-01 3.42473075e-01 -5.57825464e-03 -1.74175207e+02] [-6.00347247e-03 1.81546821e-04 -9.99981963e-01 2.90847595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.12, Y:-174.17, Z:2.91 [[-4.14211107e-01 9.10176904e-01 2.67620680e-03 1.71233272e+01] [ 9.10160750e-01 4.14219709e-01 -5.42606741e-03 -1.74174036e+02] [-6.04721884e-03 1.88240999e-04 -9.99981698e-01 2.90837144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.27762800000005 meters Centerline goodness [0,1] 0.9998673622778318 Centerline is valid? [True, True] Translation: X:17.14, Y:-174.17, Z:2.91 [[-4.84262609e-01 8.74913560e-01 3.99847491e-03 1.71374494e+01] [ 8.74887759e-01 4.84279056e-01 -6.72350137e-03 -1.74173996e+02] [-7.81886017e-03 2.42276438e-04 -9.99969403e-01 2.91184450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.307628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.15, Y:-174.17, Z:2.91 [[-5.52468978e-01 8.33521713e-01 4.42532003e-03 1.71497095e+01] [ 8.33498194e-01 5.52486654e-01 -6.26551189e-03 -1.74173189e+02] [-7.66737046e-03 2.26995309e-04 -9.99970580e-01 2.90980516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.33762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.17, Y:-174.17, Z:2.91 [[-6.19054045e-01 7.85332607e-01 4.97850559e-03 1.71666286e+01] [ 7.85309777e-01 6.19074031e-01 -5.99155186e-03 -1.74165929e+02] [-7.78742457e-03 2.00574693e-04 -9.99969657e-01 2.90964793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.18, Y:-174.16, Z:2.91 [[-6.80033690e-01 7.33160989e-01 5.39852157e-03 1.71788004e+01] [ 7.33140016e-01 6.80055093e-01 -5.54857781e-03 -1.74161955e+02] [-7.73929289e-03 1.84652343e-04 -9.99970034e-01 2.90930781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.397628 meters Centerline goodness [0,1] 0.9998684787373959 Centerline is valid? [True, True] Translation: X:17.19, Y:-174.16, Z:2.91 [[-7.36532232e-01 6.76374286e-01 6.17223960e-03 1.71887335e+01] [ 6.76352583e-01 7.36558072e-01 -5.42129749e-03 -1.74158455e+02] [-8.21303911e-03 1.81649852e-04 -9.99966256e-01 2.91265693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.427628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.21, Y:-174.13, Z:2.91 [[-7.83750987e-01 6.21049083e-01 5.69445197e-03 1.72085349e+01] [ 6.21034020e-01 7.83771661e-01 -4.32781718e-03 -1.74132821e+02] [-7.15093696e-03 1.44517406e-04 -9.99974421e-01 2.90940883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.67, Y:-173.54, Z:1.95 [[-7.64174201e-01 -6.44992334e-01 4.76227060e-03 1.76675398e+01] [ 6.44978346e-01 -7.64189019e-01 -4.25154688e-03 -1.73541344e+02] [ 6.38149005e-03 -1.77361020e-04 9.99979622e-01 1.95073208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.18, Y:-174.10, Z:2.91 [[-7.88806684e-01 6.14621334e-01 4.96295733e-03 1.71782280e+01] [ 6.14609944e-01 7.88822291e-01 -3.74305594e-03 -1.74101856e+02] [-6.21545340e-03 9.77353779e-05 -9.99980679e-01 2.90944928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.20, Y:-174.08, Z:2.91 [[-8.31775622e-01 5.55089715e-01 4.97222351e-03 1.71972309e+01] [ 5.55080355e-01 8.31790480e-01 -3.22453934e-03 -1.74077803e+02] [-5.92575680e-03 7.78903731e-05 -9.99982440e-01 2.91003266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.21, Y:-174.05, Z:2.91 [[-8.69407578e-01 4.94064763e-01 5.52022878e-03 1.72117598e+01] [ 4.94055368e-01 8.69425100e-01 -3.04789368e-03 -1.74053386e+02] [-6.30528232e-03 7.74367996e-05 -9.99980119e-01 2.90978426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.22, Y:-174.03, Z:2.91 [[-9.02827066e-01 4.29950275e-01 6.78598949e-03 1.72231469e+01] [ 4.29938797e-01 9.02852565e-01 -3.14269285e-03 -1.74027802e+02] [-7.47794967e-03 8.02519864e-05 -9.99972037e-01 2.91017564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.60762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.54, Y:-173.37, Z:1.95 [[-8.81628477e-01 -4.71892405e-01 6.98477869e-03 1.75411206e+01] [ 4.71877093e-01 -8.81656143e-01 -3.80188220e-03 -1.73368497e+02] [ 7.95225238e-03 -5.58905519e-05 9.99968379e-01 1.94940104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.637628 meters Centerline goodness [0,1] 0.9998259355961706 Centerline is valid? [True, True] Translation: X:17.18, Y:-174.01, Z:2.91 [[-9.04331536e-01 4.26764494e-01 7.51923363e-03 1.71847498e+01] [ 4.26750561e-01 9.04362791e-01 -3.44971973e-03 -1.74011912e+02] [-8.27233302e-03 8.91468225e-05 -9.99965780e-01 2.91455587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.66762800000004 meters Centerline goodness [0,1] 0.9998910770303242 Centerline is valid? [True, True] Translation: X:17.50, Y:-173.35, Z:1.95 [[-8.82880745e-01 -4.69524771e-01 8.25110049e-03 1.74970291e+01] [ 4.69503926e-01 -8.82919299e-01 -4.42434578e-03 -1.73346596e+02] [ 9.36239580e-03 -3.22456226e-05 9.99956171e-01 1.94566561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.14, Y:-174.00, Z:2.91 [[-9.06926028e-01 4.21211720e-01 8.11578938e-03 1.71442740e+01] [ 4.21195580e-01 9.06962337e-01 -3.68805714e-03 -1.73996464e+02] [-8.91416820e-03 7.35396006e-05 -9.99960265e-01 2.91209068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.72762800000004 meters Centerline goodness [0,1] 0.9998908654370839 Centerline is valid? [True, True] Translation: X:17.16, Y:-173.97, Z:2.91 [[-9.34413660e-01 3.56101811e-01 7.91273295e-03 1.71560598e+01] [ 3.56089693e-01 9.34447160e-01 -2.93872458e-03 -1.73971509e+02] [-8.44051598e-03 7.16582515e-05 -9.99964376e-01 2.91294184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.757628 meters Centerline goodness [0,1] 0.9999781711815939 Centerline is valid? [True, True] Translation: X:17.16, Y:-173.95, Z:2.91 [[-9.57522096e-01 2.88252977e-01 7.85221129e-03 1.71649866e+01] [ 2.88243830e-01 9.57554289e-01 -2.29724995e-03 -1.73947874e+02] [-8.18110774e-03 6.36838744e-05 -9.99966532e-01 2.91176563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.78762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.38, Y:-173.23, Z:1.95 [[-9.40666518e-01 -3.39229663e-01 8.35087891e-03 1.73806088e+01] [ 3.39216070e-01 -9.40703585e-01 -3.03685534e-03 -1.73233696e+02] [ 8.88589314e-03 -2.39158172e-05 9.99960519e-01 1.95028052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.12, Y:-173.94, Z:2.91 [[-9.59102587e-01 2.82914574e-01 9.03171577e-03 1.71169287e+01] [ 2.82902583e-01 9.59145109e-01 -2.60527475e-03 -1.73939489e+02] [-9.39979621e-03 5.63699735e-05 -9.99955819e-01 2.91019093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.84762800000004 meters Centerline goodness [0,1] 0.9998241603657464 Centerline is valid? [True, True] Translation: X:17.12, Y:-173.92, Z:2.91 [[-9.76858072e-01 2.13636172e-01 1.03871660e-02 1.71246324e+01] [ 2.13624718e-01 9.76913293e-01 -2.21290939e-03 -1.73916585e+02] [-1.06201180e-02 5.72569980e-05 -9.99943603e-01 2.91372794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.29, Y:-173.17, Z:1.95 [[-9.62924087e-01 -2.69612126e-01 9.30080164e-03 1.72874613e+01] [ 2.69598425e-01 -9.62968997e-01 -2.72030776e-03 -1.73172510e+02] [ 9.68981158e-03 -1.11968392e-04 9.99953046e-01 1.94953338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.90762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.07, Y:-173.91, Z:2.91 [[-9.77854282e-01 2.09087004e-01 9.14482978e-03 1.70725235e+01] [ 2.09078294e-01 9.77897041e-01 -1.90899051e-03 -1.73910527e+02] [-9.34184709e-03 4.52708635e-05 -9.99956363e-01 2.90977625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.24, Y:-173.16, Z:1.95 [[-9.64191084e-01 -2.65087438e-01 8.01276430e-03 1.72386946e+01] [ 2.65077389e-01 -9.64224372e-01 -2.31046019e-03 -1.73155600e+02] [ 8.33857660e-03 -1.03722476e-04 9.99965228e-01 1.95155894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.96762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.02, Y:-173.91, Z:2.91 [[-9.78605756e-01 2.05629160e-01 6.88638370e-03 1.70225776e+01] [ 2.05624345e-01 9.78629985e-01 -1.40767623e-03 -1.73905559e+02] [-7.02868085e-03 3.84480763e-05 -9.99975298e-01 2.90791029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.18, Y:-173.14, Z:1.95 [[-9.65097506e-01 -2.61828281e-01 5.72322372e-03 1.71813525e+01] [ 2.61823053e-01 -9.65114470e-01 -1.65769996e-03 -1.73144747e+02] [ 5.95759876e-03 -1.01370189e-04 9.99982248e-01 1.95335984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.02762800000005 meters Centerline goodness [0,1] 0.9998231887901693 Centerline is valid? [True, True] Translation: X:16.97, Y:-173.89, Z:2.91 [[-9.79243708e-01 2.02567089e-01 6.95232953e-03 1.69711319e+01] [ 2.02562316e-01 9.79268386e-01 -1.39131007e-03 -1.73894799e+02] [-7.09003015e-03 4.58483467e-05 -9.99974864e-01 2.91007375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.057628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.13, Y:-173.14, Z:1.95 [[-9.66717086e-01 -2.55780069e-01 5.88494340e-03 1.71274513e+01] [ 2.55774692e-01 -9.66734993e-01 -1.66164700e-03 -1.73135201e+02] [ 6.11419690e-03 -1.01122958e-04 9.99981303e-01 1.95306933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.08762800000005 meters Centerline goodness [0,1] 0.9998234891776802 Centerline is valid? [True, True] Translation: X:16.92, Y:-173.88, Z:2.91 [[-9.79246905e-01 2.02558150e-01 6.75978824e-03 1.69151744e+01] [ 2.02553838e-01 9.79270234e-01 -1.32362235e-03 -1.73883790e+02] [-6.88776990e-03 7.30679607e-05 -9.99976276e-01 2.91067582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.08, Y:-173.13, Z:1.95 [[-9.68750497e-01 -2.47954582e-01 6.40314661e-03 1.70793962e+01] [ 2.47948574e-01 -9.68771654e-01 -1.72831671e-03 -1.73125984e+02] [ 6.63173098e-03 -8.66565976e-05 9.99978006e-01 1.95270093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.147628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.87, Y:-173.88, Z:2.91 [[-9.79474163e-01 2.01436748e-01 7.32128652e-03 1.68723789e+01] [ 2.01431891e-01 9.79501519e-01 -1.40245102e-03 -1.73876725e+02] [-7.45371645e-03 1.01076054e-04 -9.99972216e-01 2.90720526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.177628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.88, Y:-173.85, Z:2.91 [[-9.91096087e-01 1.32928435e-01 7.65363647e-03 1.68792287e+01] [ 1.32925376e-01 9.91125632e-01 -9.09164205e-04 -1.73850300e+02] [-7.70656906e-03 1.16293423e-04 -9.99970297e-01 2.90832817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.207628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.88, Y:-173.82, Z:2.91 [[-9.97937750e-01 6.36174216e-02 8.54816277e-03 1.68799316e+01] [ 6.36162990e-02 9.97974350e-01 -4.03447853e-04 -1.73822793e+02] [-8.55651350e-03 1.41186636e-04 -9.99963382e-01 2.90922571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.92, Y:-173.05, Z:1.95 [[-9.95145548e-01 -9.78623888e-02 1.04062850e-02 1.69222650e+01] [ 9.78565257e-02 -9.95199955e-01 -1.07233557e-03 -1.73045579e+02] [ 1.04612757e-02 -4.88070716e-05 9.99945278e-01 1.94950707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.80, Y:-173.82, Z:2.91 [[-9.98123038e-01 6.01562622e-02 1.14727612e-02 1.67963697e+01] [ 6.01547448e-02 9.98188949e-01 -4.77605519e-04 -1.73816267e+02] [-1.14807144e-02 2.13431951e-04 -9.99934072e-01 2.91055944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.29762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.84, Y:-173.04, Z:1.95 [[-9.95760240e-01 -9.11856068e-02 1.21131597e-02 1.68358545e+01] [ 9.11766595e-02 -9.95833898e-01 -1.28998851e-03 -1.73043398e+02] [ 1.21803234e-02 -1.80081834e-04 9.99925801e-01 1.94769888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.71, Y:-173.81, Z:2.91 [[-9.98485603e-01 5.37126773e-02 1.18932035e-02 1.67136641e+01] [ 5.37113561e-02 9.98556410e-01 -4.30705637e-04 -1.73811920e+02] [-1.18991689e-02 2.08746707e-04 -9.99929181e-01 2.91308722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.35762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.71, Y:-173.78, Z:2.91 [[-9.99705554e-01 -2.12316401e-02 1.17482749e-02 1.67114933e+01] [-2.12282745e-02 9.99774570e-01 4.11115997e-04 -1.73780138e+02] [-1.17543551e-02 1.61599342e-04 -9.99930902e-01 2.91202558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.70, Y:-173.75, Z:2.91 [[-9.95194804e-01 -9.72579989e-02 1.13218115e-02 1.67037031e+01] [-9.72505556e-02 9.95259198e-01 1.20743567e-03 -1.73750636e+02] [-1.13855698e-02 1.00581246e-04 -9.99935177e-01 2.91033677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.41762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.63, Y:-173.00, Z:1.95 [[-9.98955105e-01 4.44781856e-02 1.05066430e-02 1.66255163e+01] [-4.44773436e-02 -9.99010344e-01 3.13897806e-04 -1.72996223e+02] [ 1.05102066e-02 -1.53737755e-04 9.99944754e-01 1.95084234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.447628 meters Centerline goodness [0,1] 0.9998247036395906 Centerline is valid? [True, True] Translation: X:16.59, Y:-173.76, Z:2.91 [[-9.94089562e-01 -1.08098389e-01 1.00339739e-02 1.65939394e+01] [-1.08092414e-01 9.94140200e-01 1.13745901e-03 -1.73758131e+02] [-1.00981343e-02 4.61396690e-05 -9.99949012e-01 2.91125025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.47762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.58, Y:-173.73, Z:2.91 [[-9.83116825e-01 -1.82870380e-01 6.30344880e-03 1.65816990e+01] [-1.82866592e-01 9.83137032e-01 1.17693629e-03 -1.73731657e+02] [-6.41238073e-03 4.37566116e-06 -9.99979440e-01 2.90650129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.56, Y:-173.71, Z:2.91 [[-9.67017084e-01 -2.54658304e-01 5.20650440e-03 1.65581402e+01] [-2.54654636e-01 9.67031100e-01 1.36675235e-03 -1.73709199e+02] [-5.38290651e-03 -4.18760964e-06 -9.99985512e-01 2.90504645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.53762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.51, Y:-173.70, Z:2.90 [[-9.45390254e-01 -3.25908171e-01 4.59691858e-03 1.65100065e+01] [-3.25904374e-01 9.45401430e-01 1.57325520e-03 -1.73695068e+02] [-4.85867012e-03 -1.08157410e-05 -9.99988197e-01 2.90452056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.45, Y:-173.69, Z:2.91 [[-9.17507586e-01 -3.97695004e-01 4.30271498e-03 1.64488570e+01] [-3.97690763e-01 9.17517675e-01 1.83672502e-03 -1.73690065e+02] [-4.67827341e-03 -2.59408692e-05 -9.99989057e-01 2.90514095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.59762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.38, Y:-173.69, Z:2.91 [[-8.84925227e-01 -4.65708435e-01 4.79556260e-03 1.63802810e+01] [-4.65701816e-01 8.84938220e-01 2.48307160e-03 -1.73693907e+02] [-5.40016402e-03 -3.59695174e-05 -9.99985418e-01 2.90510196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.627628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.30, Y:-173.71, Z:2.91 [[-8.47546943e-01 -5.30680386e-01 6.51981503e-03 1.63030491e+01] [-5.30665167e-01 8.47572018e-01 4.01929001e-03 -1.73710173e+02] [-7.65897116e-03 -5.33017760e-05 -9.99970668e-01 2.90627317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.65762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.22, Y:-173.73, Z:2.91 [[-8.05042136e-01 -5.93184867e-01 6.23477862e-03 1.62187743e+01] [-5.93167626e-01 8.05066277e-01 4.52301076e-03 -1.73732975e+02] [-7.70239155e-03 -5.70545906e-05 -9.99970335e-01 2.90669191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.13, Y:-173.77, Z:2.91 [[-7.57647976e-01 -6.52636172e-01 5.96415462e-03 1.61295907e+01] [-6.52616590e-01 7.57671448e-01 5.05600713e-03 -1.73766833e+02] [-7.81860281e-03 -6.16326768e-05 -9.99969432e-01 2.90669488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.71762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.04, Y:-173.81, Z:2.91 [[-7.06014033e-01 -7.08169241e-01 6.36484070e-03 1.60415719e+01] [-7.08141354e-01 7.06042719e-01 6.28500826e-03 -1.73806172e+02] [-8.94469896e-03 -6.99028798e-05 -9.99959993e-01 2.90789831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.95, Y:-173.86, Z:2.91 [[-6.50504508e-01 -7.59479861e-01 5.85026424e-03 1.59524035e+01] [-7.59450036e-01 6.50530811e-01 6.73095901e-03 -1.73858185e+02] [-8.91780496e-03 -6.44642056e-05 -9.99960234e-01 2.90819936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.77762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.87, Y:-173.92, Z:2.91 [[-5.92240594e-01 -8.05747287e-01 4.73170164e-03 1.58667637e+01] [-8.05722125e-01 5.92259494e-01 6.36778588e-03 -1.73916338e+02] [-7.93322141e-03 -4.11754076e-05 -9.99968531e-01 2.90845789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.807628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.78, Y:-173.99, Z:2.91 [[-5.29694328e-01 -8.48180157e-01 3.78690965e-03 1.57829393e+01] [-8.48158877e-01 5.29707863e-01 6.00820973e-03 -1.73990244e+02] [-7.10200010e-03 -2.93864244e-05 -9.99974780e-01 2.90777695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.83762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.71, Y:-174.07, Z:2.91 [[-4.66121038e-01 -8.84718163e-01 2.22480529e-03 1.57102117e+01] [-8.84708109e-01 4.66126347e-01 4.21777382e-03 -1.74068792e+02] [-4.76858147e-03 -2.31016796e-06 -9.99988630e-01 2.90505355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.867628 meters Centerline goodness [0,1] 0.999933796756041 Centerline is valid? [True, True] Translation: X:15.64, Y:-174.16, Z:2.91 [[-4.01213361e-01 -9.15983129e-01 1.65752735e-03 1.56423502e+01] [-9.15975116e-01 4.01216784e-01 3.83131311e-03 -1.74158631e+02] [-4.17444597e-03 1.89201994e-05 -9.99991287e-01 2.90661773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.897628 meters Centerline goodness [0,1] 0.999933796756041 Centerline is valid? [True, True] Translation: X:15.58, Y:-174.25, Z:2.91 [[-3.29493046e-01 -9.44157026e-01 1.35765280e-03 1.55752424e+01] [-9.44148773e-01 3.29495843e-01 3.94770422e-03 -1.74254738e+02] [-4.17459363e-03 1.89148608e-05 -9.99991286e-01 2.90662498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.927628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.52, Y:-174.36, Z:2.91 [[-2.59616896e-01 -9.65710868e-01 1.25945849e-03 1.55200493e+01] [-9.65698701e-01 2.59619948e-01 4.84793018e-03 -1.74355777e+02] [-5.00867941e-03 4.23471580e-05 -9.99987456e-01 2.90699872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.957628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.47, Y:-174.46, Z:2.91 [[-1.84304147e-01 -9.82868864e-01 8.81544866e-04 1.54677113e+01] [-9.82856497e-01 1.84306250e-01 4.93082333e-03 -1.74464343e+02] [-5.00882696e-03 4.23390899e-05 -9.99987455e-01 2.90700611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.42, Y:-174.58, Z:2.91 [[-1.09646240e-01 -9.93970502e-01 5.85718455e-04 1.54248744e+01] [-9.93953247e-01 1.09647788e-01 5.85701908e-03 -1.74580065e+02] [-5.88592693e-03 6.00233596e-05 -9.99982676e-01 2.90860728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.39, Y:-174.70, Z:2.91 [[-3.29925906e-02 -9.99455586e-01 1.46097906e-04 1.53884274e+01] [-9.99434141e-01 3.29928398e-02 6.54747338e-03 -1.74695939e+02] [-6.54872902e-03 7.00028726e-05 -9.99978554e-01 2.90973097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.36, Y:-174.81, Z:2.91 [[ 4.42821672e-02 -9.99018965e-01 -4.43643772e-04 1.53623382e+01] [-9.98986409e-01 -4.42843060e-02 8.06567948e-03 -1.74812644e+02] [-8.07741323e-03 8.60283305e-05 -9.99967373e-01 2.91171622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.34, Y:-174.93, Z:2.91 [[ 1.21598970e-01 -9.92578725e-01 -1.07940424e-03 1.53447753e+01] [-9.92545612e-01 -1.21603731e-01 8.10803897e-03 -1.74934871e+02] [-8.17912657e-03 8.54287495e-05 -9.99966547e-01 2.91022289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.34, Y:-175.06, Z:2.91 [[ 1.99187070e-01 -9.79959921e-01 -1.75059244e-03 1.53364538e+01] [-9.79925383e-01 -1.99194748e-01 8.22772847e-03 -1.75057082e+02] [-8.41155296e-03 7.65928414e-05 -9.99964619e-01 2.90973121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.137628 meters Centerline goodness [0,1] 0.9998678268531777 Centerline is valid? [True, True] Translation: X:15.34, Y:-175.18, Z:2.91 [[ 2.75006554e-01 -9.61438734e-01 -2.63746148e-03 1.53369488e+01] [-9.61397161e-01 -2.75019190e-01 8.94114385e-03 -1.75177860e+02] [-9.32171455e-03 7.67748194e-05 -9.99956549e-01 2.91191385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.16762800000004 meters Centerline goodness [0,1] 0.9998680361580927 Centerline is valid? [True, True] Translation: X:15.35, Y:-175.30, Z:2.91 [[ 3.49712370e-01 -9.36851259e-01 -3.31300616e-03 1.53479404e+01] [-9.36810929e-01 -3.49728057e-01 8.69310437e-03 -1.75302560e+02] [-9.30279698e-03 6.35742455e-05 -9.99956726e-01 2.91151137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.37, Y:-175.42, Z:2.91 [[ 4.22904174e-01 -9.06168102e-01 -3.38094400e-03 1.53673916e+01] [-9.06139845e-01 -4.22917687e-01 7.15620380e-03 -1.75424840e+02] [-7.91458463e-03 3.72196089e-05 -9.99968679e-01 2.90870178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.22762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.39, Y:-175.53, Z:2.91 [[ 4.93121385e-01 -8.69954686e-01 -3.18503086e-03 1.53893724e+01] [-8.69936779e-01 -4.93131670e-01 5.58183548e-03 -1.75534483e+02] [-6.42658352e-03 1.82530451e-05 -9.99979349e-01 2.90851469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.42, Y:-175.64, Z:2.91 [[ 5.58874570e-01 -8.29245305e-01 -3.38219740e-03 1.54247921e+01] [-8.29230281e-01 -5.58884803e-01 4.99174338e-03 -1.75644605e+02] [-6.02963849e-03 1.48620668e-05 -9.99981821e-01 2.90784526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.28762800000004 meters Centerline goodness [0,1] 0.9998681289698674 Centerline is valid? [True, True] Translation: X:15.47, Y:-175.75, Z:2.91 [[ 6.19713944e-01 -7.84817548e-01 -4.00542117e-03 1.54736290e+01] [-7.84801418e-01 -6.19726887e-01 5.03180564e-03 -1.75754580e+02] [-6.43131656e-03 2.51800993e-05 -9.99979319e-01 2.91094746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.52, Y:-175.85, Z:2.91 [[ 6.77782588e-01 -7.35251516e-01 -3.99647453e-03 1.55183125e+01] [-7.35238956e-01 -6.77794369e-01 4.29769039e-03 -1.75847957e+02] [-5.86867131e-03 2.54640478e-05 -9.99982779e-01 2.90792840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.34762800000004 meters Centerline goodness [0,1] 0.9998901074748896 Centerline is valid? [True, True] Translation: X:15.57, Y:-175.94, Z:2.91 [[ 7.30938536e-01 -6.82425085e-01 -4.98599802e-03 1.55746105e+01] [-6.82409568e-01 -7.30955540e-01 4.60212914e-03 -1.75941768e+02] [-6.78515125e-03 3.86192179e-05 -9.99976980e-01 2.91111978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.57, Y:-175.94, Z:2.91 [[ 7.82222979e-01 -6.22981709e-01 -4.58260691e-03 1.55727296e+01] [-6.22971260e-01 -7.82236402e-01 3.60840013e-03 -1.75944205e+02] [-5.83264923e-03 3.22589006e-05 -9.99982989e-01 2.90807659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.40762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.57, Y:-175.95, Z:2.91 [[ 8.28562236e-01 -5.59881381e-01 -4.17868421e-03 1.55712764e+01] [-5.59874431e-01 -8.28572772e-01 2.78981248e-03 -1.75946825e+02] [-5.02430802e-03 2.80051724e-05 -9.99987378e-01 2.90763527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.57, Y:-175.95, Z:2.91 [[ 8.69929780e-01 -4.93160563e-01 -3.85182493e-03 1.55702909e+01] [-4.93155851e-01 -8.69938307e-01 2.15608636e-03 -1.75946537e+02] [-4.41414682e-03 2.39062676e-05 -9.99990257e-01 2.90688970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.46762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.57, Y:-175.95, Z:2.91 [[ 9.06130940e-01 -4.22978785e-01 -3.95819000e-03 1.55696464e+01] [-4.22974848e-01 -9.06139585e-01 1.82507946e-03 -1.75948015e+02] [-4.35864253e-03 2.04538467e-05 -9.99990501e-01 2.90707123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.57, Y:-175.96, Z:2.91 [[ 9.37581924e-01 -3.47726038e-01 -5.17088868e-03 1.55655908e+01] [-3.47720789e-01 -9.37596183e-01 1.91070206e-03 -1.75957611e+02] [-5.51260635e-03 6.58577721e-06 -9.99984805e-01 2.90797978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.52762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.56, Y:-175.97, Z:2.91 [[ 9.62488154e-01 -2.71258640e-01 -5.94165304e-03 1.55633857e+01] [-2.71253430e-01 -9.62506493e-01 1.68134380e-03 -1.75967818e+02] [-6.17495867e-03 -6.57972707e-06 -9.99980935e-01 2.90982233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.557628 meters Centerline goodness [0,1] 0.9999338653498523 Centerline is valid? [True, True] Translation: X:15.56, Y:-175.98, Z:2.91 [[ 9.81103946e-01 -1.93348435e-01 -7.17139242e-03 1.55612777e+01] [-1.93343105e-01 -9.81130156e-01 1.43579081e-03 -1.75976826e+02] [-7.31367726e-03 -2.21207503e-05 -9.99973254e-01 2.91431522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.58762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.56, Y:-175.99, Z:2.91 [[ 9.93562183e-01 -1.13011101e-01 -7.91699214e-03 1.55573257e+01] [-1.13007126e-01 -9.93593724e-01 9.49040342e-04 -1.75987244e+02] [-7.97352580e-03 -4.82540664e-05 -9.99968210e-01 2.91250063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.617628 meters Centerline goodness [0,1] 0.9998678705131029 Centerline is valid? [True, True] Translation: X:15.55, Y:-175.99, Z:2.92 [[ 9.99352229e-01 -3.50223588e-02 -8.27991977e-03 1.55537218e+01] [-3.50207513e-02 -9.99386528e-01 3.39093191e-04 -1.75994474e+02] [-8.28671611e-03 -4.89045252e-05 -9.99965663e-01 2.91510641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.647628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.55, Y:-176.00, Z:2.91 [[ 9.99028643e-01 4.34413678e-02 -7.39043943e-03 1.55514652e+01] [ 4.34405062e-02 -9.99055977e-01 -2.77152031e-04 -1.76001134e+02] [-7.39550255e-03 -4.41616122e-05 -9.99972652e-01 2.91194802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.677628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.55, Y:-176.01, Z:2.91 [[ 9.92979156e-01 1.18065552e-01 -7.27473593e-03 1.55496423e+01] [ 1.18062520e-01 -9.93005803e-01 -8.46392236e-04 -1.76005986e+02] [-7.32378476e-03 -1.84238072e-05 -9.99973181e-01 2.91102672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.707628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.55, Y:-176.01, Z:2.91 [[ 9.81199951e-01 1.92861619e-01 -7.14509106e-03 1.55475234e+01] [ 1.92856499e-01 -9.81225966e-01 -1.40532276e-03 -1.76012891e+02] [-7.28198170e-03 9.25377468e-07 -9.99973486e-01 2.91094879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.54, Y:-176.02, Z:2.91 [[ 9.64332857e-01 2.64618312e-01 -6.26809227e-03 1.55440018e+01] [ 2.64612513e-01 -9.64353228e-01 -1.75211837e-03 -1.76017722e+02] [-6.50829762e-03 3.10096629e-05 -9.99978820e-01 2.91104142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.54, Y:-176.03, Z:2.91 [[ 9.41142361e-01 3.37961858e-01 -5.73046186e-03 1.55428566e+01] [ 3.37955347e-01 -9.41159806e-01 -2.09811775e-03 -1.76025040e+02] [-6.10236415e-03 3.79872697e-05 -9.99981380e-01 2.91057746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.54, Y:-176.03, Z:2.91 [[ 9.12045862e-01 4.10057696e-01 -5.00312063e-03 1.55425984e+01] [ 4.10051299e-01 -9.12059584e-01 -2.29090002e-03 -1.76034228e+02] [-5.50254531e-03 3.78697726e-05 -9.99984860e-01 2.91021297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.54, Y:-176.04, Z:2.91 [[ 8.77084722e-01 4.80316145e-01 -4.33486488e-03 1.55420517e+01] [ 4.80310086e-01 -8.77095434e-01 -2.41265757e-03 -1.76043985e+02] [-4.96092858e-03 3.40257660e-05 -9.99987694e-01 2.91050109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.85762800000003 meters Centerline goodness [0,1] 0.9999120086231549 Centerline is valid? [True, True] Translation: X:15.55, Y:-176.06, Z:2.91 [[ 8.35913307e-01 5.48850317e-01 -3.50321562e-03 1.55462748e+01] [ 5.48845384e-01 -8.35920648e-01 -2.32721772e-03 -1.76057884e+02] [-4.20570445e-03 2.26285401e-05 -9.99991156e-01 2.91223553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.55, Y:-176.07, Z:2.91 [[ 7.88873490e-01 6.14550937e-01 -2.40034547e-03 1.55499623e+01] [ 6.14548054e-01 -7.88877142e-01 -1.88262374e-03 -1.76068976e+02] [-3.05054586e-03 1.00243229e-05 -9.99995347e-01 2.90949747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.91762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.55, Y:-176.08, Z:2.91 [[ 7.36899149e-01 6.76000270e-01 -1.81093348e-03 1.55530881e+01] [ 6.75998217e-01 -7.36901374e-01 -1.66613124e-03 -1.76079454e+02] [-2.46078453e-03 3.58289180e-06 -9.99996972e-01 2.90892934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.56, Y:-176.09, Z:2.91 [[ 6.78975579e-01 7.34160072e-01 -1.07290399e-03 1.55605199e+01] [ 7.34159161e-01 -6.78976427e-01 -1.15667299e-03 -1.76091045e+02] [-1.57765964e-03 -2.32958514e-06 -9.99998756e-01 2.90891624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.97762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.57, Y:-176.10, Z:2.91 [[ 6.18341071e-01 7.85909322e-01 -9.25708555e-04 1.55660532e+01] [ 7.85908451e-01 -6.18341764e-01 -1.17002547e-03 -1.76099884e+02] [-1.49193819e-03 -4.04737238e-06 -9.99998887e-01 2.90886263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.57, Y:-176.11, Z:2.91 [[ 5.53422164e-01 8.32899447e-01 -1.55536636e-03 1.55711181e+01] [ 8.32896236e-01 -5.53424349e-01 -2.31277108e-03 -1.76107794e+02] [-2.78708336e-03 -1.55200101e-05 -9.99996116e-01 2.91041428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.03762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.58, Y:-176.11, Z:2.91 [[ 4.86535392e-01 8.73658690e-01 -1.95086228e-03 1.55764295e+01] [ 8.73651858e-01 -4.86539302e-01 -3.45529690e-03 -1.76114011e+02] [-3.96792134e-03 -2.32502253e-05 -9.99992128e-01 2.91212254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.067628 meters Centerline goodness [0,1] 0.999889974474078 Centerline is valid? [True, True] Translation: X:15.58, Y:-176.12, Z:2.92 [[ 4.17907986e-01 9.08485244e-01 -2.73434241e-03 1.55811639e+01] [ 9.08466283e-01 -4.17916930e-01 -5.86954271e-03 -1.76119827e+02] [-6.47512093e-03 -3.11291163e-05 -9.99979036e-01 2.91656457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.09762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.58, Y:-176.12, Z:2.92 [[ 3.46838620e-01 9.37919326e-01 -3.21088315e-03 1.55839818e+01] [ 9.37879987e-01 -3.46853481e-01 -8.59026135e-03 -1.76124697e+02] [-9.17067813e-03 -3.19886499e-05 -9.99957948e-01 2.91813210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.59, Y:-176.13, Z:2.92 [[ 2.73538470e-01 9.61856704e-01 -2.89581341e-03 1.55872916e+01] [ 9.61803726e-01 -2.73553797e-01 -1.00951516e-02 -1.76130218e+02] [-1.05022500e-02 -2.37918129e-05 -9.99944850e-01 2.91940452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.15762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.59, Y:-176.14, Z:2.92 [[ 1.97770314e-01 9.80245779e-01 -2.26162278e-03 1.55912711e+01] [ 9.80182905e-01 -1.97783244e-01 -1.11023440e-02 -1.76135280e+02] [-1.13303369e-02 -2.10899234e-05 -9.99935809e-01 2.91974411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.60, Y:-176.14, Z:2.92 [[ 1.19362565e-01 9.92849662e-01 -1.45845691e-03 1.55987020e+01] [ 9.92779026e-01 -1.19371470e-01 -1.18430501e-02 -1.76140142e+02] [-1.19324664e-02 -3.43085991e-05 -9.99928805e-01 2.91988644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.21762800000005 meters Centerline goodness [0,1] 0.9998677481925586 Centerline is valid? [True, True] Translation: X:15.61, Y:-176.14, Z:2.92 [[ 4.18593273e-02 9.99123356e-01 -5.61727143e-04 1.56088526e+01] [ 9.99042398e-01 -4.18630863e-02 -1.27188552e-02 -1.76144488e+02] [-1.27312209e-02 -2.87865103e-05 -9.99918954e-01 2.92117801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.247628 meters Centerline goodness [0,1] 0.9998240714270006 Centerline is valid? [True, True] Translation: X:15.62, Y:-176.15, Z:2.92 [[-3.61449543e-02 9.99346492e-01 3.61399272e-04 1.56199644e+01] [ 9.99291179e-01 3.61467561e-02 -1.05143895e-02 -1.76149674e+02] [-1.05205817e-02 -1.88990234e-05 -9.99944657e-01 2.91946362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.27762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.63, Y:-176.15, Z:2.92 [[-1.14705471e-01 9.93399196e-01 8.32365862e-04 1.56292042e+01] [ 9.93372081e-01 1.14708490e-01 -7.33973650e-03 -1.76153448e+02] [-7.38676776e-03 -1.50589213e-05 -9.99972717e-01 2.91505588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.307628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.64, Y:-176.16, Z:2.91 [[-1.91449425e-01 9.81501990e-01 9.80421474e-04 1.56367676e+01] [ 9.81488964e-01 1.91451935e-01 -5.05667665e-03 -1.76157078e+02] [-5.15084178e-03 -5.82498025e-06 -9.99986734e-01 2.91328332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.33762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.64, Y:-176.16, Z:2.91 [[-2.67198206e-01 9.63641095e-01 9.79036164e-04 1.56431354e+01] [ 9.63634610e-01 2.67200000e-01 -3.53527496e-03 -1.76160995e+02] [-3.66833470e-03 -1.18599598e-06 -9.99993272e-01 2.91152946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.65, Y:-176.16, Z:2.91 [[-3.40483056e-01 9.40250402e-01 6.86436904e-04 1.56480358e+01] [ 9.40248513e-01 3.40483748e-01 -1.88450226e-03 -1.76164309e+02] [-2.00562461e-03 3.78019248e-06 -9.99997989e-01 2.90992190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.397628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.65, Y:-176.17, Z:2.91 [[-4.12451801e-01 9.10979285e-01 5.03593451e-04 1.56547916e+01] [ 9.10978619e-01 4.12452109e-01 -1.10147970e-03 -1.76165905e+02] [-1.21113337e-03 4.45558187e-06 -9.99999267e-01 2.90958370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.427628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.66, Y:-176.17, Z:2.91 [[-4.82671615e-01 8.75801273e-01 4.91297845e-04 1.56631504e+01] [ 8.75800828e-01 4.82671865e-01 -8.82877304e-04 -1.76166631e+02] [-1.01036071e-03 4.13924483e-06 -9.99999490e-01 2.90973099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.67, Y:-176.17, Z:2.91 [[-5.50568192e-01 8.34790063e-01 4.65712466e-04 1.56723606e+01] [ 8.34789769e-01 5.50568389e-01 -7.00239878e-04 -1.76167030e+02] [-8.40959854e-04 3.24219776e-06 -9.99999646e-01 2.90982281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.68, Y:-176.17, Z:2.91 [[-6.15279931e-01 7.88308554e-01 4.79753778e-04 1.56814015e+01] [ 7.88308317e-01 6.15280118e-01 -6.11078027e-04 -1.76165950e+02] [-7.76900997e-04 2.20984633e-06 -9.99999698e-01 2.90938905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.69, Y:-176.16, Z:2.91 [[-6.77835912e-01 7.35212587e-01 9.63879250e-04 1.56928235e+01] [ 7.35211835e-01 6.77836597e-01 -1.05125492e-03 -1.76163549e+02] [-1.42624848e-03 -3.92290497e-06 -9.99998983e-01 2.90962941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.70, Y:-176.16, Z:2.91 [[-7.34747059e-01 6.78338152e-01 2.02766074e-03 1.57016743e+01] [ 6.78335506e-01 7.34749856e-01 -1.89468857e-03 -1.76159437e+02] [-2.77506298e-03 -1.66825820e-05 -9.99996149e-01 2.91087637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.72, Y:-176.14, Z:2.91 [[-7.81726094e-01 6.23610408e-01 3.79112603e-03 1.57229611e+01] [ 6.23602833e-01 7.81735286e-01 -3.07399114e-03 -1.76138279e+02] [-4.88062987e-03 -3.88621542e-05 -9.99988089e-01 2.91304680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.60762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.19, Y:-175.57, Z:1.94 [[-7.26126110e-01 -6.87528069e-01 6.78426958e-03 1.61938893e+01] [ 6.87502131e-01 -7.26157732e-01 -5.98065148e-03 -1.75571148e+02] [ 9.03831557e-03 3.21492598e-04 9.99959102e-01 1.94269915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.69, Y:-176.11, Z:2.92 [[-7.82126650e-01 6.23066206e-01 8.14901566e-03 1.56914238e+01] [ 6.23031612e-01 7.82169099e-01 -6.56586202e-03 -1.76113963e+02] [-1.04648750e-02 -5.82413021e-05 -9.99945240e-01 2.91881201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.66762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.71, Y:-176.10, Z:2.92 [[-8.22802720e-01 5.68267193e-01 8.25111517e-03 1.57109298e+01] [ 5.68238255e-01 8.22844090e-01 -5.73491264e-03 -1.76097897e+02] [-1.00483441e-02 -3.01024397e-05 -9.99949514e-01 2.91795100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.15, Y:-175.49, Z:1.94 [[-7.80292429e-01 -6.25369520e-01 7.52917438e-03 1.61461077e+01] [ 6.25340480e-01 -7.80328754e-01 -6.02670170e-03 -1.75489025e+02] [ 9.64414681e-03 5.70780582e-06 9.99953494e-01 1.94293056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.72762800000004 meters Centerline goodness [0,1] 0.99986763440623 Centerline is valid? [True, True] Translation: X:15.67, Y:-176.08, Z:2.92 [[-8.21583566e-01 5.70025083e-01 8.47634962e-03 1.56711838e+01] [ 5.69995089e-01 8.21627290e-01 -5.84758591e-03 -1.76077497e+02] [-1.02976708e-02 2.71971731e-05 -9.99946977e-01 2.91942828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.757628 meters Centerline goodness [0,1] 0.9998238894025449 Centerline is valid? [True, True] Translation: X:15.70, Y:-176.06, Z:2.92 [[-8.57814433e-01 5.13903414e-01 7.59467908e-03 1.56954968e+01] [ 5.13883883e-01 8.57848050e-01 -4.48080724e-03 -1.76064139e+02] [-8.81778278e-03 5.90820494e-05 -9.99961121e-01 2.91887577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.78762800000004 meters Centerline goodness [0,1] 0.9998898872445384 Centerline is valid? [True, True] Translation: X:15.72, Y:-176.05, Z:2.92 [[-8.91061422e-01 4.53832184e-01 6.77428419e-03 1.57182621e+01] [ 4.53819581e-01 8.91087171e-01 -3.38261165e-03 -1.76045254e+02] [-7.57161577e-03 6.01880648e-05 -9.99971333e-01 2.91729287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.817628 meters Centerline goodness [0,1] 0.9998461808912719 Centerline is valid? [True, True] Translation: X:15.73, Y:-176.02, Z:2.92 [[-9.20496936e-01 3.90722092e-01 4.65156355e-03 1.57341740e+01] [ 3.90717360e-01 9.20508688e-01 -1.92350392e-03 -1.76020207e+02] [-5.03336014e-03 4.68671704e-05 -9.99987331e-01 2.91653249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.84762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.75, Y:-175.99, Z:2.91 [[-9.45806511e-01 3.24725564e-01 1.83078515e-03 1.57476768e+01] [ 3.24724995e-01 9.45808283e-01 -6.08012758e-04 -1.75993484e+02] [-1.92900904e-03 1.94392735e-05 -9.99998139e-01 2.91317451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.76, Y:-175.97, Z:2.91 [[-9.66438542e-01 2.56891124e-01 1.86932667e-03 1.57574874e+01] [ 2.56890682e-01 9.66440350e-01 -4.76777838e-04 -1.75967450e+02] [-1.92907271e-03 1.94361235e-05 -9.99998139e-01 2.91317519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.90762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.77, Y:-175.94, Z:2.91 [[-9.82200539e-01 1.87833842e-01 7.41337285e-04 1.57654500e+01] [ 1.87833795e-01 9.82200819e-01 -1.32841757e-04 -1.75939769e+02] [-7.53094266e-04 8.77094967e-06 -9.99999716e-01 2.91260560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.90, Y:-175.20, Z:1.95 [[-9.71759852e-01 -2.35971686e-01 -3.90963066e-04 1.59021360e+01] [ 2.35971696e-01 -9.71759928e-01 2.18051739e-05 -1.75199572e+02] [-3.85067645e-04 -7.10668251e-05 9.99999923e-01 1.94858321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.96762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.71, Y:-175.93, Z:2.91 [[-9.83132900e-01 1.82891601e-01 -6.03380949e-04 1.57115496e+01] [ 1.82891568e-01 9.83133085e-01 1.09282208e-04 -1.75927737e+02] [ 6.13190571e-04 -2.91435398e-06 -9.99999812e-01 2.91245710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.71, Y:-175.90, Z:2.91 [[-9.93796260e-01 1.11215886e-01 1.42259611e-04 1.57133289e+01] [ 1.11215885e-01 9.93796270e-01 -1.27809375e-05 -1.75899212e+02] [-1.42798514e-04 3.11988065e-06 -9.99999990e-01 2.91322400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.02762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.80, Y:-175.16, Z:1.95 [[-9.86315238e-01 -1.64866025e-01 1.20218816e-03 1.57978410e+01] [ 1.64865975e-01 -9.86315969e-01 -1.41117327e-04 -1.75157636e+02] [ 1.20900283e-03 5.90137525e-05 9.99999267e-01 1.94577894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.057628 meters Centerline goodness [0,1] 0.9999121303984887 Centerline is valid? [True, True] Translation: X:15.65, Y:-175.89, Z:2.92 [[-9.94296370e-01 1.06604963e-01 3.17982647e-03 1.56500749e+01] [ 1.06604494e-01 9.94301454e-01 -3.17334928e-04 -1.75891138e+02] [-3.19553556e-03 2.34588244e-05 -9.99994894e-01 2.91822237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.08762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.65, Y:-175.86, Z:2.92 [[-9.99375187e-01 3.51103682e-02 4.06162427e-03 1.56528479e+01] [ 3.51101881e-02 9.99383441e-01 -1.15656778e-04 -1.75862928e+02] [-4.06318079e-03 2.70198782e-05 -9.99991745e-01 2.91937641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.117628 meters Centerline goodness [0,1] 0.9998245844844976 Centerline is valid? [True, True] Translation: X:15.68, Y:-175.12, Z:1.94 [[-9.95986128e-01 -8.92420268e-02 6.89148594e-03 1.56790259e+01] [ 8.92408611e-02 -9.96009960e-01 -4.77085058e-04 -1.75120277e+02] [ 6.90656467e-03 1.39832040e-04 9.99976140e-01 1.93796152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.147628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.57, Y:-175.86, Z:2.92 [[-9.99534600e-01 2.98576586e-02 6.25332941e-03 1.55728535e+01] [ 2.98573236e-02 9.99554160e-01 -1.46952244e-04 -1.75861165e+02] [-6.25492908e-03 3.98238273e-05 -9.99980437e-01 2.92079595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.177628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.57, Y:-175.83, Z:2.92 [[-9.99091877e-01 -4.19883036e-02 7.23903837e-03 1.55723059e+01] [-4.19869021e-02 9.99118101e-01 3.45539783e-04 -1.75833316e+02] [-7.24716290e-03 4.12811956e-05 -9.99973738e-01 2.92138123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.207628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.54, Y:-175.09, Z:1.94 [[-9.99861954e-01 -1.47806668e-02 7.58979341e-03 1.55406306e+01] [ 1.47800880e-02 -9.99890760e-01 -1.32352467e-04 -1.75091126e+02] [ 7.59092056e-03 -2.01563815e-05 9.99971188e-01 1.93913087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.23762800000003 meters Centerline goodness [0,1] 0.9999341859903912 Centerline is valid? [True, True] Translation: X:15.47, Y:-175.83, Z:2.92 [[-9.98755070e-01 -4.91214244e-02 8.68306506e-03 1.54711666e+01] [-4.91192048e-02 9.98792813e-01 4.68826229e-04 -1.75834232e+02] [-8.69561239e-03 4.17373221e-05 -9.99962192e-01 2.92278838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.267628 meters Centerline goodness [0,1] 0.9999561393890217 Centerline is valid? [True, True] Translation: X:15.46, Y:-175.80, Z:2.92 [[-9.92614157e-01 -1.21016073e-01 8.49970404e-03 1.54643226e+01] [-1.21011352e-01 9.92650547e-01 1.06942292e-03 -1.75804801e+02] [-8.56665323e-03 3.29636475e-05 -9.99963305e-01 2.92497949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.29762800000003 meters Centerline goodness [0,1] 0.9998467667790377 Centerline is valid? [True, True] Translation: X:15.45, Y:-175.78, Z:2.93 [[-9.81498363e-01 -1.91266935e-01 8.82738964e-03 1.54470628e+01] [-1.91258837e-01 9.81538057e-01 1.76053677e-03 -1.75778810e+02] [-9.00115135e-03 3.96476882e-05 -9.99959488e-01 2.92529282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.42, Y:-175.76, Z:2.92 [[-9.65473837e-01 -2.60423173e-01 6.32778259e-03 1.54171085e+01] [-2.60417323e-01 9.65494572e-01 1.74598706e-03 -1.75757457e+02] [-6.56413524e-03 3.78406222e-05 -9.99978455e-01 2.92354462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.35762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.36, Y:-175.75, Z:2.92 [[-9.44419275e-01 -3.28687442e-01 6.06618756e-03 1.53621792e+01] [-3.28680325e-01 9.44438756e-01 2.16347024e-03 -1.75746117e+02] [-6.44024812e-03 4.93864938e-05 -9.99979260e-01 2.92303384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.387628 meters Centerline goodness [0,1] 0.9999343314946152 Centerline is valid? [True, True] Translation: X:15.30, Y:-175.74, Z:2.92 [[-9.18559202e-01 -3.95226119e-01 6.73112655e-03 1.52995151e+01] [-3.95214905e-01 9.18583861e-01 2.97813076e-03 -1.75743580e+02] [-7.36013927e-03 7.53478680e-05 -9.99972911e-01 2.92428562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.41762800000004 meters Centerline goodness [0,1] 0.9999341484294401 Centerline is valid? [True, True] Translation: X:15.23, Y:-175.75, Z:2.92 [[-8.88746840e-01 -4.58356614e-01 6.18611906e-03 1.52283407e+01] [-4.58344692e-01 8.88768363e-01 3.30759483e-03 -1.75750867e+02] [-7.01408488e-03 1.04239623e-04 -9.99975396e-01 2.92329377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.15, Y:-175.77, Z:2.92 [[-8.52701179e-01 -5.22371840e-01 5.32534282e-03 1.51493679e+01] [-5.22360894e-01 8.52717802e-01 3.38326649e-03 -1.75766239e+02] [-6.30833776e-03 1.03164493e-04 -9.99980097e-01 2.92235037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.47762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.06, Y:-175.79, Z:2.92 [[-8.11544866e-01 -5.84263679e-01 5.55738214e-03 1.50631314e+01] [-5.84248958e-01 8.11563885e-01 4.14920574e-03 -1.75792054e+02] [-6.93440085e-03 1.20371898e-04 -9.99975950e-01 2.92306307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.97, Y:-175.83, Z:2.92 [[-7.65230204e-01 -6.43730378e-01 5.82541593e-03 1.49724483e+01] [-6.43710365e-01 7.65252365e-01 5.07782666e-03 -1.75831286e+02] [-7.72666459e-03 1.35825716e-04 -9.99970140e-01 2.92458721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.53762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.88, Y:-175.87, Z:2.93 [[-7.13392443e-01 -7.00736276e-01 6.31623640e-03 1.48817526e+01] [-7.00706964e-01 7.13420388e-01 6.41092997e-03 -1.75871448e+02] [-8.99850301e-03 1.47678162e-04 -9.99959502e-01 2.92538422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.567628 meters Centerline goodness [0,1] 0.9999343688470794 Centerline is valid? [True, True] Translation: X:14.79, Y:-175.93, Z:2.93 [[-6.57278137e-01 -7.53613738e-01 7.19614727e-03 1.47904824e+01] [-7.53565684e-01 6.57317507e-01 8.51207537e-03 -1.75925535e+02] [-1.11449705e-02 1.72031412e-04 -9.99937878e-01 2.92663074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.59762800000004 meters Centerline goodness [0,1] 0.9998693009780644 Centerline is valid? [True, True] Translation: X:14.70, Y:-175.99, Z:2.93 [[-5.95829835e-01 -8.03074481e-01 7.62796462e-03 1.46994650e+01] [-8.03005034e-01 5.95878637e-01 1.05624788e-02 -1.75987561e+02] [-1.30277983e-02 1.68146027e-04 -9.99915121e-01 2.92928020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.627628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.61, Y:-176.06, Z:2.93 [[-5.31572239e-01 -8.46989592e-01 6.29168465e-03 1.46119519e+01] [-8.46927150e-01 5.31609454e-01 1.02854878e-02 -1.76062814e+02] [-1.20564201e-02 1.38881232e-04 -9.99927309e-01 2.92771754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.65762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.53, Y:-176.14, Z:2.93 [[-4.64992007e-01 -8.85293925e-01 6.09091691e-03 1.45325530e+01] [-8.85213675e-01 4.65031873e-01 1.19208677e-02 -1.76144302e+02] [-1.33859423e-02 1.51345263e-04 -9.99910393e-01 2.92801156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.46, Y:-176.23, Z:2.93 [[-3.97308989e-01 -9.17669758e-01 5.27083950e-03 1.44610619e+01] [-9.17582958e-01 3.97343910e-01 1.26226740e-02 -1.76227623e+02] [-1.36777822e-02 1.78669340e-04 -9.99906439e-01 2.92760740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.71762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.39, Y:-176.33, Z:2.93 [[-3.27388875e-01 -9.44881052e-01 4.04016034e-03 1.43944119e+01] [-9.44801735e-01 3.27413747e-01 1.22441562e-02 -1.76326352e+02] [-1.28920752e-02 1.91450025e-04 -9.99916875e-01 2.92700948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.34, Y:-176.42, Z:2.93 [[-2.55501392e-01 -9.66803888e-01 3.04631778e-03 1.43367527e+01] [-9.66724925e-01 2.55519464e-01 1.23581199e-02 -1.76424812e+02] [-1.27262719e-02 2.12565526e-04 -9.99918995e-01 2.92599185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.77762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.29, Y:-176.53, Z:2.93 [[-1.82038410e-01 -9.83289343e-01 2.02116756e-03 1.42857038e+01] [-9.83214113e-01 1.82049488e-01 1.21652237e-02 -1.76532747e+02] [-1.23298874e-02 2.27297515e-04 -9.99923958e-01 2.92582341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.807628 meters Centerline goodness [0,1] 0.9998701692127927 Centerline is valid? [True, True] Translation: X:14.24, Y:-176.65, Z:2.93 [[-1.09040490e-01 -9.94036716e-01 1.08599374e-03 1.42426457e+01] [-9.93959800e-01 1.09045566e-01 1.23685492e-02 -1.76646891e+02] [-1.24132148e-02 2.69238547e-04 -9.99922917e-01 2.92568208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.83762800000005 meters Centerline goodness [0,1] 0.9998266108931706 Centerline is valid? [True, True] Translation: X:14.21, Y:-176.76, Z:2.92 [[-3.36540924e-02 -9.99433533e-01 1.25463416e-04 1.42087298e+01] [-9.99361641e-01 3.36531768e-02 1.19905729e-02 -1.76758460e+02] [-1.19880029e-02 2.78148522e-04 -9.99928103e-01 2.92473273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.18, Y:-176.88, Z:2.92 [[ 4.30182954e-02 -9.99074101e-01 -6.05902940e-04 1.41844046e+01] [-9.99032887e-01 -4.30220259e-02 9.07726231e-03 -1.76877875e+02] [-9.09492485e-03 2.14828612e-04 -9.99958617e-01 2.92069440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.897628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.17, Y:-177.00, Z:2.92 [[ 1.20295963e-01 -9.92737259e-01 -1.27103165e-03 1.41678099e+01] [-9.92698433e-01 -1.20302502e-01 8.78227588e-03 -1.76997233e+02] [-8.87140077e-03 2.05278794e-04 -9.99960627e-01 2.91957304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.927628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.16, Y:-177.12, Z:2.92 [[ 1.97365991e-01 -9.80327884e-01 -1.97608158e-03 1.41604526e+01] [-9.80288348e-01 -1.97375783e-01 8.80656914e-03 -1.77120544e+02] [-9.02335594e-03 1.99012506e-04 -9.99959269e-01 2.91905802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.957628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.16, Y:-177.24, Z:2.92 [[ 2.76436313e-01 -9.61029034e-01 -2.48220485e-03 1.41625767e+01] [-9.60995001e-01 -2.76447417e-01 8.08908466e-03 -1.77242205e+02] [-8.46004433e-03 1.49269714e-04 -9.99964202e-01 2.91940685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.17, Y:-177.36, Z:2.92 [[ 3.52061111e-01 -9.35972865e-01 -2.78741341e-03 1.41723151e+01] [-9.35946035e-01 -3.52072127e-01 7.08783042e-03 -1.77362631e+02] [-7.61538751e-03 1.13519084e-04 -9.99970996e-01 2.91855828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.017628 meters Centerline goodness [0,1] 0.9999135247319266 Centerline is valid? [True, True] Translation: X:14.19, Y:-177.49, Z:2.92 [[ 4.28222386e-01 -9.03666229e-01 -3.59646911e-03 1.41925981e+01] [-9.03635794e-01 -4.28237482e-01 7.41691606e-03 -1.77486790e+02] [-8.24255944e-03 7.38087292e-05 -9.99966027e-01 2.91930546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.04762800000003 meters Centerline goodness [0,1] 0.9998700679977478 Centerline is valid? [True, True] Translation: X:14.22, Y:-177.60, Z:2.92 [[ 4.98878746e-01 -8.66659698e-01 -4.57866430e-03 1.42176526e+01] [-8.66624185e-01 -4.98899754e-01 7.84586406e-03 -1.77597243e+02] [-9.08398868e-03 5.38463875e-05 -9.99958738e-01 2.91918557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.25, Y:-177.71, Z:2.92 [[ 5.66465217e-01 -8.24071594e-01 -4.81302981e-03 1.42543071e+01] [-8.24042178e-01 -5.66485664e-01 6.96289092e-03 -1.77709665e+02] [-8.46443300e-03 2.19040463e-05 -9.99964176e-01 2.91749387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.30, Y:-177.82, Z:2.92 [[ 6.31498479e-01 -7.75361564e-01 -4.91084987e-03 1.42960240e+01] [-7.75337908e-01 -6.31517573e-01 6.05669614e-03 -1.77815322e+02] [-7.79741739e-03 -1.72263326e-05 -9.99969600e-01 2.91577235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.34, Y:-177.91, Z:2.91 [[ 6.90061825e-01 -7.23735026e-01 -4.72120895e-03 1.43443376e+01] [-7.23717816e-01 -6.90077975e-01 4.99110061e-03 -1.77913887e+02] [-6.87023664e-03 -2.73449675e-05 -9.99976399e-01 2.91471351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.16762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.40, Y:-178.00, Z:2.91 [[ 7.44134510e-01 -6.68013904e-01 -4.61025064e-03 1.43958756e+01] [-6.68000799e-01 -7.44148791e-01 4.18450315e-03 -1.78004386e+02] [-6.22601872e-03 -3.41820893e-05 -9.99980618e-01 2.91407372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.39, Y:-178.01, Z:2.91 [[ 7.94638094e-01 -6.07063916e-01 -4.86844095e-03 1.43931027e+01] [-6.07052218e-01 -7.94653006e-01 3.76887607e-03 -1.78013208e+02] [-6.15666990e-03 -3.94946224e-05 -9.99981047e-01 2.91410051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.22762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.39, Y:-178.02, Z:2.91 [[ 8.39791964e-01 -5.42881830e-01 -5.36442815e-03 1.43911115e+01] [-5.42870429e-01 -8.39809096e-01 3.51857214e-03 -1.78023102e+02] [-6.41526443e-03 -4.26791945e-05 -9.99979421e-01 2.91448291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.39, Y:-178.03, Z:2.91 [[ 8.79384958e-01 -4.76076831e-01 -5.73988284e-03 1.43904590e+01] [-4.76066392e-01 -8.79403690e-01 3.15283817e-03 -1.78032614e+02] [-6.54866736e-03 -3.99931454e-05 -9.99978556e-01 2.91463013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.28762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.39, Y:-178.04, Z:2.91 [[ 9.13318733e-01 -4.07209002e-01 -5.45166874e-03 1.43913001e+01] [-4.07201566e-01 -9.13335003e-01 2.46111001e-03 -1.78040740e+02] [-5.98138604e-03 -2.78498310e-05 -9.99982111e-01 2.91333865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.39, Y:-178.05, Z:2.91 [[ 9.42098901e-01 -3.35294151e-01 -5.24344810e-03 1.43920633e+01] [-3.35288831e-01 -9.42113492e-01 1.88880822e-03 -1.78049112e+02] [-5.57322955e-03 -2.13745617e-05 -9.99984469e-01 2.91304653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.34762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.39, Y:-178.06, Z:2.91 [[ 9.65293464e-01 -2.61113993e-01 -5.29263952e-03 1.43933857e+01] [-2.61109965e-01 -9.65307973e-01 1.45034212e-03 -1.78057410e+02] [-5.48773175e-03 -1.80448430e-05 -9.99984942e-01 2.91266574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.40, Y:-178.07, Z:2.91 [[ 9.82714209e-01 -1.85039269e-01 -5.76653593e-03 1.43954414e+01] [-1.85035974e-01 -9.82731127e-01 1.10449241e-03 -1.78066130e+02] [-5.87132882e-03 -1.83837910e-05 -9.99982763e-01 2.91234134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.40762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.39, Y:-178.08, Z:2.91 [[ 9.94316117e-01 -1.06279999e-01 -6.32620280e-03 1.43945077e+01] [-1.06277668e-01 -9.94336241e-01 7.04434180e-04 -1.78075248e+02] [-6.36523998e-03 -2.80961752e-05 -9.99979741e-01 2.91331098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.437628 meters Centerline goodness [0,1] 0.9999784691570675 Centerline is valid? [True, True] Translation: X:14.39, Y:-178.08, Z:2.91 [[ 9.99617846e-01 -2.69643266e-02 -6.08999372e-03 1.43949716e+01] [-2.69636188e-02 -9.99636396e-01 1.98307374e-04 -1.78084434e+02] [-6.09312660e-03 -3.40233204e-05 -9.99981436e-01 2.91357973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.46762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.39, Y:-178.09, Z:2.91 [[ 9.98532877e-01 5.37604962e-02 -6.47323734e-03 1.43947389e+01] [ 5.37597004e-02 -9.98553858e-01 -2.96996804e-04 -1.78093266e+02] [-6.47984281e-03 -5.14382264e-05 -9.99979004e-01 2.91406134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.40, Y:-178.10, Z:2.92 [[ 9.91204246e-01 1.32143222e-01 -7.23267634e-03 1.43958378e+01] [ 1.32140151e-01 -9.91230632e-01 -9.02938655e-04 -1.78100280e+02] [-7.28856756e-03 -6.07303176e-05 -9.99973436e-01 2.91524505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.52762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.40, Y:-178.11, Z:2.92 [[ 9.77818216e-01 2.09297736e-01 -8.12370897e-03 1.43979699e+01] [ 2.09291096e-01 -9.77851959e-01 -1.66858330e-03 -1.78107021e+02] [-8.29301544e-03 -6.86488100e-05 -9.99965610e-01 2.91616737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.557628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.40, Y:-178.11, Z:2.92 [[ 9.59010177e-01 2.83182938e-01 -1.03394173e-02 1.44000070e+01] [ 2.83167235e-01 -9.59065910e-01 -2.98295458e-03 -1.78112514e+02] [-1.07609045e-02 -6.71004251e-05 -9.99942098e-01 2.91791235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.58762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.40, Y:-178.12, Z:2.92 [[ 9.34541190e-01 3.55677313e-01 -1.12433491e-02 1.44027158e+01] [ 3.55652257e-01 -9.34608820e-01 -4.22204224e-03 -1.78118241e+02] [-1.20098179e-02 -5.30501152e-05 -9.99927878e-01 2.91903388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.41, Y:-178.12, Z:2.92 [[ 9.04800506e-01 4.25673512e-01 -1.17518056e-02 1.44060877e+01] [ 4.25638004e-01 -9.04876821e-01 -5.49806354e-03 -1.78124555e+02] [-1.29743165e-02 -2.73643930e-05 -9.99915830e-01 2.91929923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.64762800000005 meters Centerline goodness [0,1] 0.9998277458389854 Centerline is valid? [True, True] Translation: X:14.41, Y:-178.13, Z:2.92 [[ 8.71359636e-01 4.90441587e-01 -1.41221029e-02 1.44087325e+01] [ 4.90376177e-01 -8.71474065e-01 -8.00992174e-03 -1.78129017e+02] [-1.62354451e-02 5.43796868e-05 -9.99868195e-01 2.92205512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.677628 meters Centerline goodness [0,1] 0.9999784413064569 Centerline is valid? [True, True] Translation: X:14.41, Y:-178.14, Z:2.92 [[ 8.31230851e-01 5.55750039e-01 -1.40416463e-02 1.44119971e+01] [ 5.55669010e-01 -8.31349438e-01 -9.49018151e-03 -1.78135052e+02] [-1.69476835e-02 8.60239430e-05 -9.99856374e-01 2.92189082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.707628 meters Centerline goodness [0,1] 0.9998707258742163 Centerline is valid? [True, True] Translation: X:14.42, Y:-178.14, Z:2.92 [[ 7.86879391e-01 6.16949194e-01 -1.39469030e-02 1.44172942e+01] [ 6.16849144e-01 -7.87002968e-01 -1.11113218e-02 -1.78141634e+02] [-1.78313751e-02 1.40134928e-04 -9.99840999e-01 2.92316558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.42, Y:-178.15, Z:2.92 [[ 7.38877967e-01 6.73729059e-01 -1.21862502e-02 1.44215835e+01] [ 6.73633018e-01 -7.38978427e-01 -1.13771972e-02 -1.78146740e+02] [-1.66705244e-02 1.97299831e-04 -9.99861018e-01 2.92073694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.43, Y:-178.15, Z:2.92 [[ 6.83879457e-01 7.29508149e-01 -1.12582846e-02 1.44275905e+01] [ 7.29404538e-01 -6.83972092e-01 -1.22962338e-02 -1.78153983e+02] [-1.66705552e-02 1.97297811e-04 -9.99861017e-01 2.92073722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.43, Y:-178.16, Z:2.92 [[ 6.25985241e-01 7.79770396e-01 -1.00303790e-02 1.44342452e+01] [ 7.79664611e-01 -6.26065557e-01 -1.28457547e-02 -1.78160563e+02] [-1.62964140e-02 2.20921363e-04 -9.99867180e-01 2.91942129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.827628 meters Centerline goodness [0,1] 0.9999137131393318 Centerline is valid? [True, True] Translation: X:14.44, Y:-178.17, Z:2.92 [[ 5.64850725e-01 8.25147345e-01 -8.69006970e-03 1.44412623e+01] [ 8.25042854e-01 -5.64917514e-01 -1.31336377e-02 -1.78166688e+02] [-1.57463588e-02 2.48864877e-04 -9.99875987e-01 2.91939740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.85762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.45, Y:-178.17, Z:2.92 [[ 5.00123090e-01 8.65928460e-01 -6.69309241e-03 1.44457072e+01] [ 8.65844291e-01 -5.00167815e-01 -1.20755927e-02 -1.78172277e+02] [-1.38042688e-02 2.44106903e-04 -9.99904687e-01 2.91674838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.45, Y:-178.18, Z:2.92 [[ 4.31304632e-01 9.02191343e-01 -5.20535036e-03 1.44506077e+01] [ 9.02119111e-01 -4.31335981e-01 -1.14184423e-02 -1.78175957e+02] [-1.25468747e-02 2.28981029e-04 -9.99921259e-01 2.91556085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.91762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.46, Y:-178.18, Z:2.91 [[ 3.59157203e-01 9.33269488e-01 -3.76367459e-03 1.44608734e+01] [ 9.33212314e-01 -3.59176868e-01 -1.03322012e-02 -1.78181444e+02] [-1.09945529e-02 1.98577002e-04 -9.99939538e-01 2.91341086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.47, Y:-178.19, Z:2.91 [[ 2.82919900e-01 9.59140534e-01 -2.40133306e-03 1.44697267e+01] [ 9.59101590e-01 -2.82930055e-01 -8.64428876e-03 -1.78186867e+02] [-8.97049704e-03 1.42518950e-04 -9.99959754e-01 2.91115293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.97762800000004 meters Centerline goodness [0,1] 0.9999139692440048 Centerline is valid? [True, True] Translation: X:14.48, Y:-178.19, Z:2.91 [[ 2.04946686e-01 9.78771731e-01 -1.66000254e-03 1.44797176e+01] [ 9.78734701e-01 -2.04953373e-01 -8.51465109e-03 -1.78191157e+02] [-8.67412290e-03 1.20347436e-04 -9.99962372e-01 2.91164052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.49, Y:-178.19, Z:2.91 [[ 1.24049456e-01 9.92275637e-01 -8.90345708e-04 1.44887824e+01] [ 9.92245216e-01 -1.24052625e-01 -7.77028184e-03 -1.78193744e+02] [-7.82071109e-03 8.04579674e-05 -9.99969415e-01 2.91003401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.03762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.50, Y:-178.20, Z:2.91 [[ 3.97741814e-02 9.99208647e-01 -3.06761380e-04 1.44987725e+01] [ 9.99171671e-01 -3.97753486e-02 -8.59614550e-03 -1.78196981e+02] [-8.60154446e-03 3.53973692e-05 -9.99963005e-01 2.91148659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.51, Y:-178.20, Z:2.91 [[-4.19138856e-02 9.99121142e-01 4.12349291e-04 1.45066222e+01] [ 9.99074681e-01 4.19159131e-02 -9.63525825e-03 -1.78198548e+02] [-9.64407422e-03 8.11662404e-06 -9.99953495e-01 2.91257675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.09762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.52, Y:-178.20, Z:2.91 [[-1.23187806e-01 9.92382571e-01 1.26382085e-03 1.45160475e+01] [ 9.92328284e-01 1.23194286e-01 -1.03799920e-02 -1.78198201e+02] [-1.04566186e-02 -2.45632670e-05 -9.99945328e-01 2.91345258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.52, Y:-178.20, Z:2.91 [[-2.03296506e-01 9.79114797e-01 2.17818419e-03 1.45241101e+01] [ 9.79055570e-01 2.03308167e-01 -1.07694081e-02 -1.78197142e+02] [-1.09873294e-02 -5.68196777e-05 -9.99939636e-01 2.91432301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.15762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.54, Y:-178.19, Z:2.91 [[-2.82662616e-01 9.59214121e-01 3.18045102e-03 1.45350252e+01] [ 9.59149381e-01 2.82680491e-01 -1.11447099e-02 -1.78194938e+02] [-1.15892146e-02 -9.96652349e-05 -9.99932838e-01 2.91288475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.55, Y:-178.19, Z:2.91 [[-3.57744061e-01 9.33810636e-01 4.10889576e-03 1.45462991e+01] [ 9.33745428e-01 3.57767639e-01 -1.10359097e-02 -1.78192355e+02] [-1.17754798e-02 -1.11368524e-04 -9.99930660e-01 2.91437033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.21762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.55, Y:-178.19, Z:2.91 [[-4.30487160e-01 9.02581601e-01 5.22106890e-03 1.45526190e+01] [ 9.02511616e-01 4.30518801e-01 -1.12403613e-02 -1.78190611e+02] [-1.23931116e-02 -1.26755880e-04 -9.99923194e-01 2.91367792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.56, Y:-178.19, Z:2.91 [[-5.00275656e-01 8.65843434e-01 6.27810929e-03 1.45597327e+01] [ 8.65771802e-01 5.00315029e-01 -1.11381746e-02 -1.78187612e+02] [-1.27849478e-02 -1.36747641e-04 -9.99918260e-01 2.91334048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.27762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.57, Y:-178.18, Z:2.91 [[-5.66712081e-01 8.23885436e-01 7.08558637e-03 1.45672097e+01] [ 8.23817977e-01 5.66756358e-01 -1.05437772e-02 -1.78183471e+02] [-1.27026656e-02 -1.38052477e-04 -9.99919308e-01 2.91284043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.307628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.57, Y:-178.18, Z:2.91 [[-6.28881007e-01 7.77473478e-01 6.60838284e-03 1.45735519e+01] [ 7.77428761e-01 6.28915718e-01 -8.33915280e-03 -1.78178708e+02] [-1.06395860e-02 -1.06787925e-04 -9.99943392e-01 2.91145919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.33762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.58, Y:-178.17, Z:2.91 [[-6.86769530e-01 7.26845396e-01 6.58661541e-03 1.45792126e+01] [ 7.26810809e-01 6.86801110e-01 -7.09114108e-03 -1.78174978e+02] [-9.67785802e-03 -8.27563527e-05 -9.99953165e-01 2.91082062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.58, Y:-178.17, Z:2.91 [[-7.38195501e-01 6.74557895e-01 6.24892540e-03 1.45813685e+01] [ 6.74533384e-01 7.38221949e-01 -5.75057834e-03 -1.78173668e+02] [-8.49219190e-03 -2.99422667e-05 -9.99963940e-01 2.90942302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.39762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.60, Y:-178.16, Z:2.91 [[-7.82062537e-01 6.23167097e-01 6.39978194e-03 1.46010738e+01] [ 6.23146206e-01 7.82088722e-01 -5.10270950e-03 -1.78158544e+02] [-8.18503795e-03 -2.63810437e-06 -9.99966502e-01 2.90915422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.427628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.61, Y:-178.14, Z:2.91 [[-8.22307940e-01 5.69005037e-01 6.55130850e-03 1.46148186e+01] [ 5.68987215e-01 8.22334036e-01 -4.50352064e-03 -1.78138476e+02] [-7.94988989e-03 2.43299924e-05 -9.99968399e-01 2.90893015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.02, Y:-177.57, Z:1.95 [[-7.88180265e-01 -6.15413947e-01 6.12724945e-03 1.50182192e+01] [ 6.15395032e-01 -7.88204081e-01 -4.82514872e-03 -1.77573987e+02] [ 7.79898684e-03 -3.24081276e-05 9.99969587e-01 1.95177212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.48762800000003 meters Centerline goodness [0,1] 0.9999784096552022 Centerline is valid? [True, True] Translation: X:14.58, Y:-178.13, Z:2.91 [[-8.18057078e-01 5.75107920e-01 5.78777733e-03 1.45842414e+01] [ 5.75094379e-01 8.18077546e-01 -3.94774852e-03 -1.78129909e+02] [-7.00523211e-03 9.90345936e-05 -9.99975458e-01 2.90881015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.60, Y:-178.11, Z:2.91 [[-8.55090751e-01 5.18441792e-01 6.15764127e-03 1.45990216e+01] [ 5.18429382e-01 8.55112913e-01 -3.58928448e-03 -1.78109974e+02] [-7.12631364e-03 1.23138194e-04 -9.99974600e-01 2.90936987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.62, Y:-178.09, Z:2.91 [[-8.88267205e-01 4.59273477e-01 7.01752656e-03 1.46166226e+01] [ 4.59260550e-01 8.88294910e-01 -3.44954044e-03 -1.78089175e+02] [-7.81791555e-03 1.58759465e-04 -9.99969427e-01 2.90947063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.94, Y:-177.44, Z:1.95 [[-8.77702217e-01 -4.79136373e-01 8.19472655e-03 1.49420931e+01] [ 4.79114414e-01 -8.77740466e-01 -4.58829447e-03 -1.77444591e+02] [ 9.39126188e-03 -1.00944615e-04 9.99955896e-01 1.94957761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.60762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.57, Y:-178.08, Z:2.91 [[-8.87381901e-01 4.60948085e-01 8.95682213e-03 1.45744720e+01] [ 4.60927508e-01 8.87427066e-01 -4.36299968e-03 -1.78076267e+02] [-9.95964273e-03 2.56798751e-04 -9.99950369e-01 2.91108073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.637628 meters Centerline goodness [0,1] 0.999869477256412 Centerline is valid? [True, True] Translation: X:14.90, Y:-177.42, Z:1.95 [[-8.80663544e-01 -4.73615894e-01 1.09411246e-02 1.49041951e+01] [ 4.73576948e-01 -8.80731489e-01 -6.07599643e-03 -1.77421043e+02] [ 1.25138814e-02 -1.69444165e-04 9.99921684e-01 1.94672097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.66762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.53, Y:-178.06, Z:2.91 [[-8.88991105e-01 4.57791478e-01 1.10353142e-02 1.45324740e+01] [ 4.57760610e-01 8.89059538e-01 -5.32553907e-03 -1.78063921e+02] [-1.22490377e-02 3.17175285e-04 -9.99924927e-01 2.91297142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.697628 meters Centerline goodness [0,1] 0.9999782447896272 Centerline is valid? [True, True] Translation: X:14.54, Y:-178.04, Z:2.91 [[-9.19621357e-01 3.92648623e-01 1.11183694e-02 1.45444830e+01] [ 3.92623808e-01 9.19688518e-01 -4.42428969e-03 -1.78037970e+02] [-1.19626279e-02 2.96665248e-04 -9.99928401e-01 2.91326206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.72762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.55, Y:-178.01, Z:2.91 [[-9.45780176e-01 3.24613487e-01 1.12224315e-02 1.45541910e+01] [ 3.24593988e-01 9.45846717e-01 -3.56798925e-03 -1.78011442e+02] [-1.17729174e-02 2.68200285e-04 -9.99930661e-01 2.91267141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.757628 meters Centerline goodness [0,1] 0.9999346917450366 Centerline is valid? [True, True] Translation: X:14.56, Y:-177.98, Z:2.91 [[-9.67628679e-01 2.52124719e-01 1.13077681e-02 1.45613827e+01] [ 2.52110031e-01 9.67694726e-01 -2.72955429e-03 -1.77982774e+02] [-1.16306556e-02 2.09606745e-04 -9.99932340e-01 2.91375090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.78762800000004 meters Centerline goodness [0,1] 0.9998911837036715 Centerline is valid? [True, True] Translation: X:14.74, Y:-177.27, Z:1.95 [[-9.58508980e-01 -2.84866853e-01 1.05551515e-02 1.47356682e+01] [ 2.84846863e-01 -9.58567066e-01 -3.38287991e-03 -1.77266389e+02] [ 1.10814910e-02 -2.35918962e-04 9.99938571e-01 1.94648532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.817628 meters Centerline goodness [0,1] 0.9999345977763244 Centerline is valid? [True, True] Translation: X:14.51, Y:-177.97, Z:2.91 [[-9.70022631e-01 2.42795162e-01 1.03249273e-02 1.45083159e+01] [ 2.42782842e-01 9.70077570e-01 -2.44933453e-03 -1.77970399e+02] [-1.06106669e-02 1.30805257e-04 -9.99943697e-01 2.91373272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.84762800000004 meters Centerline goodness [0,1] 0.9998688352570829 Centerline is valid? [True, True] Translation: X:14.68, Y:-177.25, Z:1.95 [[-9.57354481e-01 -2.88773936e-01 9.05600922e-03 1.46817911e+01] [ 2.88759115e-01 -9.57397293e-01 -2.93197226e-03 -1.77253447e+02] [ 9.51687588e-03 -1.91931571e-04 9.99954695e-01 1.94678946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.46, Y:-177.96, Z:2.91 [[-9.72796152e-01 2.31539194e-01 7.56632334e-03 1.44575083e+01] [ 2.31532481e-01 9.72825576e-01 -1.76340242e-03 -1.77959184e+02] [-7.76900963e-03 3.64185296e-05 -9.99969820e-01 2.91176701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.90762800000005 meters Centerline goodness [0,1] 0.9998470780993992 Centerline is valid? [True, True] Translation: X:14.46, Y:-177.93, Z:2.91 [[-9.87025130e-01 1.60357425e-01 8.17863351e-03 1.44620621e+01] [ 1.60352137e-01 9.87059013e-01 -1.30248415e-03 -1.77931852e+02] [-8.28165693e-03 2.58767748e-05 -9.99965706e-01 2.91391312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.937628 meters Centerline goodness [0,1] 0.9998685478923846 Centerline is valid? [True, True] Translation: X:14.46, Y:-177.91, Z:2.91 [[-9.96168516e-01 8.71213069e-02 7.62659396e-03 1.44648089e+01] [ 8.71187732e-02 9.96197710e-01 -6.64444172e-04 -1.77905864e+02] [-7.65548269e-03 2.52114395e-06 -9.99970696e-01 2.91400867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.96762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.46, Y:-177.88, Z:2.91 [[-9.99865065e-01 1.50539419e-02 6.57505801e-03 1.44643314e+01] [ 1.50535848e-02 9.99886683e-01 -1.03800056e-04 -1.77879509e+02] [-6.57587555e-03 -4.80785602e-06 -9.99978379e-01 2.91198938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.48, Y:-177.13, Z:1.95 [[-9.96363920e-01 -8.49305232e-02 6.76350527e-03 1.44801070e+01] [ 8.49286960e-02 -9.96386876e-01 -5.57428109e-04 -1.77132374e+02] [ 6.78641055e-03 1.90144269e-05 9.99976972e-01 1.94941171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.02762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.38, Y:-177.88, Z:2.91 [[-9.99943799e-01 7.86158092e-03 7.11299864e-03 1.43796345e+01] [ 7.86125145e-03 9.99969097e-01 -7.42767591e-05 -1.77884427e+02] [-7.11336276e-03 -1.83555138e-05 -9.99974700e-01 2.91172834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.057628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.38, Y:-177.86, Z:2.91 [[-9.97926670e-01 -6.38705672e-02 7.93174842e-03 1.43752471e+01] [-6.38687516e-02 9.97958191e-01 4.82252728e-04 -1.77858823e+02] [-7.94635506e-03 -2.53380112e-05 -9.99968427e-01 2.91249063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.08762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.37, Y:-177.83, Z:2.91 [[-9.90721385e-01 -1.35611531e-01 8.98055037e-03 1.43737247e+01] [-1.35606283e-01 9.90762086e-01 1.19350999e-03 -1.77832720e+02] [-9.05944254e-03 -3.53831856e-05 -9.99958962e-01 2.91354783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.27, Y:-177.08, Z:1.94 [[-9.98246690e-01 5.81534177e-02 1.10329558e-02 1.42721283e+01] [-5.81478513e-02 -9.98307641e-01 8.24904151e-04 -1.77077959e+02] [ 1.10622551e-02 1.81915164e-04 9.99938795e-01 1.94487760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.14762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.26, Y:-177.84, Z:2.92 [[-9.89118291e-01 -1.46650972e-01 1.17685941e-02 1.42589110e+01] [-1.46641794e-01 9.89188295e-01 1.64372559e-03 -1.77842958e+02] [-1.18824095e-02 -9.99286950e-05 -9.99929397e-01 2.91710339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.177628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.24, Y:-177.82, Z:2.92 [[-9.75797243e-01 -2.18289531e-01 1.30161745e-02 1.42397778e+01] [-2.18271852e-01 9.75884043e-01 2.78104016e-03 -1.77815932e+02] [-1.33093489e-02 -1.27333191e-04 -9.99911419e-01 2.91854809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.207628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.20, Y:-177.79, Z:2.92 [[-9.57459937e-01 -2.88166657e-01 1.51804478e-02 1.42034952e+01] [-2.88132874e-01 9.57580261e-01 4.41481801e-03 -1.77793950e+02] [-1.58087005e-02 -1.46974692e-04 -9.99875024e-01 2.92098912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.15, Y:-177.79, Z:2.92 [[-9.34145976e-01 -3.56568221e-01 1.51788890e-02 1.41459254e+01] [-3.56523387e-01 9.34269280e-01 5.65569712e-03 -1.77785012e+02] [-1.61978115e-02 -1.28382203e-04 -9.99868799e-01 2.91933918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.08, Y:-177.78, Z:2.92 [[-9.05818110e-01 -4.23422015e-01 1.43995998e-02 1.40823793e+01] [-4.23370322e-01 9.05932551e-01 6.61690225e-03 -1.77782270e+02] [-1.58468083e-02 -1.02653331e-04 -9.99874426e-01 2.91782214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.29762800000003 meters Centerline goodness [0,1] 0.9999337382661513 Centerline is valid? [True, True] Translation: X:14.01, Y:-177.79, Z:2.92 [[-8.73824080e-01 -4.86074174e-01 1.27817977e-02 1.40088918e+01] [-4.86022732e-01 8.73917557e-01 7.07157636e-03 -1.77791063e+02] [-1.46075481e-02 -3.29305340e-05 -9.99893304e-01 2.91892906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.93, Y:-177.81, Z:2.92 [[-8.36268264e-01 -5.48208203e-01 1.10975763e-02 1.39269464e+01] [-5.48159895e-01 8.36341895e-01 7.27759638e-03 -1.77810526e+02] [-1.32710060e-02 2.77664230e-06 -9.99911936e-01 2.91735499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.35762800000003 meters Centerline goodness [0,1] 0.999845194391614 Centerline is valid? [True, True] Translation: X:13.85, Y:-177.84, Z:2.92 [[-7.96347285e-01 -6.04749257e-01 1.04564964e-02 1.38457684e+01] [-6.04695694e-01 7.96415927e-01 8.04915404e-03 -1.77841108e+02] [-1.31954402e-02 8.69236280e-05 -9.99912933e-01 2.91995106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.76, Y:-177.88, Z:2.92 [[-7.49931045e-01 -6.61455563e-01 8.94243936e-03 1.37593598e+01] [-6.61406778e-01 7.49984351e-01 8.03416549e-03 -1.77880093e+02] [-1.20209330e-02 1.10480113e-04 -9.99927740e-01 2.91618317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.41762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.67, Y:-177.93, Z:2.92 [[-6.98754176e-01 -7.15315766e-01 8.12141276e-03 1.36701310e+01] [-7.15265288e-01 6.98801358e-01 8.49883124e-03 -1.77931041e+02] [-1.17546022e-02 1.29629179e-04 -9.99930904e-01 2.91514786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.58, Y:-177.99, Z:2.91 [[-6.42796036e-01 -7.66001286e-01 7.43548146e-03 1.35820885e+01] [-7.65947507e-01 6.42839024e-01 9.07776025e-03 -1.77989286e+02] [-1.17333937e-02 1.39959819e-04 -9.99931152e-01 2.91406067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.47762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.50, Y:-178.05, Z:2.91 [[-5.82593331e-01 -8.12739409e-01 6.29790534e-03 1.34969109e+01] [-8.12689389e-01 5.82627354e-01 9.01793440e-03 -1.78054299e+02] [-1.09985626e-02 1.35547594e-04 -9.99939505e-01 2.91347487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.41, Y:-178.13, Z:2.91 [[-5.18093279e-01 -8.55307412e-01 5.34657546e-03 1.34126602e+01] [-8.55259385e-01 5.18120851e-01 9.06463988e-03 -1.78132724e+02] [-1.05232259e-02 1.23620159e-04 -9.99944622e-01 2.91331892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.53762800000004 meters Centerline goodness [0,1] 0.9999338069811571 Centerline is valid? [True, True] Translation: X:13.33, Y:-178.22, Z:2.91 [[-4.50147982e-01 -8.92941581e-01 4.70396914e-03 1.33338481e+01] [-8.92890086e-01 4.50172544e-01 9.59032237e-03 -1.78217940e+02] [-1.06811954e-02 1.16936855e-04 -9.99942948e-01 2.91395569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.26, Y:-178.31, Z:2.91 [[-3.77314166e-01 -9.26076805e-01 3.97132878e-03 1.32599990e+01] [-9.26023133e-01 3.77335056e-01 9.97060488e-03 -1.78313026e+02] [-1.07320675e-02 8.45081427e-05 -9.99942406e-01 2.91336007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.59762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.20, Y:-178.41, Z:2.91 [[-3.03640694e-01 -9.52780608e-01 3.38261280e-03 1.31964282e+01] [-9.52718700e-01 3.03659525e-01 1.08614381e-02 -1.78408515e+02] [-1.13757302e-02 7.52961336e-05 -9.99935291e-01 2.91331293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.627628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.14, Y:-178.51, Z:2.91 [[-2.28298289e-01 -9.73587654e-01 2.64029147e-03 1.31392253e+01] [-9.73519110e-01 2.28313547e-01 1.15527820e-02 -1.78514207e+02] [-1.18504603e-02 6.71061689e-05 -9.99929779e-01 2.91330128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.65762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.09, Y:-178.62, Z:2.91 [[-1.51117642e-01 -9.88513994e-01 1.88194558e-03 1.30906980e+01] [-9.88432705e-01 1.51129350e-01 1.26770340e-02 -1.78624683e+02] [-1.28158427e-02 5.55469202e-05 -9.99917872e-01 2.91421199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.05, Y:-178.74, Z:2.91 [[-7.43007747e-02 -9.97235474e-01 8.96904475e-04 1.30502446e+01] [-9.97153524e-01 7.43061671e-02 1.27845192e-02 -1.78739396e+02] [-1.28158216e-02 5.55482241e-05 -9.99917872e-01 2.91421093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.71762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.02, Y:-178.86, Z:2.92 [[ 3.07689494e-03 -9.99995262e-01 -9.69259821e-05 1.30186455e+01] [-9.99907607e-01 -3.07790856e-03 1.32402631e-02 -1.78857657e+02] [-1.32404987e-02 5.61781282e-05 -9.99912339e-01 2.91508652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.00, Y:-178.98, Z:2.92 [[ 8.10023535e-02 -9.96713233e-01 -1.16169992e-03 1.29952792e+01] [-9.96619307e-01 -8.10106683e-02 1.36831446e-02 -1.78978307e+02] [-1.37322814e-02 4.94056529e-05 -9.99905707e-01 2.91611746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.77762800000005 meters Centerline goodness [0,1] 0.9999779755087658 Centerline is valid? [True, True] Translation: X:12.98, Y:-179.10, Z:2.92 [[ 1.58857710e-01 -9.87298823e-01 -2.29414050e-03 1.29815284e+01] [-9.87199051e-01 -1.58874270e-01 1.40356765e-02 -1.79099882e+02] [-1.42218868e-02 3.50979044e-05 -9.99898863e-01 2.91642855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.807628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.98, Y:-179.22, Z:2.91 [[ 2.35296685e-01 -9.71918300e-01 -3.20754743e-03 1.29783561e+01] [-9.71829392e-01 -2.35318545e-01 1.31459434e-02 -1.79222062e+02] [-1.35315783e-02 2.39919689e-05 -9.99908444e-01 2.91436402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.83762800000005 meters Centerline goodness [0,1] 0.9999558683995675 Centerline is valid? [True, True] Translation: X:12.98, Y:-179.34, Z:2.91 [[ 3.10083724e-01 -9.50700702e-01 -4.03218051e-03 1.29838516e+01] [-9.50621055e-01 -3.10109939e-01 1.23058795e-02 -1.79341994e+02] [-1.29496276e-02 1.72227347e-05 -9.99916150e-01 2.91429498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.00, Y:-179.46, Z:2.91 [[ 3.84064765e-01 -9.23298306e-01 -3.80714373e-03 1.29981413e+01] [-9.23252842e-01 -3.84083634e-01 9.16257077e-03 -1.79463933e+02] [-9.92204767e-03 -4.06431548e-06 -9.99950775e-01 2.91104410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.89762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.02, Y:-179.58, Z:2.91 [[ 4.54248848e-01 -8.90865200e-01 -4.14491386e-03 1.30195244e+01] [-8.90828000e-01 -4.54267758e-01 8.14116122e-03 -1.79578069e+02] [-9.13557794e-03 -5.70778168e-06 -9.99958270e-01 2.91012584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.927628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.05, Y:-179.69, Z:2.91 [[ 5.21643450e-01 -8.53149784e-01 -4.85356551e-03 1.30520302e+01] [-8.53112715e-01 -5.21666029e-01 7.95300196e-03 -1.79693709e+02] [-9.31704215e-03 -7.99293651e-06 -9.99956595e-01 2.91094006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.957628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.09, Y:-179.80, Z:2.91 [[ 5.85750344e-01 -8.10470339e-01 -5.86219438e-03 1.30901435e+01] [-8.10429595e-01 -5.85779677e-01 8.12654390e-03 -1.79801663e+02] [-1.00202771e-02 -9.23006871e-06 -9.99949796e-01 2.91167525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.13, Y:-179.90, Z:2.91 [[ 6.46178759e-01 -7.63150120e-01 -7.40981156e-03 1.31344775e+01] [-7.63099754e-01 -6.46221242e-01 8.76765556e-03 -1.79902380e+02] [-1.14794150e-02 -1.10474176e-05 -9.99934109e-01 2.91307907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.19, Y:-180.00, Z:2.91 [[ 7.02565910e-01 -7.11564488e-01 -8.78182962e-03 1.31872282e+01] [-7.11508726e-01 -7.02620793e-01 8.90807884e-03 -1.79999121e+02] [-1.25089687e-02 -1.01641130e-05 -9.99921760e-01 2.91387633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.04762800000003 meters Centerline goodness [0,1] 0.999933604815864 Centerline is valid? [True, True] Translation: X:13.24, Y:-180.09, Z:2.92 [[ 7.54712079e-01 -6.55972056e-01 -1.05043048e-02 1.32445580e+01] [-6.55908367e-01 -7.54785176e-01 9.14071509e-03 -1.80087398e+02] [-1.39245472e-02 -8.74666272e-06 -9.99903049e-01 2.91542231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.077628 meters Centerline goodness [0,1] 0.9998894710082454 Centerline is valid? [True, True] Translation: X:13.24, Y:-180.09, Z:2.92 [[ 8.03945987e-01 -5.94597982e-01 -1.11395753e-02 1.32405307e+01] [-5.94540655e-01 -8.04023158e-01 8.25650010e-03 -1.80093400e+02] [-1.38657748e-02 -1.48497132e-05 -9.99903865e-01 2.91533934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.24, Y:-180.10, Z:2.91 [[ 8.48571414e-01 -5.28974495e-01 -1.06084589e-02 1.32366335e+01] [-5.28932754e-01 -8.48637722e-01 6.64526275e-03 -1.80100139e+02] [-1.25179129e-02 -2.78186240e-05 -9.99921648e-01 2.91357082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.23, Y:-180.11, Z:2.91 [[ 8.88446411e-01 -4.58848098e-01 -1.10180434e-02 1.32317996e+01] [-4.58812009e-01 -8.88514727e-01 5.75506645e-03 -1.80107066e+02] [-1.24303951e-02 -5.78575113e-05 -9.99922738e-01 2.91395427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.16762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.23, Y:-180.11, Z:2.91 [[ 9.22144497e-01 -3.86674390e-01 -1.15083735e-02 1.32287467e+01] [-3.86643251e-01 -9.22216304e-01 4.90776553e-03 -1.80114685e+02] [-1.25109169e-02 -7.60340498e-05 -9.99921733e-01 2.91336968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.23, Y:-180.12, Z:2.91 [[ 9.50113091e-01 -3.11686776e-01 -1.16819564e-02 1.32255450e+01] [-3.11661963e-01 -9.50184900e-01 3.93408409e-03 -1.80121621e+02] [-1.23262205e-02 -9.70033465e-05 -9.99924025e-01 2.91317206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.22762800000004 meters Centerline goodness [0,1] 0.9998231848823075 Centerline is valid? [True, True] Translation: X:13.23, Y:-180.12, Z:2.91 [[ 9.71382382e-01 -2.37187209e-01 -1.25895520e-02 1.32257653e+01] [-2.37166054e-01 -9.71463957e-01 3.16912712e-03 -1.80124950e+02] [-1.29819724e-02 -9.26198738e-05 -9.99915726e-01 2.91440062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.23, Y:-180.13, Z:2.91 [[ 9.86785804e-01 -1.61636140e-01 -1.12931903e-02 1.32252993e+01] [-1.61624762e-01 -9.86850421e-01 1.91901285e-03 -1.80126673e+02] [-1.14548714e-02 -6.83954507e-05 -9.99934389e-01 2.91166504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.28762800000004 meters Centerline goodness [0,1] 0.9998893609488405 Centerline is valid? [True, True] Translation: X:13.22, Y:-180.13, Z:2.91 [[ 9.96205006e-01 -8.61697391e-02 -1.22621940e-02 1.32219009e+01] [-8.61626597e-02 -9.96280470e-01 1.10544324e-03 -1.80126573e+02] [-1.23118402e-02 -4.47048411e-05 -9.99924205e-01 2.91278294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.22, Y:-180.12, Z:2.91 [[ 9.99851548e-01 -1.36832034e-02 -1.04714645e-02 1.32174129e+01] [-1.36826869e-02 -9.99906380e-01 1.20972744e-04 -1.80124325e+02] [-1.04721395e-02 2.23229843e-05 -9.99945165e-01 2.91129533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.34762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.21, Y:-180.12, Z:2.91 [[ 9.98040210e-01 6.17093757e-02 -1.03774898e-02 1.32134966e+01] [ 6.17054905e-02 -9.98094159e-01 -6.94461533e-04 -1.80124881e+02] [-1.04005667e-02 5.27524387e-05 -9.99945911e-01 2.91102427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.21, Y:-180.12, Z:2.91 [[ 9.90966069e-01 1.33830727e-01 -8.69409181e-03 1.32088255e+01] [ 1.33824725e-01 -9.91004201e-01 -1.27114922e-03 -1.80124021e+02] [-8.78600033e-03 9.61812956e-05 -9.99961398e-01 2.91035217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.40762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.21, Y:-180.13, Z:2.91 [[ 9.77878779e-01 2.09010561e-01 -8.22667537e-03 1.32051384e+01] [ 2.09002223e-01 -9.77913377e-01 -1.87015324e-03 -1.80125227e+02] [-8.43585767e-03 1.09389736e-04 -9.99964412e-01 2.91048995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.20, Y:-180.13, Z:2.91 [[ 9.58949800e-01 2.83464123e-01 -7.96060694e-03 1.32009053e+01] [ 2.83453308e-01 -9.58982834e-01 -2.47911665e-03 -1.80126700e+02] [-8.33682603e-03 1.20888046e-04 -9.99965241e-01 2.91070490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.46762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.20, Y:-180.13, Z:2.91 [[ 9.34357464e-01 3.56248665e-01 -7.93844749e-03 1.31956446e+01] [ 3.56234561e-01 -9.34391176e-01 -3.17289880e-03 -1.80127541e+02] [-8.54795625e-03 1.36672315e-04 -9.99963456e-01 2.91079692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.19, Y:-180.13, Z:2.91 [[ 9.03607987e-01 4.28294651e-01 -7.50318787e-03 1.31901835e+01] [ 4.28278650e-01 -9.03639128e-01 -3.70458197e-03 -1.80128224e+02] [-8.36682678e-03 1.34034690e-04 -9.99964989e-01 2.91089720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.52762800000005 meters Centerline goodness [0,1] 0.999845668805256 Centerline is valid? [True, True] Translation: X:13.19, Y:-180.14, Z:2.91 [[ 8.67517931e-01 4.97346522e-01 -7.68608224e-03 1.31924649e+01] [ 4.97325490e-01 -8.67551967e-01 -4.57620475e-03 -1.80141328e+02] [-8.94403528e-03 1.47455065e-04 -9.99959990e-01 2.91087235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.557628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.19, Y:-180.15, Z:2.91 [[ 8.24965510e-01 5.65145709e-01 -6.49885343e-03 1.31919513e+01] [ 5.65127046e-01 -8.24991099e-01 -4.59438173e-03 -1.80149462e+02] [-7.95799135e-03 1.17528627e-04 -9.99968328e-01 2.91120465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.58762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.20, Y:-180.16, Z:2.91 [[ 7.77539994e-01 6.28804261e-01 -6.06286652e-03 1.31957796e+01] [ 6.28784050e-01 -7.77563624e-01 -5.04273247e-03 -1.80161407e+02] [-7.88515612e-03 1.08692411e-04 -9.99968906e-01 2.91006590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.20, Y:-180.17, Z:2.91 [[ 7.24012945e-01 6.89761272e-01 -5.88583377e-03 1.32025661e+01] [ 6.89737461e-01 -7.24036863e-01 -5.73199552e-03 -1.80173959e+02] [-8.21526914e-03 9.03589223e-05 -9.99966250e-01 2.91091991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.64762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.21, Y:-180.18, Z:2.91 [[ 6.66419285e-01 7.45555829e-01 -5.64292595e-03 1.32073778e+01] [ 7.45528101e-01 -6.66443171e-01 -6.43045506e-03 -1.80183513e+02] [-8.55495271e-03 7.84193986e-05 -9.99963403e-01 2.91155841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.677628 meters Centerline goodness [0,1] 0.9999561162918267 Centerline is valid? [True, True] Translation: X:13.21, Y:-180.19, Z:2.91 [[ 6.04782163e-01 7.96370599e-01 -5.69250755e-03 1.32106856e+01] [ 7.96334188e-01 -6.04808948e-01 -7.61563890e-03 -1.80191628e+02] [-9.50775041e-03 7.26641871e-05 -9.99954798e-01 2.91320295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.707628 meters Centerline goodness [0,1] 0.9998683488754799 Centerline is valid? [True, True] Translation: X:13.21, Y:-180.20, Z:2.91 [[ 5.39072452e-01 8.42241719e-01 -5.45689976e-03 1.32143326e+01] [ 8.42197438e-01 -5.39100067e-01 -8.63671522e-03 -1.80198857e+02] [-1.02160169e-02 6.00282508e-05 -9.99947813e-01 2.91355981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.22, Y:-180.21, Z:2.91 [[ 4.70131188e-01 8.82586315e-01 -4.24988845e-03 1.32213677e+01] [ 8.82549481e-01 -4.70150395e-01 -8.06343083e-03 -1.80206823e+02] [-9.11476044e-03 4.01334750e-05 -9.99958459e-01 2.91088817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.767628 meters Centerline goodness [0,1] 0.999846413761327 Centerline is valid? [True, True] Translation: X:13.23, Y:-180.22, Z:2.91 [[ 3.99236159e-01 9.16841099e-01 -3.59010625e-03 1.32275506e+01] [ 9.16803212e-01 -3.99252299e-01 -8.33507588e-03 -1.80215202e+02] [-9.07529831e-03 3.62427346e-05 -9.99958818e-01 2.91300025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.23, Y:-180.22, Z:2.91 [[ 3.24338759e-01 9.45939184e-01 -1.85196998e-03 1.32335862e+01] [ 9.45923562e-01 -3.24344046e-01 -5.43646702e-03 -1.80222777e+02] [-5.74324261e-03 1.14349257e-05 -9.99983507e-01 2.90924893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.24, Y:-180.23, Z:2.91 [[ 2.48338620e-01 9.68672673e-01 -1.08759563e-03 1.32420666e+01] [ 9.68663304e-01 -2.48341001e-01 -4.26046708e-03 -1.80228908e+02] [-4.39709262e-03 4.52453783e-06 -9.99990333e-01 2.90800024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.85762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.25, Y:-180.23, Z:2.91 [[ 1.70297294e-01 9.85392688e-01 -2.87759177e-04 1.32513919e+01] [ 9.85391291e-01 -1.70297538e-01 -1.65904760e-03 -1.80234475e+02] [-1.68381806e-03 -1.02406903e-06 -9.99998582e-01 2.90617883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.26, Y:-180.24, Z:2.91 [[ 9.18450204e-02 9.95773312e-01 -5.66135652e-05 1.32595656e+01] [ 9.95773130e-01 -9.18450378e-02 -6.01483726e-04 -1.80239288e+02] [-6.04141118e-04 -1.13098196e-06 -9.99999818e-01 2.90544162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.91762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.27, Y:-180.24, Z:2.90 [[ 1.25747961e-02 9.99920934e-01 4.48546942e-06 1.32670935e+01] [ 9.99920876e-01 -1.25747969e-02 3.40433469e-04 -1.80243638e+02] [ 3.40462956e-04 2.04233041e-07 -9.99999942e-01 2.90415253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.27, Y:-180.25, Z:2.90 [[-6.67151445e-02 9.97772063e-01 -2.60186177e-05 1.32746087e+01] [ 9.97771983e-01 6.67151496e-02 3.99580437e-04 -1.80247686e+02] [ 4.00426033e-04 6.97418795e-07 -9.99999920e-01 2.90349511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.97762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.28, Y:-180.25, Z:2.90 [[-1.45729064e-01 9.89324537e-01 2.33798219e-05 1.32838657e+01] [ 9.89324523e-01 1.45729066e-01 -1.66695345e-04 -1.80250742e+02] [-1.68322915e-04 -1.16212548e-06 -9.99999986e-01 2.90460601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.29, Y:-180.25, Z:2.91 [[-2.23383110e-01 9.74730706e-01 1.90428480e-04 1.32943134e+01] [ 9.74730335e-01 2.23383191e-01 -8.51217234e-04 -1.80254344e+02] [-8.72246097e-04 -4.53113649e-06 -9.99999620e-01 2.90601417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.03762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.31, Y:-180.26, Z:2.91 [[-2.99290470e-01 9.54161945e-01 4.43969276e-04 1.33051769e+01] [ 9.54160856e-01 2.99290799e-01 -1.44164099e-03 -1.80256448e+02] [-1.50843489e-03 -7.85130489e-06 -9.99998862e-01 2.90739420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.31, Y:-180.26, Z:2.91 [[-3.71817031e-01 9.28305196e-01 1.24831029e-03 1.33129478e+01] [ 9.28299852e-01 3.71819126e-01 -3.15003410e-03 -1.80259755e+02] [-3.38833866e-03 -1.24300652e-05 -9.99994260e-01 2.90962106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.09762800000004 meters Centerline goodness [0,1] 0.9998456143446329 Centerline is valid? [True, True] Translation: X:13.32, Y:-180.26, Z:2.91 [[-4.41576658e-01 8.97220871e-01 2.18255417e-03 1.33186402e+01] [ 8.97209823e-01 4.41582052e-01 -4.45254514e-03 -1.80262483e+02] [-4.95869318e-03 -7.93095692e-06 -9.99987706e-01 2.91260539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.32, Y:-180.27, Z:2.91 [[-5.09673352e-01 8.60363681e-01 2.72227178e-03 1.33246400e+01] [ 8.60351373e-01 5.09680622e-01 -4.60188468e-03 -1.80265755e+02] [-5.34678362e-03 -3.34772396e-06 -9.99985706e-01 2.91084711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.15762800000005 meters Centerline goodness [0,1] 0.9998673270829648 Centerline is valid? [True, True] Translation: X:13.33, Y:-180.27, Z:2.91 [[-5.72771591e-01 8.19707513e-01 3.50693672e-03 1.33312552e+01] [ 8.19692325e-01 5.72782326e-01 -4.98987479e-03 -1.80268019e+02] [-6.09894922e-03 1.65505886e-05 -9.99981401e-01 2.91234375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.34, Y:-180.27, Z:2.91 [[-6.35483010e-01 7.72107289e-01 3.41726984e-03 1.33400972e+01] [ 7.72096234e-01 6.35492198e-01 -4.13175359e-03 -1.80267660e+02] [-5.36180539e-03 1.28019643e-05 -9.99985625e-01 2.90980179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.21762800000005 meters Centerline goodness [0,1] 0.9998897998765759 Centerline is valid? [True, True] Translation: X:13.35, Y:-180.26, Z:2.91 [[-6.94084086e-01 7.19886219e-01 3.33357889e-03 1.33542334e+01] [ 7.19877991e-01 6.94092091e-01 -3.44198847e-03 -1.80261368e+02] [-4.79165081e-03 1.07406456e-05 -9.99988520e-01 2.91164828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.247628 meters Centerline goodness [0,1] 0.999889918760045 Centerline is valid? [True, True] Translation: X:13.37, Y:-180.26, Z:2.91 [[-7.48932023e-01 6.62640839e-01 2.81853832e-03 1.33662230e+01] [ 6.62636172e-01 7.48937326e-01 -2.48695083e-03 -1.80255585e+02] [-3.75886374e-03 5.10832475e-06 -9.99992935e-01 2.91136464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.27762800000005 meters Centerline goodness [0,1] 0.9998460861917327 Centerline is valid? [True, True] Translation: X:13.39, Y:-180.24, Z:2.91 [[-7.94350019e-01 6.07456388e-01 2.18721403e-03 1.33883703e+01] [ 6.07454092e-01 7.94353030e-01 -1.67046716e-03 -1.80235827e+02] [-2.75215604e-03 1.69648957e-06 -9.99996213e-01 2.91098881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.307628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.41, Y:-180.21, Z:2.91 [[-8.36380878e-01 5.48148050e-01 8.61270311e-04 1.34080571e+01] [ 5.48147757e-01 8.36381322e-01 -5.66326012e-04 -1.80214552e+02] [-1.03078090e-03 -1.56085803e-06 -9.99999469e-01 2.90662365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.33762800000005 meters Centerline goodness [0,1] 0.9998460421844415 Centerline is valid? [True, True] Translation: X:13.42, Y:-180.19, Z:2.91 [[-8.72895563e-01 4.87905349e-01 1.30664005e-03 1.34232448e+01] [ 4.87904800e-01 8.72896541e-01 -7.32110700e-04 -1.80191281e+02] [-1.49776230e-03 -1.54023184e-06 -9.99998878e-01 2.90901865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.44, Y:-180.17, Z:2.91 [[-9.05545015e-01 4.24249315e-01 8.62717037e-04 1.34384006e+01] [ 4.24249120e-01 9.05545426e-01 -4.06140261e-04 -1.80168268e+02] [-9.53534194e-04 -1.77134499e-06 -9.99999545e-01 2.90665195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.39762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.46, Y:-180.15, Z:2.91 [[-9.33185153e-01 3.59394592e-01 9.98424971e-04 1.34550402e+01] [ 3.59394385e-01 9.33185687e-01 -3.86161035e-04 -1.80145912e+02] [-1.07050008e-03 -1.53141721e-06 -9.99999427e-01 2.90684672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.427628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.46, Y:-180.12, Z:2.91 [[-9.55786146e-01 2.94059764e-01 1.30313837e-03 1.34648186e+01] [ 2.94059491e-01 9.55787034e-01 -4.00580450e-04 -1.80120963e+02] [-1.36331735e-03 3.30960555e-07 -9.99999071e-01 2.90766687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.48, Y:-180.10, Z:2.91 [[-9.74028970e-01 2.26418006e-01 1.56598103e-03 1.34772555e+01] [ 2.26417717e-01 9.74030229e-01 -3.62035935e-04 -1.80095562e+02] [-1.60728431e-03 1.93235937e-06 -9.99998708e-01 2.90893722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.49, Y:-180.07, Z:2.91 [[-9.87458243e-01 1.57839974e-01 3.57235946e-03 1.34872802e+01] [ 1.57838974e-01 9.87464704e-01 -5.62023491e-04 -1.80069832e+02] [-3.61628865e-03 8.88282226e-06 -9.99993461e-01 2.91048226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.49, Y:-180.04, Z:2.91 [[-9.96113688e-01 8.79840216e-02 4.04144109e-03 1.34901557e+01] [ 8.79833492e-02 9.96121886e-01 -3.44225693e-04 -1.80042951e+02] [-4.05605428e-03 1.26915977e-05 -9.99991774e-01 2.91050065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.49, Y:-180.02, Z:2.91 [[-9.99837217e-01 1.73766909e-02 4.85694445e-03 1.34902165e+01] [ 1.73765691e-02 9.99849014e-01 -6.72762338e-05 -1.80016213e+02] [-4.85738015e-03 1.71317482e-05 -9.99988203e-01 2.91066135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.51, Y:-179.25, Z:1.95 [[-9.96980065e-01 -7.75075735e-02 4.82972501e-03 1.35062223e+01] [ 7.75065773e-02 -9.96991763e-01 -3.93381324e-04 -1.79249040e+02] [ 4.84568609e-03 -1.78578833e-05 9.99988259e-01 1.95003941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.60762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.40, Y:-180.02, Z:2.91 [[-9.99899550e-01 1.30703094e-02 5.48247503e-03 1.34023874e+01] [ 1.30702644e-02 9.99914580e-01 -4.40460469e-05 -1.80016938e+02] [-5.48258240e-03 2.76157758e-05 -9.99984970e-01 2.91077504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.42, Y:-179.24, Z:1.95 [[-9.97587121e-01 -6.91604840e-02 6.06333275e-03 1.34177120e+01] [ 6.91592550e-02 -9.97605547e-01 -4.12374668e-04 -1.79243802e+02] [ 6.07733441e-03 7.95591752e-06 9.99981533e-01 1.94968606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.66762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.31, Y:-180.02, Z:2.91 [[-9.99933999e-01 9.51178687e-03 6.44383618e-03 1.33148639e+01] [ 9.51189431e-03 9.99954761e-01 -1.39728157e-05 -1.80018096e+02] [-6.44367757e-03 4.73211953e-05 -9.99979238e-01 2.91160485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.32, Y:-179.24, Z:1.95 [[-9.98200121e-01 -5.96632723e-02 6.06727891e-03 1.33246831e+01] [ 5.96617582e-02 -9.98218558e-01 -4.30412199e-04 -1.79241037e+02] [ 6.08215020e-03 -6.76529818e-05 9.99981501e-01 1.94879761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.72762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.22, Y:-180.02, Z:2.91 [[-9.99960541e-01 6.96717396e-03 5.51137051e-03 1.32243323e+01] [ 6.96739701e-03 9.99975727e-01 2.12731304e-05 -1.80017883e+02] [-5.51108852e-03 5.96721974e-05 -9.99984812e-01 2.91166634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.23, Y:-179.24, Z:1.95 [[-9.98652888e-01 -5.16225871e-02 5.24567094e-03 1.32263441e+01] [ 5.16214884e-02 -9.98666663e-01 -3.44730640e-04 -1.79240475e+02] [ 5.25647258e-03 -7.34769078e-05 9.99986182e-01 1.94966889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.78762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.13, Y:-180.02, Z:2.91 [[-9.99978296e-01 4.25676304e-03 5.02875360e-03 1.31284142e+01] [ 4.25706935e-03 9.99990937e-01 5.02104771e-05 -1.80017164e+02] [-5.02849430e-03 7.16171402e-05 -9.99987355e-01 2.91038133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.13, Y:-179.99, Z:2.91 [[-9.97833385e-01 -6.56110140e-02 4.87143915e-03 1.31259579e+01] [-6.56098595e-02 9.97845273e-01 3.96594957e-04 -1.79990182e+02] [-4.88696353e-03 7.61212498e-05 -9.99988056e-01 2.91023138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.84762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.12, Y:-179.96, Z:2.91 [[-9.90794554e-01 -1.35271162e-01 5.27876515e-03 1.31172003e+01] [-1.35268751e-01 9.90808611e-01 8.12746910e-04 -1.79964168e+02] [-5.34018718e-03 9.12132442e-05 -9.99985737e-01 2.90991567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.877628 meters Centerline goodness [0,1] 0.999911758217516 Centerline is valid? [True, True] Translation: X:13.10, Y:-179.94, Z:2.91 [[-9.78784688e-01 -2.04799399e-01 6.14339736e-03 1.30952933e+01] [-2.04794615e-01 9.78803960e-01 1.40467741e-03 -1.79941094e+02] [-6.30085875e-03 1.16742042e-04 -9.99980143e-01 2.91198689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.90762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.05, Y:-179.92, Z:2.91 [[-9.61062484e-01 -2.76259677e-01 6.28441406e-03 1.30476366e+01] [-2.76252966e-01 9.61083023e-01 1.92907991e-03 -1.79923610e+02] [-6.57277065e-03 1.17878303e-04 -9.99978392e-01 2.91046392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.99, Y:-179.91, Z:2.91 [[-9.37862361e-01 -3.46958739e-01 5.81603840e-03 1.29860097e+01] [-3.46951355e-01 9.37880388e-01 2.26605462e-03 -1.79914166e+02] [-6.24097580e-03 1.07364928e-04 -9.99980519e-01 2.91090367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.96762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.92, Y:-179.91, Z:2.91 [[-9.08316150e-01 -4.18248078e-01 5.50609015e-03 1.29155699e+01] [-4.18239812e-01 9.08332834e-01 2.63099826e-03 -1.79911227e+02] [-6.10177243e-03 8.69121021e-05 -9.99981380e-01 2.91153360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.84, Y:-179.92, Z:2.91 [[-8.73678206e-01 -4.86469444e-01 5.81991999e-03 1.28356526e+01] [-4.86458016e-01 8.73697587e-01 3.33552856e-03 -1.79919329e+02] [-6.70748278e-03 8.30318757e-05 -9.99977501e-01 2.91183262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.02762800000005 meters Centerline goodness [0,1] 0.9998245883307387 Centerline is valid? [True, True] Translation: X:12.75, Y:-179.94, Z:2.92 [[-8.33782978e-01 -5.52064045e-01 5.58894162e-03 1.27517198e+01] [-5.52051056e-01 8.33801706e-01 3.78767230e-03 -1.79936260e+02] [-6.75110675e-03 7.27155683e-05 -9.99977208e-01 2.91500578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.057628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.66, Y:-179.97, Z:2.91 [[-7.86730814e-01 -6.17274504e-01 5.17807938e-03 1.26610837e+01] [-6.17260816e-01 7.86747853e-01 4.11104246e-03 -1.79965360e+02] [-6.61148454e-03 3.80582803e-05 -9.99978143e-01 2.91179535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.08762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.57, Y:-180.01, Z:2.91 [[-7.36368957e-01 -6.76560120e-01 5.21174539e-03 1.25700155e+01] [-6.76542917e-01 7.36387400e-01 4.82483018e-03 -1.80005542e+02] [-7.10215132e-03 2.68857397e-05 -9.99974779e-01 2.91167238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.48, Y:-180.05, Z:2.91 [[-6.81459224e-01 -7.31841023e-01 4.69487285e-03 1.24803747e+01] [-7.31823522e-01 6.81475397e-01 5.06128468e-03 -1.80053808e+02] [-6.90349610e-03 1.32407479e-05 -9.99976171e-01 2.91211903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.14762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.39, Y:-180.11, Z:2.91 [[-6.21169780e-01 -7.83667466e-01 3.66147807e-03 1.23913456e+01] [-7.83653929e-01 6.21180572e-01 4.60621632e-03 -1.80111572e+02] [-5.88418092e-03 -8.08929635e-06 -9.99982688e-01 2.91192672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.177628 meters Centerline goodness [0,1] 0.9998463497080644 Centerline is valid? [True, True] Translation: X:12.31, Y:-180.18, Z:2.91 [[-5.58826940e-01 -8.29277678e-01 3.31412524e-03 1.23055629e+01] [-8.29263230e-01 5.58836767e-01 4.89517634e-03 -1.80182089e+02] [-5.91151551e-03 -1.27257873e-05 -9.99982527e-01 2.91375497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.207628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.23, Y:-180.26, Z:2.91 [[-4.92554839e-01 -8.70279655e-01 1.74722850e-03 1.22267838e+01] [-8.70274267e-01 4.92557938e-01 3.06228255e-03 -1.80257600e+02] [-3.52565347e-03 -1.22259184e-05 -9.99993785e-01 2.90984848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.15, Y:-180.34, Z:2.91 [[-4.23979047e-01 -9.05671336e-01 1.09501939e-03 1.21502951e+01] [-9.05668376e-01 4.23980461e-01 2.31546149e-03 -1.80344322e+02] [-2.56131393e-03 -1.00172712e-05 -9.99996720e-01 2.90960821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.08, Y:-180.44, Z:2.91 [[-3.52899262e-01 -9.35660925e-01 8.62974666e-04 1.20807216e+01] [-9.35658196e-01 3.52900317e-01 2.25991897e-03 -1.80437905e+02] [-2.41906191e-03 -9.92558333e-06 -9.99997074e-01 2.90948692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.29762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.02, Y:-180.54, Z:2.91 [[-2.79824617e-01 -9.60050858e-01 7.30559878e-04 1.20215171e+01] [-9.60047683e-01 2.79825570e-01 2.46918506e-03 -1.80535178e+02] [-2.57497257e-03 -1.04335567e-05 -9.99996685e-01 2.90941952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.97, Y:-180.64, Z:2.91 [[-2.05218113e-01 -9.78716075e-01 6.08824823e-04 1.19675227e+01] [-9.78711925e-01 2.05219016e-01 2.85008123e-03 -1.80641132e+02] [-2.91436275e-03 -1.09758232e-05 -9.99995753e-01 2.90986390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.35762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.92, Y:-180.75, Z:2.91 [[-1.29236512e-01 -9.91613672e-01 4.99965518e-04 1.19211003e+01] [-9.91606650e-01 1.29237478e-01 3.73165568e-03 -1.80754730e+02] [-3.76497508e-03 -1.35029692e-05 -9.99992912e-01 2.91072528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.387628 meters Centerline goodness [0,1] 0.9998229069818922 Centerline is valid? [True, True] Translation: X:11.88, Y:-180.87, Z:2.92 [[-5.23490593e-02 -9.98628795e-01 3.23830082e-04 1.18837377e+01] [-9.98611961e-01 5.23500571e-02 5.79852706e-03 -1.80867612e+02] [-5.80752862e-03 -1.98331565e-05 -9.99983136e-01 2.91562046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.41762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.85, Y:-180.99, Z:2.92 [[ 2.65581246e-02 -9.99647256e-01 -1.73573946e-04 1.18526116e+01] [-9.99614834e-01 -2.65586612e-02 8.05112549e-03 -1.80987960e+02] [-8.05289539e-03 -4.03157025e-05 -9.99967574e-01 2.91586908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.83, Y:-181.11, Z:2.92 [[ 1.05329886e-01 -9.94436979e-01 -8.42109642e-04 1.18290273e+01] [-9.94400775e-01 -1.05333237e-01 8.48579917e-03 -1.81109125e+02] [-8.52729463e-03 -5.64137765e-05 -9.99963640e-01 2.91765001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.47762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.81, Y:-181.23, Z:2.92 [[ 1.82932878e-01 -9.83124098e-01 -1.60345134e-03 1.18147566e+01] [-9.83082862e-01 -1.82939891e-01 9.00463733e-03 -1.81231444e+02] [-9.14601116e-03 -7.09186881e-05 -9.99958172e-01 2.91905724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.81, Y:-181.35, Z:2.92 [[ 2.58921895e-01 -9.65895158e-01 -2.44853099e-03 1.18076341e+01] [-9.65848909e-01 -2.58933459e-01 9.45244037e-03 -1.81347686e+02] [-9.76407298e-03 -8.25327912e-05 -9.99952327e-01 2.92013319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.53762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.82, Y:-181.47, Z:2.92 [[ 3.32148280e-01 -9.43221788e-01 -3.19051976e-03 1.18153273e+01] [-9.43175999e-01 -3.32163594e-01 9.29422205e-03 -1.81469994e+02] [-9.82628724e-03 -7.78382082e-05 -9.99951718e-01 2.91941251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.83, Y:-181.58, Z:2.92 [[ 4.02812745e-01 -9.15274894e-01 -3.70950616e-03 1.18304142e+01] [-9.15234630e-01 -4.02829820e-01 8.58537182e-03 -1.81584303e+02] [-9.35227499e-03 -6.32286873e-05 -9.99956265e-01 2.91816452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.59762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.86, Y:-181.70, Z:2.92 [[ 4.68996503e-01 -8.83191656e-01 -3.84444970e-03 1.18562925e+01] [-8.83161517e-01 -4.69012259e-01 7.29634427e-03 -1.81698017e+02] [-8.24716441e-03 -2.66899185e-05 -9.99965991e-01 2.91660817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.627628 meters Centerline goodness [0,1] 0.999824565250762 Centerline is valid? [True, True] Translation: X:11.89, Y:-181.80, Z:2.92 [[ 5.33267018e-01 -8.45936088e-01 -4.29201171e-03 1.18883224e+01] [-8.45908627e-01 -5.33284290e-01 6.81624761e-03 -1.81804782e+02] [-8.05497226e-03 -4.23030749e-06 -9.99967558e-01 2.91835762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.65762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.93, Y:-181.91, Z:2.92 [[ 5.92409648e-01 -8.05623038e-01 -4.72535896e-03 1.19317677e+01] [-8.05597919e-01 -5.92428493e-01 6.36194063e-03 -1.81910902e+02] [-7.92476322e-03 3.78643362e-05 -9.99968598e-01 2.91585668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.687628 meters Centerline goodness [0,1] 0.9998460117031106 Centerline is valid? [True, True] Translation: X:11.98, Y:-182.01, Z:2.92 [[ 6.49766156e-01 -7.60115701e-01 -5.29760076e-03 1.19763269e+01] [-7.60091273e-01 -6.49787748e-01 6.09417398e-03 -1.82006888e+02] [-8.07459339e-03 6.68721074e-05 -9.99967398e-01 2.91962293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.71762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.03, Y:-182.10, Z:2.92 [[ 7.03868461e-01 -7.10309909e-01 -5.38725721e-03 1.20299873e+01] [-7.10290027e-01 -7.03889072e-01 5.31528179e-03 -1.82101308e+02] [-7.56752881e-03 8.52558612e-05 -9.99971362e-01 2.91693961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.03, Y:-182.11, Z:2.92 [[ 7.55306258e-01 -6.55351124e-01 -5.23086625e-03 1.20264793e+01] [-6.55336293e-01 -7.55324364e-01 4.40998773e-03 -1.82108534e+02] [-6.84109114e-03 9.70851701e-05 -9.99976595e-01 2.91624632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.77762800000005 meters Centerline goodness [0,1] 0.9998456756101325 Centerline is valid? [True, True] Translation: X:12.02, Y:-182.11, Z:2.92 [[ 8.01346749e-01 -5.98176906e-01 -5.27047637e-03 1.20238141e+01] [-5.98164971e-01 -8.01364071e-01 3.78065438e-03 -1.82113661e+02] [-6.48507054e-03 1.22999245e-04 -9.99978964e-01 2.91827594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.807628 meters Centerline goodness [0,1] 0.9998237264234091 Centerline is valid? [True, True] Translation: X:12.02, Y:-182.12, Z:2.92 [[ 8.45071155e-01 -5.34627043e-01 -5.35421654e-03 1.20194590e+01] [-5.34617248e-01 -8.45088107e-01 3.23877345e-03 -1.82120655e+02] [-6.25632060e-03 1.25462489e-04 -9.99980421e-01 2.91815921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.83762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.01, Y:-182.13, Z:2.91 [[ 8.84525939e-01 -4.66461289e-01 -5.26588677e-03 1.20144326e+01] [-4.66453792e-01 -8.84541606e-01 2.64705421e-03 -1.82126775e+02] [-5.89264426e-03 1.14904746e-04 -9.99982632e-01 2.91423269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.01, Y:-182.14, Z:2.91 [[ 9.18812930e-01 -3.94669911e-01 -4.29662283e-03 1.20105541e+01] [-3.94666023e-01 -9.18822972e-01 1.75374195e-03 -1.82135566e+02] [-4.63998494e-03 8.43702693e-05 -9.99989232e-01 2.91321607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.89762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.01, Y:-182.15, Z:2.91 [[ 9.48608896e-01 -3.16425467e-01 -4.01087237e-03 1.20055156e+01] [-3.16422875e-01 -9.48617373e-01 1.28179201e-03 -1.82147272e+02] [-4.21037485e-03 5.32124644e-05 -9.99991135e-01 2.91283283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.927628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.00, Y:-182.16, Z:2.91 [[ 9.71306918e-01 -2.37796037e-01 -3.98936058e-03 1.20024581e+01] [-2.37794187e-01 -9.71315110e-01 9.38814222e-04 -1.82159213e+02] [-4.09817251e-03 3.67700064e-05 -9.99991602e-01 2.91320185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.957628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.00, Y:-182.17, Z:2.91 [[ 9.88089305e-01 -1.53815824e-01 -4.49640066e-03 1.19976930e+01] [-1.53814266e-01 -9.88099536e-01 6.92352556e-04 -1.82169757e+02] [-4.54938618e-03 7.50441116e-06 -9.99989651e-01 2.91326127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.99, Y:-182.18, Z:2.91 [[ 9.97316332e-01 -7.30236522e-02 -5.26120646e-03 1.19939667e+01] [-7.30225995e-02 -9.97330209e-01 3.92163353e-04 -1.82179146e+02] [-5.27579734e-03 -6.92394494e-06 -9.99986083e-01 2.91358251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.99, Y:-182.19, Z:2.91 [[ 9.99950077e-01 7.63457455e-03 -6.44644664e-03 1.19908588e+01] [ 7.63456708e-03 -9.99970856e-01 -2.57671356e-05 -1.82189489e+02] [-6.44645548e-03 -2.34499801e-05 -9.99979221e-01 2.91476804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.99, Y:-182.20, Z:2.92 [[ 9.96064992e-01 8.83497088e-02 -6.99008797e-03 1.19879230e+01] [ 8.83478361e-02 -9.96089518e-01 -5.76845579e-04 -1.82200066e+02] [-7.01371750e-03 -4.29834601e-05 -9.99975403e-01 2.91608243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.99, Y:-182.21, Z:2.92 [[ 9.86058621e-01 1.66264014e-01 -6.68376596e-03 1.19872823e+01] [ 1.66260492e-01 -9.86081272e-01 -1.08308883e-03 -1.82208735e+02] [-6.77081513e-03 -4.32571339e-05 -9.99977077e-01 2.91551382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.99, Y:-182.22, Z:2.91 [[ 9.70101669e-01 2.42628214e-01 -5.85677740e-03 1.19864599e+01] [ 2.42624019e-01 -9.70119348e-01 -1.42709146e-03 -1.82216985e+02] [-6.02802572e-03 -3.65710646e-05 -9.99981831e-01 2.91468666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.99, Y:-182.22, Z:2.91 [[ 9.48956373e-01 3.15385365e-01 -3.72466723e-03 1.19855515e+01] [ 3.15382994e-01 -9.48963683e-01 -1.22322050e-03 -1.82222376e+02] [-3.92035978e-03 -1.39138130e-05 -9.99992315e-01 2.91238434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.16762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.98, Y:-182.23, Z:2.91 [[ 9.22143971e-01 3.86838794e-01 -2.49886620e-03 1.19836148e+01] [ 3.86837386e-01 -9.22147357e-01 -1.04374676e-03 -1.82228804e+02] [-2.70808460e-03 -4.17008429e-06 -9.99996333e-01 2.91134191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.98, Y:-182.24, Z:2.91 [[ 8.90111152e-01 4.55742074e-01 -1.13976120e-03 1.19841808e+01] [ 4.55741699e-01 -8.90111882e-01 -5.84501793e-04 -1.82235567e+02] [-1.28089705e-03 8.34858125e-07 -9.99999180e-01 2.91038380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.22762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.99, Y:-182.24, Z:2.91 [[ 8.52769729e-01 5.22286821e-01 -5.15347647e-04 1.19859277e+01] [ 5.22286724e-01 -8.52769885e-01 -3.17230272e-04 -1.82243342e+02] [-6.05158144e-04 1.36513889e-06 -9.99999817e-01 2.91021950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.99, Y:-182.25, Z:2.91 [[ 8.11691742e-01 5.84085678e-01 6.60988733e-04 1.19856985e+01] [ 5.84085478e-01 -8.11692011e-01 4.83604238e-04 -1.82250071e+02] [ 8.18985583e-04 -6.46364674e-06 -9.99999665e-01 2.91057849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.28762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.99, Y:-182.26, Z:2.91 [[ 7.64519959e-01 6.44598086e-01 1.59376004e-03 1.19888148e+01] [ 6.44596633e-01 -7.64521620e-01 1.36891467e-03 -1.82258806e+02] [ 2.10086378e-03 -1.92302281e-05 -9.99997793e-01 2.90967170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.99, Y:-182.27, Z:2.91 [[ 7.12694198e-01 7.01470651e-01 2.43010122e-03 1.19904791e+01] [ 7.01466400e-01 -7.12698340e-01 2.44238101e-03 -1.82267231e+02] [ 3.44518770e-03 -3.60364206e-05 -9.99994065e-01 2.90819864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.34762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.99, Y:-182.27, Z:2.91 [[ 6.55844487e-01 7.54888095e-01 3.46025791e-03 1.19919737e+01] [ 7.54877121e-01 -6.55853613e-01 4.07074246e-03 -1.82273955e+02] [ 5.34237767e-03 -5.77044733e-05 -9.99985728e-01 2.90577676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.00, Y:-182.28, Z:2.91 [[ 5.93822551e-01 8.04588626e-01 3.45261564e-03 1.19966279e+01] [ 8.04574464e-01 -5.93832585e-01 4.77423478e-03 -1.82283088e+02] [ 5.89157067e-03 -5.71618968e-05 -9.99982643e-01 2.90530069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.40762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.00, Y:-182.29, Z:2.91 [[ 5.27478337e-01 8.49563394e-01 2.94020267e-03 1.20009428e+01] [ 8.49549719e-01 -5.27486529e-01 4.82046615e-03 -1.82292555e+02] [ 5.64620888e-03 -4.48431109e-05 -9.99984059e-01 2.90534409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.01, Y:-182.30, Z:2.91 [[ 4.57184586e-01 8.89368940e-01 2.26791298e-03 1.20050550e+01] [ 8.89357694e-01 -4.57190210e-01 4.47252144e-03 -1.82301780e+02] [ 5.01458926e-03 -2.77820056e-05 -9.99987427e-01 2.90569908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.46762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.01, Y:-182.31, Z:2.91 [[ 3.81395872e-01 9.24411054e-01 1.18026831e-03 1.20147580e+01] [ 9.24406615e-01 -3.81397698e-01 2.86445355e-03 -1.82311507e+02] [ 3.09808414e-03 -1.44292722e-06 -9.99995201e-01 2.90797363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.02, Y:-182.32, Z:2.91 [[ 3.07855418e-01 9.51432675e-01 9.52401354e-04 1.20217661e+01] [ 9.51428107e-01 -3.07856891e-01 2.94808088e-03 -1.82319299e+02] [ 3.09810379e-03 -1.44125240e-06 -9.99995201e-01 2.90797346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.52762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.03, Y:-182.33, Z:2.91 [[ 2.30001213e-01 9.73190246e-01 4.33014648e-04 1.20312679e+01] [ 9.73188550e-01 -2.30001620e-01 1.81708367e-03 -1.82326286e+02] [ 1.86796217e-03 3.47344986e-06 -9.99998255e-01 2.90942503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.557628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.04, Y:-182.33, Z:2.91 [[ 1.50994555e-01 9.88534594e-01 2.69671277e-05 1.20403840e+01] [ 9.88534579e-01 -1.50994558e-01 1.74919000e-04 -1.82333568e+02] [ 1.76985373e-04 2.46121549e-07 -9.99999984e-01 2.91130252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.58762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.05, Y:-182.34, Z:2.91 [[ 7.01725506e-02 9.97534856e-01 -1.58695140e-04 1.20514734e+01] [ 9.97532770e-01 -7.01727284e-02 -2.04009412e-03 -1.82340512e+02] [-2.04620106e-03 -1.51449950e-05 -9.99997906e-01 2.91455781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.06, Y:-182.35, Z:2.92 [[-8.78504614e-03 9.99961411e-01 2.62849079e-06 1.20617996e+01] [ 9.99957032e-01 8.78501545e-03 -2.95931628e-03 -1.82345118e+02] [-2.95922518e-03 -2.33693522e-05 -9.99995621e-01 2.91579763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.64762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.07, Y:-182.35, Z:2.92 [[-8.70678043e-02 9.96202359e-01 2.39977909e-04 1.20722941e+01] [ 9.96197783e-01 8.70681318e-02 -3.01957129e-03 -1.82348532e+02] [-3.02899847e-03 -2.38419816e-05 -9.99995412e-01 2.91625470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.677628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.08, Y:-182.35, Z:2.92 [[-1.63017671e-01 9.86623122e-01 2.34784025e-04 1.20839934e+01] [ 9.86622015e-01 1.63017839e-01 -1.47776051e-03 -1.82351056e+02] [-1.49626667e-03 -9.25798857e-06 -9.99998881e-01 2.91560493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.707628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.09, Y:-182.35, Z:2.91 [[-2.37827690e-01 9.71307361e-01 1.29465651e-05 1.20931366e+01] [ 9.71307360e-01 2.37827690e-01 -5.58626888e-05 -1.82352966e+02] [-5.73388925e-05 -7.10600258e-07 -9.99999998e-01 2.91448853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.10, Y:-182.35, Z:2.91 [[-3.11100531e-01 9.50376897e-01 -4.62862780e-04 1.21011811e+01] [ 9.50375835e-01 3.11100875e-01 1.42031626e-03 -1.82354916e+02] [ 1.49383277e-03 1.96753987e-06 -9.99998884e-01 2.91306740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.11, Y:-182.36, Z:2.91 [[-3.82643742e-01 9.23895531e-01 -9.02289404e-04 1.21092116e+01] [ 9.23892973e-01 3.82644805e-01 2.17432535e-03 -1.82356391e+02] [ 2.35410583e-03 -1.62685097e-06 -9.99997229e-01 2.91193564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.12, Y:-182.36, Z:2.91 [[-4.50632275e-01 8.92708442e-01 -1.47999227e-03 1.21166211e+01] [ 8.92703728e-01 4.50634705e-01 2.90118647e-03 -1.82357042e+02] [ 3.25684953e-03 -1.38263578e-05 -9.99994696e-01 2.91067441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.13, Y:-182.36, Z:2.91 [[-5.17638874e-01 8.55597204e-01 -1.84975600e-03 1.21265073e+01] [ 8.55591888e-01 5.17642178e-01 3.01603534e-03 -1.82357249e+02] [ 3.53802312e-03 -2.14190916e-05 -9.99993741e-01 2.91099322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.85762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.14, Y:-182.36, Z:2.91 [[-5.81288193e-01 8.13695479e-01 -1.92443463e-03 1.21369351e+01] [ 8.13691173e-01 5.81291378e-01 2.64742207e-03 -1.82355332e+02] [ 3.27285262e-03 -2.69802807e-05 -9.99994644e-01 2.91204692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.15, Y:-182.35, Z:2.91 [[-6.40076387e-01 7.68311232e-01 -2.64987595e-04 1.21460106e+01] [ 7.68311169e-01 6.40076442e-01 3.09551453e-04 -1.82353429e+02] [ 4.07444175e-04 -5.45635365e-06 -9.99999917e-01 2.91497185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.91762800000004 meters Centerline goodness [0,1] 0.9999779735682819 Centerline is valid? [True, True] Translation: X:12.16, Y:-182.35, Z:2.92 [[-6.97309407e-01 7.16769142e-01 1.26000587e-03 1.21555372e+01] [ 7.16768033e-01 6.97310545e-01 -1.26113145e-03 -1.82351265e+02] [-1.78255549e-03 2.37331049e-05 -9.99998411e-01 2.91791652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.16, Y:-182.35, Z:2.92 [[-7.50928496e-01 6.60376482e-01 3.04899833e-03 1.21641259e+01] [ 6.60371342e-01 7.50934683e-01 -2.60617015e-03 -1.82348494e+02] [-4.01065207e-03 5.64236886e-05 -9.99991956e-01 2.91910563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.97762800000004 meters Centerline goodness [0,1] 0.9999340151765094 Centerline is valid? [True, True] Translation: X:12.67, Y:-181.77, Z:1.94 [[-7.23338651e-01 -6.90478075e-01 4.60700817e-03 1.26685679e+01] [ 6.90464518e-01 -7.23353320e-01 -4.32720585e-03 -1.81771387e+02] [ 6.32033542e-03 5.09404294e-05 9.99980025e-01 1.93893390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.13, Y:-182.32, Z:2.92 [[-7.56137303e-01 6.54397660e-01 4.48123316e-03 1.21340138e+01] [ 6.54386611e-01 7.56150579e-01 -3.80329239e-03 -1.82319751e+02] [-5.87735269e-03 5.66477353e-05 -9.99982727e-01 2.91943419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.03762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.15, Y:-182.30, Z:2.92 [[-8.02394057e-01 5.96774168e-01 4.93663005e-03 1.21545495e+01] [ 5.96763181e-01 8.02409242e-01 -3.62140758e-03 -1.82296088e+02] [-6.12236007e-03 4.02031381e-05 -9.99981257e-01 2.91946701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.067628 meters Centerline goodness [0,1] 0.9998250945582544 Centerline is valid? [True, True] Translation: X:12.17, Y:-182.27, Z:2.92 [[-8.45903375e-01 5.33300438e-01 6.17447163e-03 1.21722750e+01] [ 5.33286254e-01 8.45925909e-01 -3.88953844e-03 -1.82265867e+02] [-7.29743808e-03 2.58715169e-06 -9.99973373e-01 2.92343395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.09762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.57, Y:-181.65, Z:1.94 [[-8.07156979e-01 -5.90315564e-01 5.01467184e-03 1.25715970e+01] [ 5.90303654e-01 -8.07172553e-01 -3.75034903e-03 -1.81646429e+02] [ 6.26159488e-03 -6.69412849e-05 9.99980394e-01 1.94063545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.14, Y:-182.24, Z:2.92 [[-8.49784859e-01 5.27102847e-01 5.31811924e-03 1.21365674e+01] [ 5.27092369e-01 8.49801500e-01 -3.32354131e-03 -1.82241123e+02] [-6.27119379e-03 -2.11550194e-05 -9.99980336e-01 2.91975062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.15762800000005 meters Centerline goodness [0,1] 0.9999562506835831 Centerline is valid? [True, True] Translation: X:12.15, Y:-182.22, Z:2.92 [[-8.84763702e-01 4.66004455e-01 5.74799197e-03 1.21548330e+01] [ 4.65994480e-01 8.84782373e-01 -3.04914378e-03 -1.82221881e+02] [-6.50663656e-03 -1.92392126e-05 -9.99978831e-01 2.92061254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.17, Y:-182.20, Z:2.92 [[-9.15013356e-01 4.03387441e-01 5.39724777e-03 1.21697523e+01] [ 4.03380360e-01 9.15029274e-01 -2.39023356e-03 -1.82200014e+02] [-5.90282991e-03 -9.95188510e-06 -9.99982578e-01 2.91921365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.21762800000005 meters Centerline goodness [0,1] 0.999890350877193 Centerline is valid? [True, True] Translation: X:12.48, Y:-181.52, Z:1.94 [[-8.85114811e-01 -4.65332576e-01 6.11266967e-03 1.24767303e+01] [ 4.65322018e-01 -8.85135916e-01 -3.13543198e-03 -1.81524596e+02] [ 6.86956210e-03 6.91424995e-05 9.99976402e-01 1.93857463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.247628 meters Centerline goodness [0,1] 0.9998247036395906 Centerline is valid? [True, True] Translation: X:12.13, Y:-182.19, Z:2.92 [[-9.15171171e-01 4.03014081e-01 6.43261005e-03 1.21268361e+01] [ 4.03004207e-01 9.15193778e-01 -2.82110522e-03 -1.82185755e+02] [-7.02402982e-03 1.05747422e-05 -9.99975331e-01 2.92271685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.27762800000005 meters Centerline goodness [0,1] 0.999868556531645 Centerline is valid? [True, True] Translation: X:12.14, Y:-182.16, Z:2.92 [[-9.40717701e-01 3.39149711e-01 5.26125062e-03 1.21361058e+01] [ 3.39144527e-01 9.40732413e-01 -1.87537174e-03 -1.82163442e+02] [-5.58546077e-03 2.01289611e-05 -9.99984401e-01 2.92142691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.307628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.40, Y:-181.46, Z:1.94 [[-9.18946213e-01 -3.94370291e-01 3.15127889e-03 1.24023271e+01] [ 3.94367440e-01 -9.18951606e-01 -1.50633941e-03 -1.81457180e+02] [ 3.48992831e-03 -1.41483106e-04 9.99993900e-01 1.94347331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.33762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.10, Y:-182.15, Z:2.92 [[-9.41713683e-01 3.36409481e-01 2.00035971e-03 1.20988240e+01] [ 3.36408743e-01 9.41715807e-01 -7.04616283e-04 -1.82154069e+02] [-2.12080995e-03 9.39169909e-06 -9.99997751e-01 2.91594710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.367628 meters Centerline goodness [0,1] 0.9998461639891876 Centerline is valid? [True, True] Translation: X:12.11, Y:-182.13, Z:2.92 [[-9.63061526e-01 2.69276995e-01 1.54814860e-03 1.21054476e+01] [ 2.69276660e-01 9.63062770e-01 -4.24868374e-04 -1.82129539e+02] [-1.60537156e-03 7.70590017e-06 -9.99998711e-01 2.91688535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.39762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.11, Y:-182.10, Z:2.91 [[-9.79693331e-01 2.00501589e-01 -2.98577501e-04 1.21148319e+01] [ 2.00501580e-01 9.79693377e-01 5.90886047e-05 -1.82103713e+02] [ 3.04361759e-04 -1.97654881e-06 -9.99999954e-01 2.91395018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.427628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.12, Y:-182.08, Z:2.91 [[-9.91385176e-01 1.30976394e-01 -7.85733489e-04 1.21245992e+01] [ 1.30976357e-01 9.91385487e-01 9.88337793e-05 -1.82077832e+02] [ 7.91909669e-04 -4.93016627e-06 -9.99999686e-01 2.91399289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.13, Y:-182.05, Z:2.91 [[-9.98145250e-01 6.08753601e-02 -4.99947269e-04 1.21273072e+01] [ 6.08753542e-02 9.98145375e-01 2.69045006e-05 -1.82051137e+02] [ 5.00657875e-04 -3.57986762e-06 -9.99999875e-01 2.91409818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.17, Y:-181.28, Z:1.95 [[-9.93570496e-01 -1.13213989e-01 -5.11442795e-04 1.21689094e+01] [ 1.13213973e-01 -9.93570628e-01 6.10605769e-05 -1.81283649e+02] [-5.15067450e-04 2.76551706e-06 9.99999867e-01 1.94632510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.05, Y:-182.05, Z:2.91 [[-9.98231181e-01 5.94500554e-02 -4.47797561e-04 1.20475714e+01] [ 5.94500516e-02 9.98231281e-01 2.17609291e-05 -1.82049198e+02] [ 4.48299221e-04 -4.89915016e-06 -9.99999900e-01 2.91467569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.06, Y:-182.02, Z:2.92 [[-9.99952932e-01 -9.69809917e-03 -2.85297917e-04 1.20553601e+01] [-9.69809769e-03 9.99952972e-01 -6.59577356e-06 -1.82022543e+02] [ 2.85348467e-04 -3.82861603e-06 -9.99999959e-01 2.91514311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.577628 meters Centerline goodness [0,1] 0.9998239475363658 Centerline is valid? [True, True] Translation: X:12.05, Y:-182.00, Z:2.92 [[-9.96927134e-01 -7.83115831e-02 1.89379307e-03 1.20524623e+01] [-7.83113893e-02 9.96928932e-01 1.76376314e-04 -1.81995703e+02] [-1.90178941e-03 2.75287670e-05 -9.99998191e-01 2.91817351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.60762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.04, Y:-181.97, Z:2.92 [[-9.89477548e-01 -1.44685916e-01 4.09107125e-04 1.20428725e+01] [-1.44685900e-01 9.89477633e-01 6.75876244e-05 -1.81970198e+02] [-4.14581327e-04 7.68440417e-06 -9.99999914e-01 2.91501411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.02, Y:-181.95, Z:2.92 [[-9.76971284e-01 -2.13370266e-01 4.89406257e-04 1.20176460e+01] [-2.13370234e-01 9.76971407e-01 1.17692247e-04 -1.81947310e+02] [-5.03247946e-04 1.05572174e-05 -9.99999873e-01 2.91531898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.66762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.97, Y:-181.93, Z:2.92 [[-9.59278999e-01 -2.82458078e-01 1.11183985e-03 1.19671962e+01] [-2.82457855e-01 9.59279643e-01 3.55550821e-04 -1.81932198e+02] [-1.16699354e-03 2.70245366e-05 -9.99999319e-01 2.91581527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.91, Y:-181.92, Z:2.92 [[-9.36379459e-01 -3.50984865e-01 1.77004313e-03 1.19065204e+01] [-3.50984141e-01 9.36381131e-01 7.14471040e-04 -1.81922180e+02] [-1.90820351e-03 4.77589391e-05 -9.99998178e-01 2.91668710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.72762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.83, Y:-181.92, Z:2.92 [[-9.07757624e-01 -4.19491350e-01 1.76142904e-03 1.18323086e+01] [-4.19490454e-01 9.07759332e-01 8.68411166e-04 -1.81922151e+02] [-1.96324462e-03 4.94041902e-05 -9.99998072e-01 2.91671041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.757628 meters Centerline goodness [0,1] 0.999824553708496 Centerline is valid? [True, True] Translation: X:11.75, Y:-181.93, Z:2.92 [[-8.73956163e-01 -4.85994576e-01 3.14590085e-03 1.17500425e+01] [-4.85991042e-01 8.73961820e-01 1.85580381e-03 -1.81932395e+02] [-3.65130782e-03 9.30115469e-05 -9.99993330e-01 2.91909031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.78762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.66, Y:-181.95, Z:2.92 [[-8.34588314e-01 -5.50872160e-01 1.48648631e-03 1.16640604e+01] [-5.50871190e-01 8.34589636e-01 1.03474663e-03 -1.81951382e+02] [-1.81061918e-03 4.47249591e-05 -9.99998360e-01 2.91684540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.57, Y:-181.98, Z:2.92 [[-7.89718135e-01 -6.13465286e-01 2.36879865e-03 1.15719165e+01] [-6.13462253e-01 7.89721684e-01 1.93025604e-03 -1.81978795e+02] [-3.05483674e-03 7.11896447e-05 -9.99995331e-01 2.91863861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.84762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.48, Y:-182.02, Z:2.92 [[-7.40436575e-01 -6.72120907e-01 2.67654017e-03 1.14791564e+01] [-6.72116107e-01 7.40441408e-01 2.54168175e-03 -1.82021409e+02] [-3.69013862e-03 8.30083738e-05 -9.99993188e-01 2.91923448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.877628 meters Centerline goodness [0,1] 0.9998696247365333 Centerline is valid? [True, True] Translation: X:11.39, Y:-182.07, Z:2.92 [[-6.86712466e-01 -7.26921622e-01 3.30817839e-03 1.13895228e+01] [-7.26912421e-01 6.86720426e-01 3.65910781e-03 -1.82069402e+02] [-4.93167826e-03 1.07998991e-04 -9.99987833e-01 2.92086703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.90762800000005 meters Centerline goodness [0,1] 0.9998045560164173 Centerline is valid? [True, True] Translation: X:11.30, Y:-182.13, Z:2.92 [[-6.27495992e-01 -7.78613011e-01 3.24944888e-03 1.12975302e+01] [-7.78601703e-01 6.27504397e-01 4.19761557e-03 -1.82128046e+02] [-5.30736155e-03 1.03960514e-04 -9.99985910e-01 2.92030669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.937628 meters Centerline goodness [0,1] 0.9998916153646059 Centerline is valid? [True, True] Translation: X:11.21, Y:-182.20, Z:2.92 [[-5.65547634e-01 -8.24712256e-01 2.35963946e-03 1.12094244e+01] [-8.24704475e-01 5.65552551e-01 3.58333056e-03 -1.82197654e+02] [-4.28971675e-03 8.05388985e-05 -9.99990796e-01 2.91935782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.96762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.13, Y:-182.28, Z:2.92 [[-5.00073522e-01 -8.65982208e-01 1.13471731e-03 1.11278118e+01] [-8.65979786e-01 5.00074808e-01 2.04873706e-03 -1.82275687e+02] [-2.34161338e-03 4.18769041e-05 -9.99997258e-01 2.91725223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.05, Y:-182.36, Z:2.92 [[-4.32012274e-01 -9.01867405e-01 7.61144664e-04 1.10513046e+01] [-9.01865872e-01 4.32012944e-01 1.66317689e-03 -1.82361563e+02] [-1.82878938e-03 3.20624368e-05 -9.99998327e-01 2.91676679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.02762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.98, Y:-182.45, Z:2.92 [[-3.61990668e-01 -9.32181691e-01 -2.27001040e-04 1.09796115e+01] [-9.32181486e-01 3.61990739e-01 -6.18750891e-04 -1.82452691e+02] [ 6.58960526e-04 -1.23758815e-05 -9.99999783e-01 2.91540303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.057628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.92, Y:-182.55, Z:2.91 [[-2.89670423e-01 -9.57126338e-01 -4.68706093e-04 1.09174232e+01] [-9.57124898e-01 2.89670800e-01 -1.66052736e-03 -1.82553556e+02] [ 1.72510494e-03 -3.23953912e-05 -9.99998512e-01 2.91456416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.08762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.86, Y:-182.66, Z:2.91 [[-2.15938691e-01 -9.76406832e-01 -4.24773690e-04 1.08622751e+01] [-9.76404540e-01 2.15939104e-01 -2.11620236e-03 -1.82657002e+02] [ 2.15799969e-03 -4.22190067e-05 -9.99997671e-01 2.91440101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.82, Y:-182.77, Z:2.91 [[-1.41296895e-01 -9.89967247e-01 -1.93651176e-04 1.08150860e+01] [-9.89965968e-01 1.41297023e-01 -1.59144316e-03 -1.82768247e+02] [ 1.60283894e-03 -3.31579025e-05 -9.99998715e-01 2.91455115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.14762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.78, Y:-182.88, Z:2.92 [[-6.57092808e-02 -9.97838808e-01 -5.83017128e-05 1.07754762e+01] [-9.97837929e-01 6.57093003e-02 -1.32461741e-03 -1.82878366e+02] [ 1.32558562e-03 -2.88639969e-05 -9.99999121e-01 2.91574820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.177628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.75, Y:-183.00, Z:2.92 [[ 1.13526686e-02 -9.99935556e-01 2.97739696e-05 1.07452059e+01] [-9.99935154e-01 -1.13526907e-02 -8.96322940e-04 -1.82997583e+02] [ 8.96603192e-04 -1.95963816e-05 -9.99999598e-01 2.91583832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.207628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.73, Y:-183.12, Z:2.92 [[ 8.79809339e-02 -9.96122156e-01 7.47983494e-05 1.07257365e+01] [-9.96121928e-01 -8.79809644e-02 -6.74817144e-04 -1.83119847e+02] [ 6.78781139e-04 -1.51372334e-05 -9.99999770e-01 2.91602489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.72, Y:-183.24, Z:2.92 [[ 1.64295289e-01 -9.86411201e-01 3.71087587e-06 1.07156912e+01] [-9.86411201e-01 -1.64295289e-01 -1.75824838e-05 -1.83241101e+02] [ 1.79532384e-05 -7.71730267e-07 -1.00000000e+00 2.91659528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.71, Y:-183.36, Z:2.92 [[ 2.38297735e-01 -9.71192115e-01 -2.56343170e-04 1.07112236e+01] [-9.71191651e-01 -2.38297872e-01 9.49772058e-04 -1.83357441e+02] [-9.83497165e-04 2.26298161e-05 -9.99999516e-01 2.91800679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.29762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.72, Y:-183.48, Z:2.92 [[ 3.11826381e-01 -9.50138949e-01 -5.34421599e-04 1.07194720e+01] [-9.50137754e-01 -3.11826837e-01 1.50728806e-03 -1.83481121e+02] [-1.59878009e-03 3.77619577e-05 -9.99998721e-01 2.91890078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.73, Y:-183.60, Z:2.92 [[ 3.83884524e-01 -9.23380791e-01 -7.65814883e-04 1.07319648e+01] [-9.23379180e-01 -3.83885285e-01 1.72567350e-03 -1.83596513e+02] [-1.88743883e-03 4.46781679e-05 -9.99998218e-01 2.91935856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.35762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.76, Y:-183.72, Z:2.92 [[ 4.54762542e-01 -8.90611283e-01 -1.60412469e-03 1.07550078e+01] [-8.90606318e-01 -4.54765365e-01 2.97485293e-03 -1.83717264e+02] [-3.37893793e-03 7.57919021e-05 -9.99994289e-01 2.92108826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.79, Y:-183.83, Z:2.92 [[ 5.21582507e-01 -8.53198892e-01 -1.82706490e-03 1.07874582e+01] [-8.53194158e-01 -5.21585702e-01 2.84336135e-03 -1.83827388e+02] [-3.37892368e-03 7.57935520e-05 -9.99994289e-01 2.92108758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.41762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.82, Y:-183.93, Z:2.92 [[ 5.86491778e-01 -8.09951030e-01 -2.59293242e-03 1.08249692e+01] [-8.09943783e-01 -5.86497502e-01 3.42761319e-03 -1.83934950e+02] [-4.29694722e-03 8.98625409e-05 -9.99990764e-01 2.92218361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.447628 meters Centerline goodness [0,1] 0.9998502673796792 Centerline is valid? [True, True] Translation: X:10.87, Y:-184.03, Z:2.92 [[ 6.47540255e-01 -7.62017157e-01 -4.63360792e-03 1.08672187e+01] [-7.61999151e-01 -6.47556819e-01 5.24032463e-03 -1.84034122e+02] [-6.99374168e-03 1.37484155e-04 -9.99975534e-01 2.92436505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.47762800000004 meters Centerline goodness [0,1] 0.9998717565083572 Centerline is valid? [True, True] Translation: X:10.92, Y:-184.13, Z:2.92 [[ 7.04729574e-01 -7.09457175e-01 -5.17150150e-03 1.09168678e+01] [-7.09439418e-01 -7.04748537e-01 5.02116332e-03 -1.84129338e+02] [-7.20690846e-03 1.30304726e-04 -9.99974021e-01 2.92429493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.507628 meters Centerline goodness [0,1] 0.9998718222602008 Centerline is valid? [True, True] Translation: X:10.91, Y:-184.14, Z:2.93 [[ 7.59318163e-01 -6.50682684e-01 -6.92611665e-03 1.09113973e+01] [-6.50657346e-01 -7.59349737e-01 5.74405234e-03 -1.84140946e+02] [-8.99690025e-03 1.44965406e-04 -9.99959517e-01 2.92548940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.53762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.91, Y:-184.15, Z:2.92 [[ 8.08618494e-01 -5.88302820e-01 -5.99362050e-03 1.09079253e+01] [-5.88287654e-01 -8.08640699e-01 4.22569226e-03 -1.84152593e+02] [-7.33267214e-03 1.09000035e-04 -9.99973110e-01 2.92463297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.91, Y:-184.16, Z:2.93 [[ 8.52542933e-01 -5.22609410e-01 -7.06761585e-03 1.09065631e+01] [-5.22592574e-01 -8.52572220e-01 4.19656362e-03 -1.84163515e+02] [-8.21881658e-03 1.15732903e-04 -9.99966218e-01 2.92550543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.59762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.91, Y:-184.17, Z:2.93 [[ 8.91284285e-01 -4.53371457e-01 -8.16363319e-03 1.09068042e+01] [-4.53353651e-01 -8.91321664e-01 4.01985543e-03 -1.84173200e+02] [-9.09891083e-03 1.18178936e-04 -9.99958597e-01 2.92631054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.627628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.91, Y:-184.18, Z:2.93 [[ 9.24824367e-01 -3.80296660e-01 -8.62213462e-03 1.09080122e+01] [-3.80281139e-01 -9.24864553e-01 3.43720914e-03 -1.84183075e+02] [-9.28146583e-03 1.00020415e-04 -9.99956921e-01 2.92651069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.65762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.91, Y:-184.19, Z:2.93 [[ 9.52110835e-01 -3.05635946e-01 -8.46327269e-03 1.09090791e+01] [-3.05624656e-01 -9.52148445e-01 2.62829127e-03 -1.84194526e+02] [-8.86159222e-03 8.41602127e-05 -9.99960732e-01 2.92567469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.687628 meters Centerline goodness [0,1] 0.9998930572785216 Centerline is valid? [True, True] Translation: X:10.91, Y:-184.21, Z:2.93 [[ 9.73217188e-01 -2.29648002e-01 -1.04928632e-02 1.09114815e+01] [-2.29635707e-01 -9.73273747e-01 2.37816970e-03 -1.84206110e+02] [-1.07585702e-02 9.50604390e-05 -9.99942120e-01 2.92663053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.71762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.91, Y:-184.22, Z:2.93 [[ 9.88392673e-01 -1.51659616e-01 -8.90424443e-03 1.09126038e+01] [-1.51654096e-01 -9.88432778e-01 1.29580164e-03 -1.84216342e+02] [-8.99776784e-03 6.96042900e-05 -9.99959517e-01 2.92514888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.91, Y:-184.22, Z:2.93 [[ 9.97202977e-01 -7.43271973e-02 -7.85429476e-03 1.09120411e+01] [-7.43254037e-02 -9.97233906e-01 5.20410374e-04 -1.84224239e+02] [-7.87124968e-03 6.48188545e-05 -9.99969019e-01 2.92520195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.77762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.91, Y:-184.23, Z:2.93 [[ 9.99964793e-01 3.27589444e-03 -7.72543212e-03 1.09119225e+01] [ 3.27526444e-03 -9.99994632e-01 -9.41989713e-05 -1.84230632e+02] [-7.72569924e-03 6.88928217e-05 -9.99970154e-01 2.92569658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.807628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.91, Y:-184.24, Z:2.93 [[ 9.96693708e-01 8.09050567e-02 -7.48495526e-03 1.09132733e+01] [ 8.09022322e-02 -9.96721810e-01 -6.79877606e-04 -1.84240722e+02] [-7.51542369e-03 7.20801437e-05 -9.99971756e-01 2.92539347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.83762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.91, Y:-184.25, Z:2.92 [[ 9.87362678e-01 1.58283051e-01 -7.83697238e-03 1.09137387e+01] [ 1.58277427e-01 -9.87393776e-01 -1.33667394e-03 -1.84245606e+02] [-7.94975059e-03 7.93661359e-05 -9.99968397e-01 2.92452342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.92, Y:-184.26, Z:2.92 [[ 9.71771518e-01 2.35801322e-01 -7.60618001e-03 1.09167878e+01] [ 2.35793513e-01 -9.71801282e-01 -1.92043541e-03 -1.84255424e+02] [-7.84453669e-03 7.27365272e-05 -9.99969229e-01 2.92413084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.89762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.92, Y:-184.26, Z:2.93 [[ 9.49947783e-01 3.12309048e-01 -7.89097324e-03 1.09191451e+01] [ 3.12297685e-01 -9.49980555e-01 -2.66486986e-03 -1.84264371e+02] [-8.32853410e-03 6.71545401e-05 -9.99965315e-01 2.92504020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.927628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.92, Y:-184.27, Z:2.93 [[ 9.21605277e-01 3.88015565e-01 -9.36134008e-03 1.09215418e+01] [ 3.87994921e-01 -9.21652819e-01 -4.00297154e-03 -1.84270954e+02] [-1.01811207e-02 5.70072912e-05 -9.99948169e-01 2.92719187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.957628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.92, Y:-184.28, Z:2.93 [[ 8.88070383e-01 4.59610682e-01 -9.43482273e-03 1.09248249e+01] [ 4.59584121e-01 -8.88120497e-01 -4.94148276e-03 -1.84277529e+02] [-1.06504177e-02 5.22897819e-05 -9.99943281e-01 2.92811471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.93, Y:-184.28, Z:2.93 [[ 8.49143302e-01 5.28076800e-01 -9.51558607e-03 1.09284313e+01] [ 5.28042978e-01 -8.49196615e-01 -5.97687329e-03 -1.84283591e+02] [-1.12368516e-02 5.05835146e-05 -9.99936863e-01 2.92887410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.017628 meters Centerline goodness [0,1] 0.9998703935715212 Centerline is valid? [True, True] Translation: X:10.93, Y:-184.29, Z:2.93 [[ 8.05810835e-01 5.92076098e-01 -1.07141183e-02 1.09336436e+01] [ 5.92022539e-01 -8.05882056e-01 -7.96395318e-03 -1.84290496e+02] [-1.33495820e-02 7.44402616e-05 -9.99910888e-01 2.93065319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.93, Y:-184.29, Z:2.93 [[ 7.57551747e-01 6.52722783e-01 -8.26552480e-03 1.09337657e+01] [ 6.52682919e-01 -7.57596834e-01 -7.21412055e-03 -1.84293514e+02] [-1.09707563e-02 7.03027690e-05 -9.99939817e-01 2.92902504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.94, Y:-184.30, Z:2.93 [[ 7.04925202e-01 7.09243207e-01 -7.38465891e-03 1.09352458e+01] [ 7.09203105e-01 -7.04963876e-01 -7.54251020e-03 -1.84297602e+02] [-1.05553919e-02 7.96824926e-05 -9.99944287e-01 2.92863881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.10762800000003 meters Centerline goodness [0,1] 0.9998914671471054 Centerline is valid? [True, True] Translation: X:10.94, Y:-184.30, Z:2.93 [[ 6.48513123e-01 7.61168541e-01 -7.29256756e-03 1.09400407e+01] [ 7.61118583e-01 -6.48554116e-01 -8.72128945e-03 -1.84303340e+02] [-1.13679959e-02 1.05361974e-04 -9.99935377e-01 2.92840801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.137628 meters Centerline goodness [0,1] 0.9997825141365811 Centerline is valid? [True, True] Translation: X:10.94, Y:-184.31, Z:2.93 [[ 5.88062741e-01 8.08786923e-01 -6.77688690e-03 1.09423539e+01] [ 8.08730755e-01 -5.88101775e-01 -9.53243746e-03 -1.84308525e+02] [-1.16952100e-02 1.24994446e-04 -9.99931601e-01 2.92957808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.16762800000004 meters Centerline goodness [0,1] 0.99982519010576 Centerline is valid? [True, True] Translation: X:10.94, Y:-184.31, Z:2.93 [[ 5.23399135e-01 8.52072286e-01 -5.11507028e-03 1.09418809e+01] [ 8.52029489e-01 -5.23424117e-01 -8.54065430e-03 -1.84311200e+02] [-9.95460598e-03 1.11980358e-04 -9.99950445e-01 2.92742008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.95, Y:-184.32, Z:2.92 [[ 4.53746817e-01 8.91124311e-01 -3.35995066e-03 1.09483667e+01] [ 8.91098666e-01 -4.53759251e-01 -6.76094827e-03 -1.84318363e+02] [-7.54945406e-03 7.37112077e-05 -9.99971500e-01 2.92483988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.22762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.95, Y:-184.33, Z:2.93 [[ 3.81396251e-01 9.24407439e-01 -2.79041088e-03 1.09539441e+01] [ 9.24381467e-01 -3.81406454e-01 -6.92968615e-03 -1.84325098e+02] [-7.47013415e-03 6.35522168e-05 -9.99972096e-01 2.92532428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.257628 meters Centerline goodness [0,1] 0.9998902208755983 Centerline is valid? [True, True] Translation: X:10.96, Y:-184.33, Z:2.93 [[ 3.05805487e-01 9.52090599e-01 -2.54846864e-03 1.09586419e+01] [ 9.52056045e-01 -3.05816101e-01 -8.11164914e-03 -1.84330663e+02] [-8.50238763e-03 5.43018349e-05 -9.99963853e-01 2.92566190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.28762800000004 meters Centerline goodness [0,1] 0.999824137173005 Centerline is valid? [True, True] Translation: X:10.96, Y:-184.34, Z:2.93 [[ 2.28691498e-01 9.73497013e-01 -1.94034095e-03 1.09643954e+01] [ 9.73460424e-01 -2.28699726e-01 -8.44026129e-03 -1.84337296e+02] [-8.66032460e-03 4.13708755e-05 -9.99962498e-01 2.92608059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.97, Y:-184.34, Z:2.92 [[ 1.48843822e-01 9.88860174e-01 -1.03553887e-03 1.09729068e+01] [ 9.88835634e-01 -1.48847424e-01 -6.96662827e-03 -1.84343101e+02] [-7.04315853e-03 1.29618457e-05 -9.99975197e-01 2.92362634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.34762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.99, Y:-184.35, Z:2.92 [[ 6.38320245e-02 9.97960524e-01 -5.14597381e-04 1.09867905e+01] [ 9.97932898e-01 -6.38340865e-02 -7.42569519e-03 -1.84348916e+02] [-7.44339952e-03 -3.95364986e-05 -9.99972297e-01 2.92376609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.377628 meters Centerline goodness [0,1] 0.9998457368270269 Centerline is valid? [True, True] Translation: X:11.00, Y:-184.35, Z:2.93 [[-1.67013091e-02 9.99860519e-01 9.39358430e-05 1.09982950e+01] [ 9.99808478e-01 1.67013983e-02 -1.02014717e-02 -1.84354231e+02] [-1.02016177e-02 -7.64600808e-05 -9.99947959e-01 2.92640603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.40762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.01, Y:-184.36, Z:2.93 [[-9.77513261e-02 9.95210554e-01 7.94405266e-04 1.10097395e+01] [ 9.95169504e-01 9.77545097e-02 -9.03956564e-03 -1.84357259e+02] [-9.07392783e-03 -9.30616338e-05 -9.99958827e-01 2.92534668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.02, Y:-184.36, Z:2.93 [[-1.77115908e-01 9.84188781e-01 1.54854883e-03 1.10212795e+01] [ 9.84145444e-01 1.77122642e-01 -9.23663001e-03 -1.84358761e+02] [-9.36487069e-03 -1.11956827e-04 -9.99956142e-01 2.92622816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.46762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.03, Y:-184.36, Z:2.93 [[-2.54156050e-01 9.67160400e-01 2.33726694e-03 1.10341052e+01] [ 9.67115044e-01 2.54166768e-01 -9.36729843e-03 -1.84360258e+02] [-9.65373568e-03 -1.20349557e-04 -9.99953394e-01 2.92737804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.04, Y:-184.36, Z:2.93 [[-3.28016877e-01 9.44667291e-01 2.93894200e-03 1.10412768e+01] [ 9.44626482e-01 3.28030026e-01 -8.78126416e-03 -1.84360957e+02] [-9.25943425e-03 -1.04200405e-04 -9.99957125e-01 2.92664710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.52762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.05, Y:-184.36, Z:2.93 [[-3.98885151e-01 9.16994262e-01 3.48702961e-03 1.10468327e+01] [ 9.16957455e-01 3.98900384e-01 -8.21640719e-03 -1.84363001e+02] [-8.92537570e-03 -7.99450264e-05 -9.99960165e-01 2.92612891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.557628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.05, Y:-184.36, Z:2.93 [[-4.67133300e-01 8.84177833e-01 4.00508981e-03 1.10515073e+01] [ 8.84144333e-01 4.67150466e-01 -7.69682036e-03 -1.84364340e+02] [-8.67633752e-03 -5.43636320e-05 -9.99962358e-01 2.92578163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.58762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.05, Y:-184.37, Z:2.93 [[-5.28900241e-01 8.48672688e-01 4.38215680e-03 1.10527150e+01] [ 8.48643675e-01 5.28918395e-01 -7.01747104e-03 -1.84368859e+02] [-8.27333935e-03 7.34752670e-06 -9.99965775e-01 2.92555734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.06, Y:-184.37, Z:2.93 [[-5.90729557e-01 8.06856154e-01 4.66238187e-03 1.10562958e+01] [ 8.06831510e-01 5.90747955e-01 -6.30619540e-03 -1.84372578e+02] [-7.84248512e-03 3.65005873e-05 -9.99969247e-01 2.92550800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.64762800000005 meters Centerline goodness [0,1] 0.9998902714683872 Centerline is valid? [True, True] Translation: X:11.06, Y:-184.38, Z:2.93 [[-6.48876915e-01 7.60870938e-01 5.84506410e-03 1.10590928e+01] [ 7.60841166e-01 6.48903236e-01 -6.73125027e-03 -1.84375651e+02] [-8.91449371e-03 7.94124741e-05 -9.99960262e-01 2.92737024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.677628 meters Centerline goodness [0,1] 0.9998901822973864 Centerline is valid? [True, True] Translation: X:11.06, Y:-184.38, Z:2.93 [[-7.03994499e-01 7.10177943e-01 6.24781424e-03 1.10622416e+01] [ 7.10151340e-01 7.04022214e-01 -6.14789177e-03 -1.84378137e+02] [-8.76469715e-03 1.08811668e-04 -9.99961583e-01 2.92808306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.707628 meters Centerline goodness [0,1] 0.9998022586456914 Centerline is valid? [True, True] Translation: X:11.09, Y:-184.36, Z:2.93 [[-7.49993157e-01 6.61411794e-01 6.68607841e-03 1.10873756e+01] [ 6.61387194e-01 7.50022945e-01 -5.70624476e-03 -1.84362038e+02] [-8.78888980e-03 1.42442120e-04 -9.99961367e-01 2.92798273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.73762800000003 meters Centerline goodness [0,1] 0.999956123031021 Centerline is valid? [True, True] Translation: X:11.11, Y:-184.34, Z:2.93 [[-7.94563043e-01 6.07141865e-01 6.95165194e-03 1.11091326e+01] [ 6.07120207e-01 7.94593440e-01 -5.13026096e-03 -1.84342986e+02] [-8.63853324e-03 1.44172600e-04 -9.99962677e-01 2.92694071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.13, Y:-184.32, Z:2.93 [[-8.35485121e-01 5.49459368e-01 7.68220300e-03 1.11283274e+01] [ 5.49437817e-01 8.35520425e-01 -4.86876083e-03 -1.84321228e+02] [-9.09382376e-03 1.53115621e-04 -9.99958639e-01 2.92629193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.15, Y:-184.30, Z:2.93 [[-8.72305396e-01 4.88884947e-01 8.64902960e-03 1.11452411e+01] [ 4.88862787e-01 8.72348257e-01 -4.65769333e-03 -1.84298960e+02] [-9.82204205e-03 1.65257684e-04 -9.99951749e-01 2.92732213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.827628 meters Centerline goodness [0,1] 0.9999562181213196 Centerline is valid? [True, True] Translation: X:11.16, Y:-184.27, Z:2.93 [[-9.04963254e-01 4.25369536e-01 1.01127491e-02 1.11620745e+01] [ 4.25345199e-01 9.05019738e-01 -4.55369159e-03 -1.84272841e+02] [-1.10892392e-02 1.80485740e-04 -9.99938496e-01 2.92810533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.85762800000003 meters Centerline goodness [0,1] 0.9998028822988304 Centerline is valid? [True, True] Translation: X:11.18, Y:-184.25, Z:2.93 [[-9.32857894e-01 3.60084307e-01 1.07443218e-02 1.11753667e+01] [ 3.60062706e-01 9.32919749e-01 -3.94845824e-03 -1.84247518e+02] [-1.14453678e-02 1.85279137e-04 -9.99934483e-01 2.92922065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.44, Y:-183.55, Z:1.93 [[-9.19641038e-01 -3.92650497e-01 9.27081058e-03 1.14380964e+01] [ 3.92627865e-01 -9.19687734e-01 -4.22273054e-03 -1.83549128e+02] [ 1.01843080e-02 -2.43417731e-04 9.99948109e-01 1.93411614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.91762800000004 meters Centerline goodness [0,1] 0.999978117204254 Centerline is valid? [True, True] Translation: X:11.13, Y:-184.24, Z:2.93 [[-9.34080069e-01 3.56948775e-01 9.05519640e-03 1.11302020e+01] [ 3.56933661e-01 9.34123946e-01 -3.28865217e-03 -1.84235199e+02] [-9.63255615e-03 1.60239953e-04 -9.99953593e-01 2.92897211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.947628 meters Centerline goodness [0,1] 0.9998905333216569 Centerline is valid? [True, True] Translation: X:11.14, Y:-184.21, Z:2.93 [[-9.56841832e-01 2.90457471e-01 9.38968530e-03 1.11415606e+01] [ 2.90445212e-01 9.56887887e-01 -2.67388118e-03 -1.84205786e+02] [-9.76152490e-03 1.68707773e-04 -9.99952341e-01 2.92824691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.97762800000004 meters Centerline goodness [0,1] 0.9998470313148751 Centerline is valid? [True, True] Translation: X:11.15, Y:-184.18, Z:2.93 [[-9.74947966e-01 2.22200646e-01 1.01654820e-02 1.11464629e+01] [ 2.22190527e-01 9.75000943e-01 -2.12854289e-03 -1.84183055e+02] [-1.03843182e-02 1.83455242e-04 -9.99946065e-01 2.93128006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.007628 meters Centerline goodness [0,1] 0.9998689154941885 Centerline is valid? [True, True] Translation: X:11.31, Y:-183.45, Z:1.93 [[-9.67345765e-01 -2.53249494e-01 1.03375814e-02 1.13074527e+01] [ 2.53233180e-01 -9.67400985e-01 -2.87942133e-03 -1.83448748e+02] [ 1.07297985e-02 -1.67577414e-04 9.99942420e-01 1.93251904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.03762800000004 meters Centerline goodness [0,1] 0.9998689698849119 Centerline is valid? [True, True] Translation: X:11.09, Y:-184.17, Z:2.93 [[-9.75823515e-01 2.18336076e-01 9.89064215e-03 1.10943815e+01] [ 2.18326720e-01 9.75873622e-01 -2.02915977e-03 -1.84170848e+02] [-1.00950556e-02 1.79289643e-04 -9.99949028e-01 2.92728798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.067628 meters Centerline goodness [0,1] 0.9998466492869191 Centerline is valid? [True, True] Translation: X:11.26, Y:-183.44, Z:1.93 [[-9.68451203e-01 -2.49052422e-01 8.66937121e-03 1.12558035e+01] [ 2.49040321e-01 -9.68489979e-01 -2.46579043e-03 -1.83436986e+02] [ 9.01031022e-03 -2.28974715e-04 9.99959380e-01 1.93397665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.09762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.05, Y:-184.16, Z:2.92 [[-9.76520712e-01 2.15306995e-01 7.08496634e-03 1.10473020e+01] [ 2.15302331e-01 9.76546404e-01 -1.42348935e-03 -1.84164258e+02] [-7.22528561e-03 1.35342936e-04 -9.99973888e-01 2.92294661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.127628 meters Centerline goodness [0,1] 0.9999562688590545 Centerline is valid? [True, True] Translation: X:11.05, Y:-184.14, Z:2.92 [[-9.89168255e-01 1.46724110e-01 4.26601413e-03 1.10515336e+01] [ 1.46723120e-01 9.89177450e-01 -5.45672345e-04 -1.84137985e+02] [-4.29990827e-03 8.61611444e-05 -9.99990752e-01 2.92161977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.15762800000005 meters Centerline goodness [0,1] 0.9999123710210966 Centerline is valid? [True, True] Translation: X:11.15, Y:-183.39, Z:1.94 [[-9.84876592e-01 -1.73234201e-01 2.83029965e-03 1.11541382e+01] [ 1.73233053e-01 -9.84880647e-01 -6.47789347e-04 -1.83387388e+02] [ 2.89972662e-03 -1.47691114e-04 9.99995785e-01 1.93892111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.187628 meters Centerline goodness [0,1] 0.9998685997109193 Centerline is valid? [True, True] Translation: X:10.99, Y:-184.13, Z:2.92 [[-9.89736249e-01 1.42889346e-01 2.18919646e-03 1.09904334e+01] [ 1.42889100e-01 9.89738669e-01 -2.69208898e-04 -1.84131044e+02] [-2.20519948e-03 4.63665076e-05 -9.99997568e-01 2.92150972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.21762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.99, Y:-184.10, Z:2.92 [[-9.97401332e-01 7.20402087e-02 8.89958200e-04 1.09915320e+01] [ 7.20401970e-02 9.97401729e-01 -4.52510322e-05 -1.84103965e+02] [-8.90905741e-04 1.89793243e-05 -9.99999603e-01 2.91782904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.247628 meters Centerline goodness [0,1] 0.999824615249704 Centerline is valid? [True, True] Translation: X:10.99, Y:-184.08, Z:2.92 [[-9.99999557e-01 -9.37144193e-04 8.58800968e-05 1.09909418e+01] [-9.37143991e-04 9.99999561e-01 2.39588473e-06 -1.84075543e+02] [-8.58823044e-05 2.31540165e-06 -9.99999996e-01 2.91938618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.27762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.98, Y:-184.05, Z:2.92 [[-9.97273919e-01 -7.37875510e-02 3.58256449e-04 1.09807328e+01] [-7.37875437e-02 9.97273983e-01 3.33342648e-05 -1.84046871e+02] [-3.59739490e-04 6.80852949e-06 -9.99999935e-01 2.91690373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.307628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.92, Y:-183.29, Z:1.94 [[-9.99188781e-01 4.02695347e-02 3.79725017e-04 1.09171639e+01] [-4.02695340e-02 -9.99188853e-01 9.48877655e-06 -1.83292880e+02] [ 3.79799113e-04 -5.81027041e-06 9.99999928e-01 1.94365386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.33762800000005 meters Centerline goodness [0,1] 0.9998465820676354 Centerline is valid? [True, True] Translation: X:10.88, Y:-184.05, Z:2.92 [[-9.96629925e-01 -8.20213297e-02 1.13775891e-03 1.08793768e+01] [-8.20212556e-02 9.96630574e-01 1.11733680e-04 -1.84054650e+02] [-1.14308986e-03 1.80367139e-05 -9.99999347e-01 2.92078441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.86, Y:-184.03, Z:2.92 [[-9.87562269e-01 -1.57210259e-01 2.38754548e-03 1.08645712e+01] [-1.57209734e-01 9.87565154e-01 4.07274094e-04 -1.84025662e+02] [-2.42188438e-03 2.68631395e-05 -9.99997067e-01 2.91947616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.39762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.84, Y:-184.00, Z:2.92 [[-9.73183349e-01 -2.30022176e-01 1.99214215e-03 1.08396828e+01] [-2.30021656e-01 9.73185387e-01 4.89604864e-04 -1.84000915e+02] [-2.05134360e-03 1.82394658e-05 -9.99997896e-01 2.91948619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.427628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.79, Y:-183.98, Z:2.92 [[-9.53223510e-01 -3.02259833e-01 1.98348207e-03 1.07944651e+01] [-3.02259148e-01 9.53225573e-01 6.43605700e-04 -1.83982727e+02] [-2.08524198e-03 1.39744849e-05 -9.99997826e-01 2.91966079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.53, Y:-183.29, Z:1.94 [[-9.68960653e-01 2.47197646e-01 2.92874134e-03 1.05250742e+01] [-2.47196374e-01 -9.68965078e-01 7.94212660e-04 -1.83289656e+02] [ 3.03417558e-03 4.55865768e-05 9.99995396e-01 1.94047842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.48762800000003 meters Centerline goodness [0,1] 0.9998243225438096 Centerline is valid? [True, True] Translation: X:10.62, Y:-184.03, Z:2.92 [[-9.48661632e-01 -3.16256538e-01 4.78652980e-03 1.06192126e+01] [-3.16252528e-01 9.48673707e-01 1.59247476e-03 -1.84034793e+02] [-5.04448552e-03 -3.03244546e-06 -9.99987277e-01 2.92381554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.56, Y:-184.03, Z:2.92 [[-9.21907651e-01 -3.87380732e-01 4.73831702e-03 1.05608648e+01] [-3.87375700e-01 9.21919828e-01 1.97457024e-03 -1.84026257e+02] [-5.13325887e-03 -1.51374541e-05 -9.99986825e-01 2.92114755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.49, Y:-184.03, Z:2.92 [[-8.89798542e-01 -4.56329446e-01 4.68952672e-03 1.04889198e+01] [-4.56323264e-01 8.89810899e-01 2.37547199e-03 -1.84028791e+02] [-5.25678980e-03 -2.62486208e-05 -9.99986183e-01 2.92106644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.42, Y:-184.04, Z:2.92 [[-8.52305613e-01 -5.23025737e-01 4.38423584e-03 1.04155585e+01] [-5.23019027e-01 8.52316888e-01 2.64956713e-03 -1.84038264e+02] [-5.12255004e-03 -3.47978290e-05 -9.99986879e-01 2.92115522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.60762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.33, Y:-184.06, Z:2.92 [[-8.09656394e-01 -5.86894332e-01 3.40097246e-03 1.03334644e+01] [-5.86889338e-01 8.09663537e-01 2.42132217e-03 -1.84061694e+02] [-4.17470364e-03 -3.55554936e-05 -9.99991285e-01 2.92018760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.25, Y:-184.09, Z:2.92 [[-7.62979403e-01 -6.46416469e-01 2.85992767e-03 1.02491484e+01] [-6.46412087e-01 7.62984762e-01 2.38035478e-03 -1.84092761e+02] [-3.72078177e-03 -3.25301515e-05 -9.99993077e-01 2.92004296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.66762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.16, Y:-184.14, Z:2.92 [[-7.12021663e-01 -7.02153351e-01 2.41331134e-03 1.01611956e+01] [-7.02149453e-01 7.12025752e-01 2.33980489e-03 -1.84135604e+02] [-3.36124167e-03 -2.85134677e-05 -9.99994351e-01 2.91998128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.08, Y:-184.19, Z:2.92 [[-6.57900374e-01 -7.53104099e-01 1.14589228e-03 1.00760625e+01] [-7.53102987e-01 6.57901372e-01 1.29429119e-03 -1.84186497e+02] [-1.72862011e-03 -1.14602394e-05 -9.99998506e-01 2.91900813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.72762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.99, Y:-184.25, Z:2.92 [[-5.99009673e-01 -8.00741429e-01 7.58440178e-04 9.99028813e+00] [-8.00740803e-01 5.99010153e-01 1.00128748e-03 -1.84248131e+02] [-1.25608573e-03 -7.53311383e-06 -9.99999211e-01 2.91846829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.91, Y:-184.32, Z:2.92 [[-5.36520311e-01 -8.43887017e-01 8.10987126e-04 9.90822013e+00] [-8.43886076e-01 5.36520924e-01 1.26047018e-03 -1.84315883e+02] [-1.49880598e-03 -8.11289121e-06 -9.99998877e-01 2.91857965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.78762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.83, Y:-184.39, Z:2.92 [[-4.70816475e-01 -8.82230280e-01 1.25740346e-03 9.82885738e+00] [-8.82227207e-01 4.70818154e-01 2.32845026e-03 -1.84393628e+02] [-2.64623769e-03 -1.30427976e-05 -9.99996499e-01 2.91923292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.75, Y:-184.48, Z:2.92 [[-4.03191806e-01 -9.15113521e-01 1.90019500e-03 9.75328137e+00] [-9.15103544e-01 4.03196283e-01 4.27327678e-03 -1.84481509e+02] [-4.67668492e-03 -1.59249955e-05 -9.99989064e-01 2.92013403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.84762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.69, Y:-184.57, Z:2.92 [[-3.32664220e-01 -9.43043705e-01 1.75705733e-03 9.68532628e+00] [-9.43030747e-01 3.32668860e-01 4.94366265e-03 -1.84574477e+02] [-5.24660820e-03 -1.23794036e-05 -9.99986236e-01 2.92076267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.63, Y:-184.67, Z:2.92 [[-2.60719369e-01 -9.65413538e-01 1.45327829e-03 9.62509082e+00] [-9.65398619e-01 2.60723419e-01 5.36700368e-03 -1.84673520e+02] [-5.56028169e-03 -3.71104224e-06 -9.99984542e-01 2.92148290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.90762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.57, Y:-184.78, Z:2.92 [[-1.87749830e-01 -9.82216190e-01 1.16467252e-03 9.57175683e+00] [-9.82196969e-01 1.87753442e-01 6.14483845e-03 -1.84783453e+02] [-6.25423109e-03 9.75455311e-06 -9.99980442e-01 2.92235250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.53, Y:-184.89, Z:2.92 [[-1.17572246e-01 -9.93064058e-01 7.37799777e-04 9.53040314e+00] [-9.93041610e-01 1.17574550e-01 6.67723698e-03 -1.84888905e+02] [-6.71767052e-03 5.23918721e-05 -9.99977435e-01 2.92331087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.96762800000005 meters Centerline goodness [0,1] 0.9998906936580461 Centerline is valid? [True, True] Translation: X:9.50, Y:-185.00, Z:2.93 [[-4.41014362e-02 -9.99027033e-01 2.26344823e-04 9.49701944e+00] [-9.99003174e-01 4.41019474e-02 6.90487435e-03 -1.85002266e+02] [-6.90813838e-03 7.83956794e-05 -9.99976135e-01 2.92705581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.997628 meters Centerline goodness [0,1] 0.999824853314651 Centerline is valid? [True, True] Translation: X:9.47, Y:-185.12, Z:2.93 [[ 2.69558726e-02 -9.99636573e-01 -3.19496326e-04 9.47386021e+00] [-9.99610941e-01 -2.69574697e-02 7.15965326e-03 -1.85116878e+02] [-7.16566406e-03 1.26377322e-04 -9.99974318e-01 2.92705012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.02762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.46, Y:-185.24, Z:2.92 [[ 1.01698203e-01 -9.94814920e-01 -8.66779508e-04 9.45733057e+00] [-9.94789777e-01 -1.01701797e-01 7.07415006e-03 -1.85237412e+02] [-7.12562306e-03 1.42835043e-04 -9.99974602e-01 2.92334300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.057628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.45, Y:-185.36, Z:2.92 [[ 1.76576042e-01 -9.84286054e-01 -1.36590215e-03 9.44884803e+00] [-9.84262812e-01 -1.76581262e-01 6.76571903e-03 -1.85358726e+02] [-6.90059561e-03 1.49742803e-04 -9.99976179e-01 2.92268246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.08762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.45, Y:-185.48, Z:2.92 [[ 2.51078961e-01 -9.67964989e-01 -1.77092016e-03 9.44848840e+00] [-9.67944862e-01 -2.51085164e-01 6.24370695e-03 -1.85480762e+02] [-6.48834151e-03 1.46489612e-04 -9.99978940e-01 2.92254595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.46, Y:-185.60, Z:2.92 [[ 3.26552883e-01 -9.45176647e-01 -2.07871689e-03 9.45595027e+00] [-9.45159868e-01 -3.26559475e-01 5.63321197e-03 -1.85601840e+02] [-6.00320510e-03 1.25178172e-04 -9.99981973e-01 2.92268473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.14762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.47, Y:-185.72, Z:2.92 [[ 4.00638266e-01 -9.16232916e-01 -2.49454797e-03 9.47453165e+00] [-9.16216831e-01 -4.00646017e-01 5.43033717e-03 -1.85722594e+02] [-5.97488437e-03 1.09945971e-04 -9.99982144e-01 2.92224705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.177628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.50, Y:-185.84, Z:2.92 [[ 4.72372679e-01 -8.81394485e-01 -2.79533821e-03 9.50321723e+00] [-8.81380163e-01 -4.72380941e-01 5.02543523e-03 -1.85844199e+02] [-5.74985539e-03 8.98773433e-05 -9.99983465e-01 2.92204336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.207628 meters Centerline goodness [0,1] 0.9999564213186909 Centerline is valid? [True, True] Translation: X:9.53, Y:-185.95, Z:2.92 [[ 5.40719020e-01 -8.41198331e-01 -2.88253862e-03 9.53433031e+00] [-8.41187051e-01 -5.40726699e-01 4.35681671e-03 -1.85952548e+02] [-5.22361254e-03 6.89404998e-05 -9.99986355e-01 2.92319922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.58, Y:-186.06, Z:2.92 [[ 6.07606868e-01 -7.94228929e-01 -3.78182744e-03 9.57612977e+00] [-7.94214057e-01 -6.07618635e-01 4.86063452e-03 -1.86061937e+02] [-6.15836538e-03 5.02255972e-05 -9.99981036e-01 2.92299598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.267628 meters Centerline goodness [0,1] 0.9999563890100305 Centerline is valid? [True, True] Translation: X:9.63, Y:-186.17, Z:2.92 [[ 6.67857819e-01 -7.44274732e-01 -4.58880193e-03 9.62733594e+00] [-7.44257613e-01 -6.67873582e-01 5.04817670e-03 -1.86167800e+02] [-6.82196994e-03 4.37864938e-05 -9.99976729e-01 2.92367792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.29762800000003 meters Centerline goodness [0,1] 0.9999126790080335 Centerline is valid? [True, True] Translation: X:9.68, Y:-186.26, Z:2.93 [[ 7.23658630e-01 -6.90136407e-01 -5.47049464e-03 9.68095261e+00] [-6.90117088e-01 -7.23679306e-01 5.16399227e-03 -1.86260643e+02] [-7.52274284e-03 3.83142557e-05 -9.99971703e-01 2.92573411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.68, Y:-186.27, Z:2.92 [[ 7.77039626e-01 -6.29424768e-01 -5.82083313e-03 9.67596696e+00] [-6.29407283e-01 -7.77061427e-01 4.69147339e-03 -1.86269524e+02] [-7.47607444e-03 1.82140397e-05 -9.99972054e-01 2.92158523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.35762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.67, Y:-186.28, Z:2.92 [[ 8.24502678e-01 -5.65834973e-01 -5.11053001e-03 9.67187231e+00] [-5.65824166e-01 -8.24518516e-01 3.49708620e-03 -1.86276686e+02] [-6.19250030e-03 8.30444453e-06 -9.99980826e-01 2.92014727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.387628 meters Centerline goodness [0,1] 0.999912600782223 Centerline is valid? [True, True] Translation: X:9.67, Y:-186.28, Z:2.92 [[ 8.66548515e-01 -4.99077171e-01 -3.95580663e-03 9.66887551e+00] [-4.99071989e-01 -8.66557544e-01 2.27437489e-03 -1.86284145e+02] [-4.56302266e-03 3.37609450e-06 -9.99989589e-01 2.92061352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.41762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.67, Y:-186.29, Z:2.92 [[ 9.03407450e-01 -4.28778551e-01 -1.98323412e-03 9.66549216e+00] [-4.28777516e-01 -9.03409627e-01 9.42001889e-04 -1.86294117e+02] [-2.19558301e-03 -6.45322410e-07 -9.99997590e-01 2.91618018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.66, Y:-186.30, Z:2.91 [[ 9.34461155e-01 -3.56063351e-01 1.11366223e-03 9.66330805e+00] [-3.56063095e-01 -9.34461819e-01 -4.26450075e-04 -1.86303717e+02] [ 1.19251808e-03 1.96700719e-06 -9.99999289e-01 2.91394830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.47762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.66, Y:-186.31, Z:2.91 [[ 9.59311224e-01 -2.82347275e-01 1.41133145e-03 9.66218463e+00] [-2.82346967e-01 -9.59312262e-01 -4.17175921e-04 -1.86313887e+02] [ 1.47169605e-03 1.71638872e-06 -9.99998917e-01 2.91379352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.66, Y:-186.32, Z:2.91 [[ 9.78311873e-01 -2.07133723e-01 1.22453998e-03 9.66113626e+00] [-2.07133560e-01 -9.78312640e-01 -2.60017275e-04 -1.86322714e+02] [ 1.25184129e-03 7.34661985e-07 -9.99999216e-01 2.91392530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.53762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.66, Y:-186.33, Z:2.91 [[ 9.91242086e-01 -1.32049734e-01 1.41220468e-03 9.65702906e+00] [-1.32049603e-01 -9.91243092e-01 -1.85808528e-04 -1.86327714e+02] [ 1.42437410e-03 -2.29983551e-06 -9.99998986e-01 2.91389478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.65, Y:-186.34, Z:2.91 [[ 9.98460788e-01 -5.54468557e-02 1.30458504e-03 9.65417935e+00] [-5.54468134e-02 -9.98461640e-01 -6.85313376e-05 -1.86335202e+02] [ 1.30637797e-03 -3.90923012e-06 -9.99999147e-01 2.91419647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.59762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.65, Y:-186.34, Z:2.91 [[ 9.99764059e-01 2.17033933e-02 8.88573135e-04 9.65159454e+00] [ 2.17033815e-02 -9.99764454e-01 2.28594925e-05 -1.86344227e+02] [ 8.88859964e-04 -3.56905721e-06 -9.99999605e-01 2.91464014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.627628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.65, Y:-186.35, Z:2.92 [[ 9.95119663e-01 9.86748265e-02 3.68551482e-04 9.64856299e+00] [ 9.86748191e-02 -9.95119731e-01 3.82474603e-05 -1.86352504e+02] [ 3.70526913e-04 -1.69404899e-06 -9.99999931e-01 2.91513689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.65762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.65, Y:-186.36, Z:2.92 [[ 9.84643554e-01 1.74560628e-01 -2.37864175e-03 9.64792715e+00] [ 1.74560074e-01 -9.84646427e-01 -4.40359625e-04 -1.86361305e+02] [-2.41899056e-03 1.83813868e-05 -9.99997074e-01 2.91815583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.687628 meters Centerline goodness [0,1] 0.999825491350915 Centerline is valid? [True, True] Translation: X:9.65, Y:-186.37, Z:2.92 [[ 9.68121068e-01 2.50442994e-01 -4.46149200e-03 9.64800663e+00] [ 2.50440154e-01 -9.68131347e-01 -1.19330694e-03 -1.86370666e+02] [-4.61816562e-03 3.79288455e-05 -9.99989336e-01 2.92339862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.71762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.65, Y:-186.38, Z:2.92 [[ 9.45430765e-01 3.25786275e-01 -4.89602843e-03 9.64696813e+00] [ 3.25781683e-01 -9.45443442e-01 -1.73014294e-03 -1.86379627e+02] [-5.19257479e-03 4.06939823e-05 -9.99986518e-01 2.92080851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.65, Y:-186.39, Z:2.92 [[ 9.16911461e-01 3.99064410e-01 -4.57929688e-03 9.64880622e+00] [ 3.99059227e-01 -9.16922895e-01 -2.03426578e-03 -1.86389326e+02] [-5.01066522e-03 3.78309321e-05 -9.99987446e-01 2.92145740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.77762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.65, Y:-186.40, Z:2.92 [[ 8.82485232e-01 4.70319589e-01 -4.39309908e-03 9.64923073e+00] [ 4.70313571e-01 -8.82496166e-01 -2.37948031e-03 -1.86398478e+02] [-4.99600929e-03 3.37221207e-05 -9.99987519e-01 2.92159151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.807628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.65, Y:-186.41, Z:2.92 [[ 8.42272827e-01 5.39034396e-01 -4.29022952e-03 9.65243409e+00] [ 5.39027235e-01 -8.42283752e-01 -2.77855462e-03 -1.86408129e+02] [-5.11132713e-03 2.77504955e-05 -9.99986937e-01 2.92101300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.83762800000005 meters Centerline goodness [0,1] 0.9998470212858953 Centerline is valid? [True, True] Translation: X:9.66, Y:-186.42, Z:2.92 [[ 7.96117863e-01 6.05125621e-01 -4.39670979e-03 9.65615921e+00] [ 6.05116271e-01 -7.96130004e-01 -3.36393459e-03 -1.86417304e+02] [-5.53595559e-03 1.75677817e-05 -9.99984676e-01 2.92328530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.867628 meters Centerline goodness [0,1] 0.999869041382923 Centerline is valid? [True, True] Translation: X:9.66, Y:-186.43, Z:2.92 [[ 7.45295073e-01 6.66723474e-01 -3.88116147e-03 9.66161849e+00] [ 6.66714372e-01 -7.45305178e-01 -3.48383876e-03 -1.86426912e+02] [-5.21540683e-03 8.86173161e-06 -9.99986400e-01 2.92209832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.89762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.67, Y:-186.44, Z:2.92 [[ 6.89557359e-01 7.24224334e-01 -3.12451901e-03 9.66651942e+00] [ 7.24216900e-01 -6.89564438e-01 -3.28135476e-03 -1.86437124e+02] [-4.53099416e-03 -1.47155011e-07 -9.99989735e-01 2.91905385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.927628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.67, Y:-186.45, Z:2.92 [[ 6.28890297e-01 7.77487386e-01 -3.21862990e-03 9.67433255e+00] [ 7.77477303e-01 -6.28898533e-01 -3.95957393e-03 -1.86446339e+02] [-5.10271041e-03 -1.22740725e-05 -9.99986981e-01 2.92051606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.957628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.68, Y:-186.45, Z:2.92 [[ 5.64890514e-01 8.25160911e-01 -2.85982015e-03 9.68018756e+00] [ 8.25150509e-01 -5.64897753e-01 -4.14312872e-03 -1.86453832e+02] [-5.03425384e-03 -1.93679363e-05 -9.99987328e-01 2.92106988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.69, Y:-186.46, Z:2.92 [[ 4.97570522e-01 8.67419741e-01 -2.56294617e-03 9.68730882e+00] [ 8.67408494e-01 -4.97577122e-01 -4.41728227e-03 -1.86460437e+02] [-5.10690122e-03 -2.52118277e-05 -9.99986959e-01 2.92175326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.69, Y:-186.47, Z:2.92 [[ 4.27563557e-01 9.03981825e-01 -2.50288761e-03 9.69209445e+00] [ 9.03966775e-01 -4.27570882e-01 -5.21641697e-03 -1.86466195e+02] [-5.78570800e-03 -3.21774472e-05 -9.99983262e-01 2.92285485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.70, Y:-186.47, Z:2.92 [[ 3.56018879e-01 9.34476369e-01 -2.11498001e-03 9.69711330e+00] [ 9.34460365e-01 -3.56025160e-01 -5.46914857e-03 -1.86470609e+02] [-5.86377620e-03 -2.92448491e-05 -9.99982808e-01 2.92280779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.70, Y:-186.47, Z:2.92 [[ 2.82492328e-01 9.59268264e-01 -1.57555523e-03 9.70213753e+00] [ 9.59253797e-01 -2.82496721e-01 -5.26832851e-03 -1.86474713e+02] [-5.49882952e-03 -2.30949542e-05 -9.99984881e-01 2.92300189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.71, Y:-186.48, Z:2.92 [[ 2.07487801e-01 9.78237028e-01 -1.06300874e-03 9.70948195e+00] [ 9.78224587e-01 -2.07490523e-01 -4.93365401e-03 -1.86479858e+02] [-5.04684728e-03 -1.61882596e-05 -9.99987264e-01 2.92228875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.71, Y:-186.48, Z:2.92 [[ 1.32565571e-01 9.91174106e-01 -5.11338616e-04 9.71374824e+00] [ 9.91166822e-01 -1.32566557e-01 -3.79985453e-03 -1.86484494e+02] [-3.83410382e-03 -3.09198549e-06 -9.99992650e-01 2.92085704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.16762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.72, Y:-186.49, Z:2.92 [[ 5.53404656e-02 9.98467521e-01 -2.07557249e-04 9.72103889e+00] [ 9.98460497e-01 -5.53408548e-02 -3.74517379e-03 -1.86488345e+02] [-3.75092079e-03 2.19473334e-08 -9.99992965e-01 2.91966268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.73, Y:-186.49, Z:2.92 [[-2.30538878e-02 9.99734220e-01 8.64951228e-05 9.73010488e+00] [ 9.99727187e-01 2.30540501e-02 -3.74993898e-03 -1.86492671e+02] [-3.75093638e-03 2.08531619e-08 -9.99992965e-01 2.91966282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.22762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.74, Y:-186.50, Z:2.92 [[-1.00886255e-01 9.94897881e-01 4.13271042e-04 9.73821079e+00] [ 9.94889604e-01 1.00887102e-01 -4.05804136e-03 -1.86496452e+02] [-4.07903046e-03 1.75846719e-06 -9.99991681e-01 2.92031196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.75, Y:-186.50, Z:2.92 [[-1.78148460e-01 9.84003152e-01 9.60449733e-04 9.74655089e+00] [ 9.83988975e-01 1.78151049e-01 -5.28208772e-03 -1.86498910e+02] [-5.36869610e-03 4.07615535e-06 -9.99985588e-01 2.92200165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.28762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.75, Y:-186.50, Z:2.92 [[-2.54178358e-01 9.67156078e-01 1.57554386e-03 9.75373976e+00] [ 9.67137690e-01 2.54183241e-01 -5.96398838e-03 -1.86501414e+02] [-6.16858446e-03 7.85107971e-06 -9.99980974e-01 2.92313133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.76, Y:-186.50, Z:2.92 [[-3.28444991e-01 9.44520187e-01 2.34611809e-03 9.76379453e+00] [ 9.44496402e-01 3.28453370e-01 -6.70305564e-03 -1.86502528e+02] [-7.10176176e-03 1.43150426e-05 -9.99974782e-01 2.92345804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.34762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.77, Y:-186.50, Z:2.92 [[-4.00464955e-01 9.16306879e-01 3.08593452e-03 9.77308076e+00] [ 9.16280123e-01 4.00476844e-01 -7.00244650e-03 -1.86504259e+02] [-7.65223521e-03 2.33460401e-05 -9.99970721e-01 2.92446941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.78, Y:-186.51, Z:2.93 [[-4.68747960e-01 8.83322430e-01 4.10298833e-03 9.77934864e+00] [ 8.83289499e-01 4.68765914e-01 -7.62755636e-03 -1.86506497e+02] [-8.66093269e-03 4.87250226e-05 -9.99962492e-01 2.92551763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.40762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.79, Y:-186.51, Z:2.92 [[-5.35823432e-01 8.44314990e-01 5.04449782e-03 9.78924324e+00] [ 8.44278622e-01 5.35847174e-01 -7.83681774e-03 -1.86505864e+02] [-9.31982259e-03 5.98110933e-05 -9.99956568e-01 2.92478869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.80, Y:-186.51, Z:2.92 [[-5.99908962e-01 8.00051231e-01 5.22153474e-03 9.79855253e+00] [ 8.00021790e-01 5.99931683e-01 -6.86373957e-03 -1.86505336e+02] [-8.62390742e-03 5.97226918e-05 -9.99962812e-01 2.92412569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.46762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.81, Y:-186.51, Z:2.92 [[-6.60929700e-01 7.50437002e-01 4.02968730e-03 9.80750275e+00] [ 7.50423426e-01 6.60941983e-01 -4.51404463e-03 -1.86505078e+02] [-6.05089563e-03 4.05055888e-05 -9.99981692e-01 2.92157564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.82, Y:-186.50, Z:2.92 [[-7.18159509e-01 6.95871186e-01 3.19557276e-03 9.81625906e+00] [ 6.95864463e-01 7.18166618e-01 -3.05905089e-03 -1.86502068e+02] [-4.42365905e-03 2.67990367e-05 -9.99990215e-01 2.91982261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.52762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.84, Y:-186.48, Z:2.92 [[-7.65865971e-01 6.42997129e-01 2.00167361e-03 9.83810312e+00] [ 6.42994983e-01 7.65868587e-01 -1.66132618e-03 -1.86483676e+02] [-2.60124691e-03 1.47128992e-05 -9.99996617e-01 2.91815676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.557628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.86, Y:-186.46, Z:2.92 [[-8.10148889e-01 5.86223595e-01 8.21288180e-04 9.85935676e+00] [ 5.86223299e-01 8.10149305e-01 -5.88457125e-04 -1.86463285e+02] [-1.01033350e-03 4.72038070e-06 -9.99999490e-01 2.91529550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.58762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.87, Y:-186.44, Z:2.92 [[-8.50202291e-01 5.26455677e-01 6.96046238e-04 9.87477050e+00] [ 5.26455504e-01 8.50202576e-01 -4.27520687e-04 -1.86439270e+02] [-8.16850997e-04 2.95830557e-06 -9.99999666e-01 2.91514371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.89, Y:-186.42, Z:2.92 [[-8.85941475e-01 4.63795956e-01 1.00663738e-03 9.89339376e+00] [ 4.63795660e-01 8.85942047e-01 -5.24196098e-04 -1.86416239e+02] [-1.13494241e-03 2.46698197e-06 -9.99999356e-01 2.91564266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.64762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.24, Y:-185.75, Z:1.94 [[-8.54127940e-01 -5.20059930e-01 1.76975773e-03 1.02446639e+01] [ 5.20058938e-01 -8.54129771e-01 -1.01713791e-03 -1.85751020e+02] [ 2.04057544e-03 5.16124152e-05 9.99997917e-01 1.94370547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.677628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.23, Y:-185.78, Z:1.94 [[-8.15849951e-01 -5.78253949e-01 3.35096752e-03 1.02334057e+01] [ 5.78249101e-01 -8.15856832e-01 -2.36772945e-03 -1.85783502e+02] [ 4.10305865e-03 5.98200363e-06 9.99991582e-01 1.94033637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.707628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.81, Y:-186.39, Z:2.92 [[-8.56830513e-01 5.15578515e-01 4.50188663e-03 9.80576615e+00] [ 5.15571319e-01 8.56842339e-01 -2.72411525e-03 -1.86392995e+02] [-5.26190237e-03 -1.30614382e-05 -9.99986156e-01 2.92205496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.82, Y:-186.37, Z:2.92 [[-8.91477448e-01 4.53035651e-01 5.16312444e-03 9.81917493e+00] [ 4.53027936e-01 8.91492400e-01 -2.64403696e-03 -1.86367371e+02] [-5.80072920e-03 -1.80597131e-05 -9.99983175e-01 2.92249514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.16, Y:-185.72, Z:1.94 [[-8.55674321e-01 -5.17491820e-01 4.86545758e-03 1.01630830e+01] [ 5.17483523e-01 -8.55688154e-01 -2.93042558e-03 -1.85716220e+02] [ 5.67978568e-03 1.03042087e-05 9.99983870e-01 1.93757059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.78, Y:-186.35, Z:2.92 [[-8.92994476e-01 4.50027466e-01 6.01215656e-03 9.78383807e+00] [ 4.50017125e-01 8.93014714e-01 -3.05086461e-03 -1.86346333e+02] [-6.74191714e-03 -1.88318390e-05 -9.99977273e-01 2.92497766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.12, Y:-185.70, Z:1.94 [[-8.57929934e-01 -5.13720254e-01 6.90859674e-03 1.01191044e+01] [ 5.13704517e-01 -8.57957744e-01 -4.02221710e-03 -1.85695906e+02] [ 7.99357847e-03 9.81969019e-05 9.99968046e-01 1.93571791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.85762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.74, Y:-186.33, Z:2.93 [[-8.94293293e-01 4.47403505e-01 8.34330817e-03 9.74403669e+00] [ 4.47383828e-01 8.94332211e-01 -4.19603867e-03 -1.86328767e+02] [-9.33901165e-03 -1.98280902e-05 -9.99956390e-01 2.92559726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.08, Y:-185.68, Z:1.94 [[-8.60183123e-01 -5.09924370e-01 7.88244779e-03 1.00828267e+01] [ 5.09903051e-01 -8.60219238e-01 -4.66273108e-03 -1.85676411e+02] [ 9.15827344e-03 8.48159601e-06 9.99958062e-01 1.93514868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.91762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.70, Y:-186.31, Z:2.93 [[-8.95544652e-01 4.44905695e-01 7.66149684e-03 9.70398673e+00] [ 4.44889311e-01 8.95577424e-01 -3.81820785e-03 -1.86312105e+02] [-8.56020602e-03 -1.08575686e-05 -9.99963361e-01 2.92524184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.72, Y:-186.29, Z:2.92 [[-9.23700982e-01 3.83061268e-01 6.36876547e-03 9.72016656e+00] [ 3.83052248e-01 9.23722937e-01 -2.62872258e-03 -1.86292355e+02] [-6.88993655e-03 1.14163008e-05 -9.99976264e-01 2.92309912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.97762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.73, Y:-186.27, Z:2.92 [[-9.47911004e-01 3.18481890e-01 5.83214420e-03 9.73196973e+00] [ 3.18476004e-01 9.47928945e-01 -1.93634015e-03 -1.86268676e+02] [-6.14514757e-03 2.19198464e-05 -9.99981118e-01 2.92276861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.74, Y:-186.24, Z:2.92 [[-9.67646395e-01 2.52245482e-01 5.71588506e-03 9.74187527e+00] [ 2.52241275e-01 9.67663276e-01 -1.45726325e-03 -1.86244207e+02] [-5.89864013e-03 3.16666022e-05 -9.99982602e-01 2.92256734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.03762800000004 meters Centerline goodness [0,1] 0.9999123748603475 Centerline is valid? [True, True] Translation: X:9.75, Y:-186.22, Z:2.92 [[-9.82725620e-01 1.84975159e-01 5.87765662e-03 9.74774189e+00] [ 1.84972119e-01 9.82743196e-01 -1.06155256e-03 -1.86218352e+02] [-5.97258790e-03 4.39877028e-05 -9.99982163e-01 2.92453082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.89, Y:-185.48, Z:1.94 [[-9.72164021e-01 -2.34259904e-01 4.40614920e-03 9.89233101e+00] [ 2.34256934e-01 -9.72173998e-01 -1.18587860e-03 -1.85477948e+02] [ 4.56134749e-03 -1.20697505e-04 9.99989590e-01 1.93906647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.09762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.70, Y:-186.21, Z:2.92 [[-9.82898826e-01 1.84098458e-01 4.20198956e-03 9.69527033e+00] [ 1.84096972e-01 9.82907806e-01 -7.40996676e-04 -1.86214702e+02] [-4.26658468e-03 4.52487920e-05 -9.99990897e-01 2.92166605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.84, Y:-185.47, Z:1.94 [[-9.73353200e-01 -2.29269863e-01 4.34489434e-03 9.83930441e+00] [ 2.29267421e-01 -9.73362897e-01 -1.05865071e-03 -1.85466204e+02] [ 4.47187564e-03 -3.42983319e-05 9.99990001e-01 1.93916671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.15762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.65, Y:-186.21, Z:2.92 [[-9.83513291e-01 1.80802740e-01 3.46072591e-03 9.64563690e+00] [ 1.80801763e-01 9.83519378e-01 -5.95812343e-04 -1.86205204e+02] [-3.51141550e-03 3.97159871e-05 -9.99993834e-01 2.92202856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.64, Y:-186.18, Z:2.92 [[-9.93912428e-01 1.10140225e-01 2.68649229e-03 9.64236867e+00] [ 1.10139903e-01 9.93916058e-01 -2.68025750e-04 -1.86175964e+02] [-2.69966824e-03 2.94958760e-05 -9.99996355e-01 2.92173602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.21762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.65, Y:-186.15, Z:2.92 [[-9.99293032e-01 3.75346400e-02 2.14188004e-03 9.65089323e+00] [ 3.75345964e-02 9.99295327e-01 -6.05418771e-05 -1.86145880e+02] [-2.14264313e-03 1.98955267e-05 -9.99997704e-01 2.92016977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.67, Y:-185.40, Z:1.94 [[-9.96176594e-01 -8.73463905e-02 1.67397369e-03 9.67464134e+00] [ 8.73461893e-02 -9.96177999e-01 -1.93039183e-04 -1.85395134e+02] [ 1.68443703e-03 -4.60858931e-05 9.99998580e-01 1.94087831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.27762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.57, Y:-186.14, Z:2.92 [[-9.99527746e-01 3.07054663e-02 1.20827392e-03 9.57053324e+00] [ 3.07054556e-02 9.99528476e-01 -2.74501941e-05 -1.86142742e+02] [-1.20854706e-03 9.66337046e-06 -9.99999270e-01 2.91885218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.307628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.59, Y:-185.39, Z:1.94 [[-9.96556181e-01 -8.29182249e-02 5.88158207e-04 9.59132082e+00] [ 8.29181835e-02 -9.96556354e-01 -9.45200869e-05 -1.85392521e+02] [ 5.93970236e-04 -4.54255667e-05 9.99999823e-01 1.94238647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.33762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.49, Y:-186.14, Z:2.92 [[-9.99699450e-01 2.45131624e-02 3.39711680e-04 9.48849058e+00] [ 2.45131620e-02 9.99699507e-01 -5.53406590e-06 -1.86140669e+02] [-3.39745257e-04 2.79500481e-06 -9.99999942e-01 2.91781554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.49, Y:-186.11, Z:2.92 [[-9.98831959e-01 -4.83182140e-02 2.59962757e-04 9.48791077e+00] [-4.83182119e-02 9.98831993e-01 1.43866928e-05 -1.86110126e+02] [-2.60354258e-04 1.80895301e-06 -9.99999966e-01 2.91840579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.39762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.45, Y:-185.37, Z:1.94 [[-9.99949225e-01 -1.00494914e-02 7.45685596e-04 9.45230567e+00] [ 1.00495099e-02 -9.99949502e-01 2.10787834e-05 -1.85367406e+02] [ 7.45436110e-04 2.85714879e-05 9.99999722e-01 1.94200756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.427628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.39, Y:-186.11, Z:2.92 [[-9.98376623e-01 -5.69354293e-02 1.57332282e-03 9.38609236e+00] [-5.69353514e-02 9.98377863e-01 9.42903048e-05 -1.86113403e+02] [-1.57613914e-03 4.55954832e-06 -9.99998758e-01 2.91904116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.38, Y:-186.08, Z:2.92 [[-9.91567513e-01 -1.29567503e-01 2.47577889e-03 9.38374913e+00] [-1.29567091e-01 9.91570604e-01 3.26527653e-04 -1.86083464e+02] [-2.49721694e-03 2.99474332e-06 -9.99996882e-01 2.92078547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.37, Y:-186.06, Z:2.92 [[-9.79719777e-01 -2.00353385e-01 2.77111108e-03 9.36686260e+00] [-2.00352575e-01 9.79723696e-01 5.69754465e-04 -1.86056826e+02] [-2.82907543e-03 3.00047762e-06 -9.99995998e-01 2.92187076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.34, Y:-186.03, Z:2.92 [[-9.62678301e-01 -2.70636280e-01 2.54795610e-03 9.33724365e+00] [-2.70635327e-01 9.62681673e-01 7.18555820e-04 -1.86033922e+02] [-2.64733792e-03 2.17116406e-06 -9.99996496e-01 2.92201032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.11, Y:-185.34, Z:1.94 [[-9.78554111e-01 2.05969100e-01 2.92954346e-03 9.10758652e+00] [-2.05968112e-01 -9.78558496e-01 6.38219039e-04 -1.85339139e+02] [ 2.99818304e-03 2.11393280e-05 9.99995505e-01 1.93889103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.18, Y:-186.08, Z:2.92 [[-9.60375830e-01 -2.78693901e-01 2.82390884e-03 9.17928288e+00] [-2.78692697e-01 9.60379982e-01 8.19096874e-04 -1.86076343e+02] [-2.94030282e-03 -3.61929999e-07 -9.99995677e-01 2.92043402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.60762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.13, Y:-186.06, Z:2.92 [[-9.37093569e-01 -3.49074436e-01 1.63712147e-03 9.12510738e+00] [-3.49073906e-01 9.37094999e-01 6.08231855e-04 -1.86064381e+02] [-1.74645654e-03 -1.50622733e-06 -9.99998475e-01 2.91854493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.06, Y:-186.06, Z:2.92 [[-9.08855654e-01 -4.17108909e-01 1.24825659e-03 9.06095360e+00] [-4.17108517e-01 9.08856511e-01 5.71872983e-04 -1.86061053e+02] [-1.37301945e-03 -9.08461344e-07 -9.99999057e-01 2.91831718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.66762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.99, Y:-186.07, Z:2.92 [[-8.75609033e-01 -4.83019683e-01 8.98425687e-04 8.98860126e+00] [-4.83019429e-01 8.75609494e-01 4.95580321e-04 -1.86065808e+02] [-1.02604511e-03 -2.24563456e-08 -9.99999474e-01 2.91760676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.91, Y:-186.08, Z:2.92 [[-8.37379891e-01 -5.46621126e-01 5.13398341e-04 8.90790860e+00] [-5.46621023e-01 8.37380048e-01 3.35648179e-04 -1.86079738e+02] [-6.13381913e-04 4.30708665e-07 -9.99999812e-01 2.91786378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.72762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.82, Y:-186.10, Z:2.92 [[-7.94129172e-01 -6.07748740e-01 5.71509035e-04 8.82448560e+00] [-6.07748582e-01 7.94129378e-01 4.38295875e-04 -1.86104292e+02] [-7.20225881e-04 7.29735179e-07 -9.99999741e-01 2.91843030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.73, Y:-186.14, Z:2.92 [[-7.46134566e-01 -6.65793868e-01 1.31689620e-03 8.73223990e+00] [-6.65792827e-01 7.46135728e-01 1.17751860e-03 -1.86144729e+02] [-1.76656796e-03 1.80728650e-06 -9.99998440e-01 2.91906658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.78762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.65, Y:-186.19, Z:2.92 [[-6.93937426e-01 -7.20031910e-01 2.21276079e-03 8.64638579e+00] [-7.20028227e-01 6.93940954e-01 2.30322911e-03 -1.86189356e+02] [-3.19392379e-03 5.04665211e-06 -9.99994899e-01 2.91998570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.56, Y:-186.24, Z:2.92 [[-6.39173671e-01 -7.69053939e-01 3.61363224e-03 8.56458589e+00] [-7.69041433e-01 6.39183885e-01 4.38581269e-03 -1.86241936e+02] [-5.68270202e-03 2.42630824e-05 -9.99983853e-01 2.92242134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.84762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.48, Y:-186.31, Z:2.92 [[-5.80224205e-01 -8.14447582e-01 3.87411219e-03 8.48115425e+00] [-8.14428942e-01 5.80237137e-01 5.51038181e-03 -1.86306848e+02] [-6.73582090e-03 4.20678165e-05 -9.99977313e-01 2.92282513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.40, Y:-186.38, Z:2.92 [[-5.18052113e-01 -8.55340100e-01 3.91416728e-03 8.40040021e+00] [-8.55314736e-01 5.18066896e-01 6.58740639e-03 -1.86383345e+02] [-7.66227334e-03 6.47748451e-05 -9.99970642e-01 2.92355484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.90762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.32, Y:-186.47, Z:2.92 [[-4.52958925e-01 -8.91524320e-01 3.54954623e-03 8.32493774e+00] [-8.91495441e-01 4.52972824e-01 7.17629497e-03 -1.86467084e+02] [-8.00568947e-03 8.61625734e-05 -9.99967950e-01 2.92383572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.937628 meters Centerline goodness [0,1] 0.9998476107543268 Centerline is valid? [True, True] Translation: X:8.26, Y:-186.56, Z:2.92 [[-3.87291373e-01 -9.21951675e-01 3.24046828e-03 8.25700904e+00] [-9.21916472e-01 3.87304906e-01 8.05780007e-03 -1.86557177e+02] [-8.68395154e-03 1.33275368e-04 -9.99962285e-01 2.92427042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.96762800000005 meters Centerline goodness [0,1] 0.9998910343024016 Centerline is valid? [True, True] Translation: X:8.19, Y:-186.66, Z:2.92 [[-3.17039024e-01 -9.48409842e-01 2.24266721e-03 8.19242507e+00] [-9.48383159e-01 3.17046930e-01 7.11538966e-03 -1.86655576e+02] [-7.45933633e-03 1.28948379e-04 -9.99972170e-01 2.92218225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.997628 meters Centerline goodness [0,1] 0.9998255027701435 Centerline is valid? [True, True] Translation: X:8.14, Y:-186.76, Z:2.92 [[-2.45363183e-01 -9.69429941e-01 1.58029703e-03 8.13601761e+00] [-9.69406077e-01 2.45368233e-01 6.80351175e-03 -1.86761905e+02] [-6.98328269e-03 1.37381752e-04 -9.99975607e-01 2.92143815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.02762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.09, Y:-186.87, Z:2.92 [[-1.74137752e-01 -9.84721185e-01 4.79892876e-04 8.09025158e+00] [-9.84716136e-01 1.74138396e-01 3.15443663e-03 -1.86866675e+02] [-3.18980835e-03 7.67482458e-05 -9.99994910e-01 2.91762969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.057628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.05, Y:-186.98, Z:2.92 [[-1.00599667e-01 -9.94926973e-01 1.61641955e-04 8.04976048e+00] [-9.94924568e-01 1.00599779e-01 2.18819961e-03 -1.86981706e+02] [-2.19335995e-03 5.93105995e-05 -9.99997593e-01 2.91730766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.08762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.02, Y:-187.10, Z:2.92 [[-2.64504210e-02 -9.99650126e-01 -7.53801114e-06 8.01873604e+00] [-9.99647875e-01 2.64503454e-02 2.12269715e-03 -1.87096863e+02] [-2.12175509e-03 6.36815900e-05 -9.99997747e-01 2.91679041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.00, Y:-187.22, Z:2.92 [[ 5.08092292e-02 -9.98708362e-01 -1.71404492e-04 7.99563902e+00] [-9.98706123e-01 -5.08094784e-02 2.11578669e-03 -1.87217867e+02] [-2.12176283e-03 6.36812244e-05 -9.99997747e-01 2.91679080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.14762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.98, Y:-187.34, Z:2.92 [[ 1.23641252e-01 -9.92326908e-01 -3.85961525e-04 7.98350616e+00] [-9.92323958e-01 -1.23641826e-01 2.42088166e-03 -1.87336778e+02] [-2.45002700e-03 8.36780297e-05 -9.99996995e-01 2.91707514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.177628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.98, Y:-187.46, Z:2.92 [[ 1.98844608e-01 -9.80030823e-01 -6.38020566e-04 7.98057970e+00] [-9.80027216e-01 -1.98845608e-01 2.66087775e-03 -1.87460921e+02] [-2.73460980e-03 9.61763250e-05 -9.99996256e-01 2.91819953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.207628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.98, Y:-187.58, Z:2.92 [[ 2.73732938e-01 -9.61805221e-01 -9.97372577e-04 7.98311334e+00] [-9.61800274e-01 -2.73734731e-01 3.08707479e-03 -1.87584785e+02] [-3.24218016e-03 1.14239166e-04 -9.99994738e-01 2.91926049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.23762800000003 meters Centerline goodness [0,1] 0.9998689784687951 Centerline is valid? [True, True] Translation: X:7.99, Y:-187.71, Z:2.92 [[ 3.47635081e-01 -9.37628397e-01 -1.68535323e-03 7.99419656e+00] [-9.37619423e-01 -3.47639133e-01 4.10492720e-03 -1.87706103e+02] [-4.43479105e-03 1.53203224e-04 -9.99990155e-01 2.92173920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.01, Y:-187.83, Z:2.92 [[ 4.23387068e-01 -9.05946871e-01 -1.91259064e-03 8.01170699e+00] [-9.05938920e-01 -4.23391369e-01 3.79758817e-03 -1.87826360e+02] [-4.25018749e-03 1.24840573e-04 -9.99990960e-01 2.92100588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.29762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.04, Y:-187.94, Z:2.92 [[ 4.94403501e-01 -8.69227839e-01 -2.85346165e-03 8.03925951e+00] [-8.69215012e-01 -4.94411714e-01 4.72435540e-03 -1.87944902e+02] [-5.51732610e-03 1.44533852e-04 -9.99984769e-01 2.92199204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.327628 meters Centerline goodness [0,1] 0.9998695368558382 Centerline is valid? [True, True] Translation: X:8.07, Y:-188.06, Z:2.93 [[ 5.61746204e-01 -8.27299738e-01 -4.04302787e-03 8.07394631e+00] [-8.27280375e-01 -5.61760729e-01 5.66246771e-03 -1.88055122e+02] [-6.95577234e-03 1.63847869e-04 -9.99975795e-01 2.92520934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.35762800000003 meters Centerline goodness [0,1] 0.999804619659604 Centerline is valid? [True, True] Translation: X:8.12, Y:-188.16, Z:2.93 [[ 6.25590037e-01 -7.80136908e-01 -4.84869590e-03 8.11704777e+00] [-7.80115389e-01 -6.25608807e-01 5.79657613e-03 -1.88160911e+02] [-7.55550984e-03 1.56262013e-04 -9.99971445e-01 2.92554490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.17, Y:-188.26, Z:2.92 [[ 6.87905797e-01 -7.25788254e-01 -4.12619241e-03 8.16554430e+00] [-7.25775929e-01 -6.87918167e-01 4.23049823e-03 -1.88262185e+02] [-5.90892864e-03 8.45068753e-05 -9.99982539e-01 2.92088566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.41762800000004 meters Centerline goodness [0,1] 0.9999133655324771 Centerline is valid? [True, True] Translation: X:8.22, Y:-188.36, Z:2.92 [[ 7.43280332e-01 -6.68968249e-01 -3.97877067e-03 8.22281745e+00] [-6.68959084e-01 -7.43290978e-01 3.50214428e-03 -1.88359509e+02] [-5.30020768e-03 5.85598216e-05 -9.99985952e-01 2.92176459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.22, Y:-188.37, Z:2.92 [[ 7.95355943e-01 -6.06133250e-01 -3.37755458e-03 8.21561266e+00] [-6.06127957e-01 -7.95363113e-01 2.53343383e-03 -1.88374923e+02] [-4.22198081e-03 3.22486036e-05 -9.99991087e-01 2.91968431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.47762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.21, Y:-188.39, Z:2.92 [[ 8.43684400e-01 -5.36826981e-01 -3.66419156e-03 8.20847311e+00] [-5.36821949e-01 -8.43692357e-01 2.32436790e-03 -1.88390646e+02] [-4.33923381e-03 5.98551190e-06 -9.99990585e-01 2.92062560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.21, Y:-188.40, Z:2.92 [[ 8.84469670e-01 -4.66580626e-01 -3.99018986e-03 8.20515905e+00] [-4.66575841e-01 -8.84478671e-01 2.11322838e-03 -1.88402607e+02] [-4.51522925e-03 -7.36022352e-06 -9.99989806e-01 2.92159201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.53762800000004 meters Centerline goodness [0,1] 0.9999353336782204 Centerline is valid? [True, True] Translation: X:8.20, Y:-188.42, Z:2.92 [[ 9.19366489e-01 -3.93376345e-01 -4.50657490e-03 8.20345922e+00] [-3.93371502e-01 -9.19377534e-01 1.95218157e-03 -1.88415436e+02] [-4.91118577e-03 -2.20121795e-05 -9.99987940e-01 2.92391838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.20, Y:-188.43, Z:2.92 [[ 9.48153362e-01 -3.17787678e-01 -4.02403494e-03 8.20317369e+00] [-3.17784680e-01 -9.48161901e-01 1.38076178e-03 -1.88427021e+02] [-4.25422570e-03 -3.03972651e-05 -9.99990950e-01 2.92275774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.59762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.20, Y:-188.44, Z:2.92 [[ 9.70951952e-01 -2.39234857e-01 -4.35779021e-03 8.20337429e+00] [-2.39232224e-01 -9.70961730e-01 1.12340326e-03 -1.88436920e+02] [-4.50000473e-03 -4.82467400e-05 -9.99989874e-01 2.92293780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.627628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.21, Y:-188.45, Z:2.92 [[ 9.86831208e-01 -1.61686472e-01 -4.65310867e-03 8.20599995e+00] [-1.61684412e-01 -9.86842177e-01 8.17942835e-04 -1.88445652e+02] [-4.72413418e-03 -5.48363758e-05 -9.99988840e-01 2.92271320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.65762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.21, Y:-188.45, Z:2.92 [[ 9.96476472e-01 -8.37376110e-02 -4.75955910e-03 8.20537358e+00] [-8.37363853e-02 -9.96487837e-01 4.56568696e-04 -1.88452289e+02] [-4.78107473e-03 -5.64116881e-05 -9.99988569e-01 2.92301392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.21, Y:-188.46, Z:2.92 [[ 9.99971128e-01 -5.92319004e-03 -4.76013351e-03 8.20543150e+00] [-5.92286648e-03 -9.99982456e-01 8.20662460e-05 -1.88457847e+02] [-4.76053610e-03 -5.38702413e-05 -9.99988667e-01 2.92251967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.71762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.20, Y:-188.46, Z:2.92 [[ 9.97555118e-01 6.97465716e-02 -4.38204931e-03 8.20497897e+00] [ 6.97460670e-02 -9.97564742e-01 -2.68055310e-04 -1.88459652e+02] [-4.39007383e-03 -3.82307580e-05 -9.99990363e-01 2.92123802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.21, Y:-188.46, Z:2.92 [[ 9.89388586e-01 1.45246576e-01 -3.69579319e-03 8.20561567e+00] [ 1.45245651e-01 -9.89395488e-01 -5.18871704e-04 -1.88461768e+02] [-3.73196545e-03 -2.34321462e-05 -9.99993036e-01 2.92073580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.77762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.20, Y:-188.46, Z:2.92 [[ 9.76270455e-01 2.16518524e-01 -3.96566364e-03 8.20496697e+00] [ 2.16516745e-01 -9.76278510e-01 -8.77758011e-04 -1.88461265e+02] [-4.06164306e-03 -1.70336939e-06 -9.99991752e-01 2.92071620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.807628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.21, Y:-188.47, Z:2.92 [[ 9.57366904e-01 2.88842247e-01 -4.33206694e-03 8.20554515e+00] [ 2.88839222e-01 -9.57376705e-01 -1.32209121e-03 -1.88466354e+02] [-4.52929577e-03 1.44555249e-05 -9.99989743e-01 2.92132210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.83762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.21, Y:-188.47, Z:2.92 [[ 9.33142393e-01 3.59475666e-01 -4.74555256e-03 8.20675044e+00] [ 3.59470827e-01 -9.33154459e-01 -1.86550448e-03 -1.88472618e+02] [-5.09893699e-03 3.48936102e-05 -9.99987000e-01 2.92192511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.21, Y:-188.48, Z:2.92 [[ 9.03549832e-01 4.28447109e-01 -5.54765368e-03 8.20697709e+00] [ 4.28438607e-01 -9.03566860e-01 -2.69974326e-03 -1.88477429e+02] [-6.16937322e-03 6.25235525e-05 -9.99980967e-01 2.92265897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.89762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.21, Y:-188.48, Z:2.92 [[ 8.68996010e-01 4.94783646e-01 -5.92278021e-03 8.20726276e+00] [ 4.94771413e-01 -8.69016188e-01 -3.48046629e-03 -1.88481491e+02] [-6.86906968e-03 9.40889804e-05 -9.99976403e-01 2.92259004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.927628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.21, Y:-188.48, Z:2.92 [[ 8.31148748e-01 5.56015572e-01 -6.20011308e-03 8.20544675e+00] [ 5.55998733e-01 -8.31171860e-01 -4.32994928e-03 -1.88484020e+02] [-7.56087875e-03 1.51576909e-04 -9.99971405e-01 2.92314289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.957628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.21, Y:-188.49, Z:2.92 [[ 7.87127955e-01 6.16759941e-01 -6.06281059e-03 8.20734014e+00] [ 6.16739833e-01 -7.87151283e-01 -4.98366427e-03 -1.88491027e+02] [-7.84607361e-03 1.83604676e-04 -9.99969202e-01 2.92330227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.21, Y:-188.50, Z:2.92 [[ 7.38780618e-01 6.73921706e-01 -5.72120421e-03 8.20913704e+00] [ 6.73899234e-01 -7.38802740e-01 -5.50765274e-03 -1.88497594e+02] [-7.93856807e-03 2.13431965e-04 -9.99968466e-01 2.92402819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.21, Y:-188.50, Z:2.92 [[ 6.88536049e-01 7.25183042e-01 -5.25963852e-03 8.21063997e+00] [ 7.25158893e-01 -6.88556087e-01 -5.92407611e-03 -1.88502986e+02] [-7.91759565e-03 2.64866319e-04 -9.99968620e-01 2.92423577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.21, Y:-188.51, Z:2.92 [[ 6.31465676e-01 7.75389427e-01 -4.72611200e-03 8.21491956e+00] [ 7.75364310e-01 -6.31483300e-01 -6.24735361e-03 -1.88510493e+02] [-7.82859274e-03 2.80530807e-04 -9.99969317e-01 2.92381082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.22, Y:-188.52, Z:2.92 [[ 5.70171635e-01 8.21514822e-01 -4.20759092e-03 8.21731463e+00] [ 8.21488563e-01 -5.70187085e-01 -6.57484306e-03 -1.88517898e+02] [-7.80044503e-03 2.92301196e-04 -9.99969533e-01 2.92328384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.22, Y:-188.53, Z:2.92 [[ 5.04307799e-01 8.63512826e-01 -4.38668896e-03 8.22051107e+00] [ 8.63473895e-01 -5.04326755e-01 -8.20708222e-03 -1.88525671e+02] [-9.29924537e-03 3.51104174e-04 -9.99956699e-01 2.92385782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.137628 meters Centerline goodness [0,1] 0.9998904541769822 Centerline is valid? [True, True] Translation: X:8.23, Y:-188.53, Z:2.93 [[ 4.34714121e-01 9.00558630e-01 -4.21756782e-03 8.22911357e+00] [ 9.00507128e-01 -4.34734403e-01 -9.63908783e-03 -1.88534954e+02] [-1.05140856e-02 3.92297709e-04 -9.99944649e-01 2.92718714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.16762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.24, Y:-188.54, Z:2.93 [[ 3.61607087e-01 9.32324093e-01 -3.47851709e-03 8.23668100e+00] [ 9.32270291e-01 -3.61623616e-01 -1.00231799e-02 -1.88543020e+02] [-1.06027661e-02 3.81534754e-04 -9.99943716e-01 2.92680921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.197628 meters Centerline goodness [0,1] 0.9998469577384727 Centerline is valid? [True, True] Translation: X:8.24, Y:-188.55, Z:2.93 [[ 2.86308558e-01 9.58132963e-01 -2.93838709e-03 8.24416860e+00] [ 9.58067082e-01 -2.86323351e-01 -1.12430068e-02 -1.88549452e+02] [-1.16136243e-02 4.03797127e-04 -9.99932478e-01 2.93062707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.22762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.25, Y:-188.56, Z:2.93 [[ 2.05018928e-01 9.78755936e-01 -2.01400873e-03 8.25401649e+00] [ 9.78691436e-01 -2.05028549e-01 -1.12413505e-02 -1.88555290e+02] [-1.14154678e-02 3.33596538e-04 -9.99934786e-01 2.92726352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.257628 meters Centerline goodness [0,1] 0.9998251289673865 Centerline is valid? [True, True] Translation: X:8.26, Y:-188.56, Z:2.93 [[ 1.24168559e-01 9.92260402e-01 -1.20957199e-03 8.26110061e+00] [ 9.92185502e-01 -1.24174053e-01 -1.21956839e-02 -1.88561560e+02] [-1.22514916e-02 3.14200708e-04 -9.99924898e-01 2.93078968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.28762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.27, Y:-188.57, Z:2.93 [[ 4.17772522e-02 9.99126919e-01 -2.45763440e-04 8.27426012e+00] [ 9.99054680e-01 -4.17771876e-02 -1.20172063e-02 -1.88566256e+02] [-1.20169816e-02 2.56514742e-04 -9.99927761e-01 2.92736433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.28, Y:-188.57, Z:2.93 [[-4.13325144e-02 9.99145219e-01 6.74503809e-04 8.28326304e+00] [ 9.99077681e-01 4.13375641e-02 -1.16186421e-02 -1.88570693e+02] [-1.16365930e-02 1.93654009e-04 -9.99932274e-01 2.92842415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.34762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.29, Y:-188.57, Z:2.93 [[-1.29248398e-01 9.91611094e-01 1.51351338e-03 8.29467665e+00] [ 9.91549779e-01 1.29257237e-01 -1.10273116e-02 -1.88573330e+02] [-1.11304371e-02 7.54614951e-05 -9.99938052e-01 2.92707812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.30, Y:-188.57, Z:2.93 [[-2.11361443e-01 9.77405518e-01 2.18947681e-03 8.30385676e+00] [ 9.77353999e-01 2.11372783e-01 -1.00353452e-02 -1.88574760e+02] [-1.02713976e-02 1.88088785e-05 -9.99947248e-01 2.92624756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.40762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.32, Y:-188.57, Z:2.92 [[-2.91489371e-01 9.56570526e-01 2.60284879e-03 8.31802643e+00] [ 9.56531682e-01 2.91500991e-01 -8.62059394e-03 -1.88573084e+02] [-9.00493908e-03 -2.31041707e-05 -9.99959454e-01 2.92495489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.33, Y:-188.57, Z:2.92 [[-3.72135339e-01 9.28175081e-01 2.51169528e-03 8.33268000e+00] [ 9.28152715e-01 3.72143809e-01 -6.44382342e-03 -1.88571342e+02] [-6.91570817e-03 -6.67376132e-05 -9.99976084e-01 2.92432653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.46762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.34, Y:-188.57, Z:2.92 [[-4.45822035e-01 8.95118192e-01 2.47683649e-03 8.33892282e+00] [ 8.95103514e-01 4.45828910e-01 -5.12655799e-03 -1.88570500e+02] [-5.69312063e-03 -6.85074740e-05 -9.99983792e-01 2.92168328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.35, Y:-188.57, Z:2.92 [[-5.15504976e-01 8.56883120e-01 2.43691059e-03 8.34518650e+00] [ 8.56872957e-01 5.15510732e-01 -4.17380823e-03 -1.88570136e+02] [-4.83271938e-03 -6.34961202e-05 -9.99988320e-01 2.92008026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.52762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.35, Y:-188.57, Z:2.92 [[-5.80520667e-01 8.14244668e-01 1.17310006e-03 8.35022233e+00] [ 8.14242916e-01 5.80521852e-01 -1.68949741e-03 -1.88571409e+02] [-2.05667448e-03 -2.55997486e-05 -9.99997885e-01 2.91762324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.557628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.36, Y:-188.57, Z:2.92 [[-6.41367845e-01 7.67232828e-01 1.03642947e-03 8.35549422e+00] [ 7.67231781e-01 6.41368682e-01 -1.26781849e-03 -1.88570017e+02] [-1.63744538e-03 -1.79563851e-05 -9.99998659e-01 2.91711929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.58762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.36, Y:-188.57, Z:2.92 [[-6.98218352e-01 7.15884814e-01 2.57257095e-04 8.36139468e+00] [ 7.15884764e-01 6.98218399e-01 -2.68469364e-04 -1.88568007e+02] [-3.71814778e-04 -3.28380218e-06 -9.99999931e-01 2.91707690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.37, Y:-188.56, Z:2.92 [[-7.50828479e-01 6.60497084e-01 4.44389547e-04 8.36814660e+00] [ 6.60496965e-01 7.50828610e-01 -3.96506047e-04 -1.88563699e+02] [-5.95551474e-04 -4.19008448e-06 -9.99999823e-01 2.91783177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.64762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.39, Y:-188.55, Z:2.92 [[-7.93176559e-01 6.08989948e-01 1.47950248e-03 8.38827843e+00] [ 6.08988875e-01 7.93177939e-01 -1.14325402e-03 -1.88550152e+02] [-1.86973894e-03 -5.80174033e-06 -9.99998252e-01 2.92016820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.677628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.41, Y:-188.53, Z:2.92 [[-8.33275647e-01 5.52850346e-01 2.86207507e-03 8.40658891e+00] [ 5.52847067e-01 8.33280562e-01 -1.90420266e-03 -1.88532787e+02] [-3.43765062e-03 -4.43589099e-06 -9.99994091e-01 2.92139055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.707628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.42, Y:-188.51, Z:2.92 [[-8.69414118e-01 4.94063870e-01 4.47023053e-03 8.42243174e+00] [ 4.94057355e-01 8.69425610e-01 -2.53726493e-03 -1.88513112e+02] [-5.14010384e-03 2.61632098e-06 -9.99986790e-01 2.92302014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.73762800000003 meters Centerline goodness [0,1] 0.9999561162918267 Centerline is valid? [True, True] Translation: X:8.44, Y:-188.50, Z:2.93 [[-9.01053154e-01 4.33649429e-01 7.16845619e-03 8.43769252e+00] [ 4.33635927e-01 9.01081668e-01 -3.42205049e-03 -1.88495634e+02] [-7.94333470e-03 2.50507619e-05 -9.99968451e-01 2.92620215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.77, Y:-187.82, Z:1.94 [[-8.73120719e-01 -4.87443264e-01 7.69903627e-03 8.76742078e+00] [ 4.87424561e-01 -8.73154662e-01 -4.27005666e-03 -1.87822770e+02] [ 8.80385977e-03 2.44244393e-05 9.99961245e-01 1.93587385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.79762800000003 meters Centerline goodness [0,1] 0.9998901316223164 Centerline is valid? [True, True] Translation: X:8.40, Y:-188.48, Z:2.93 [[-9.02183498e-01 4.31249246e-01 9.43521155e-03 8.39503574e+00] [ 4.31226168e-01 9.02232834e-01 -4.46163046e-03 -1.88479595e+02] [-1.04368324e-02 4.35007447e-05 -9.99945534e-01 2.92658649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.41, Y:-188.46, Z:2.93 [[-9.30749247e-01 3.65533225e-01 9.55507940e-03 8.41043056e+00] [ 3.65514349e-01 9.30798292e-01 -3.71491334e-03 -1.88455622e+02] [-1.02517758e-02 3.48658357e-05 -9.99947449e-01 2.92531765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.85762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.42, Y:-188.42, Z:2.93 [[-9.54903839e-01 2.96713093e-01 1.09543945e-02 8.41925784e+00] [ 2.96693754e-01 9.54966670e-01 -3.38759802e-03 -1.88424511e+02] [-1.14662263e-02 1.52700651e-05 -9.99934261e-01 2.92719186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.43, Y:-188.40, Z:2.93 [[-9.73942471e-01 2.26553577e-01 1.04660850e-02 8.42937282e+00] [ 2.26540451e-01 9.73998705e-01 -2.43876274e-03 -1.88395900e+02] [-1.07464637e-02 -4.22299599e-06 -9.99942255e-01 2.92765924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.91762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.60, Y:-187.68, Z:1.93 [[-9.55787019e-01 -2.93883949e-01 1.01685749e-02 8.60203386e+00] [ 2.93867287e-01 -9.55841109e-01 -3.12934816e-03 -1.87680989e+02] [ 1.06392071e-02 -2.77881761e-06 9.99943402e-01 1.93384022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.38, Y:-188.38, Z:2.93 [[-9.75497150e-01 2.19769602e-01 1.03262894e-02 8.38172179e+00] [ 2.19756895e-01 9.75551803e-01 -2.36349867e-03 -1.88380337e+02] [-1.05932554e-02 -3.63129296e-05 -9.99943889e-01 2.92697789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.97762800000004 meters Centerline goodness [0,1] 0.9998247689140053 Centerline is valid? [True, True] Translation: X:8.39, Y:-188.35, Z:2.93 [[-9.88462077e-01 1.51033891e-01 1.14667663e-02 8.38521791e+00] [ 1.51023403e-01 9.88528585e-01 -1.78006310e-03 -1.88353207e+02] [-1.16040761e-02 -2.77748016e-05 -9.99932670e-01 2.92984654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.007628 meters Centerline goodness [0,1] 0.9999562583382543 Centerline is valid? [True, True] Translation: X:8.50, Y:-187.63, Z:1.93 [[-9.75265255e-01 -2.20780217e-01 1.06666733e-02 8.50478875e+00] [ 2.20766837e-01 -9.75323585e-01 -2.43065015e-03 -1.87633748e+02] [ 1.09400975e-02 -1.56809146e-05 9.99940155e-01 1.93202052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.03762800000004 meters Centerline goodness [0,1] 0.9999562583382543 Centerline is valid? [True, True] Translation: X:8.33, Y:-188.35, Z:2.93 [[-9.88928888e-01 1.47995674e-01 1.08136245e-02 8.33283653e+00] [ 1.47986681e-01 9.88988008e-01 -1.63158956e-03 -1.88346774e+02] [-1.09360132e-02 -1.32536498e-05 -9.99940200e-01 2.92864624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.34, Y:-188.32, Z:2.93 [[-9.96660027e-01 8.08870767e-02 1.12281239e-02 8.33779601e+00] [ 8.08822364e-02 9.96723272e-01 -8.85257609e-04 -1.88323261e+02] [-1.12629383e-02 2.58548999e-05 -9.99936571e-01 2.92776365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.09762800000004 meters Centerline goodness [0,1] 0.9998904733740772 Centerline is valid? [True, True] Translation: X:8.34, Y:-188.30, Z:2.93 [[-9.99854296e-01 1.17523086e-02 1.23802100e-02 8.33911722e+00] [ 1.17520546e-02 9.99930938e-01 -9.32689859e-05 -1.88297452e+02] [-1.23804511e-02 5.22375079e-05 -9.99923358e-01 2.93089654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.35, Y:-187.55, Z:1.93 [[-9.97453846e-01 -7.02585416e-02 1.22295993e-02 8.34811259e+00] [ 7.02525316e-02 -9.97528814e-01 -9.20868910e-04 -1.87554590e+02] [ 1.22640766e-02 -5.93639224e-05 9.99924792e-01 1.93126213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.15762800000005 meters Centerline goodness [0,1] 0.9998684527855123 Centerline is valid? [True, True] Translation: X:8.25, Y:-188.30, Z:2.93 [[-9.99887930e-01 6.96694935e-03 1.32509817e-02 8.24947786e+00] [ 6.96727286e-03 9.99975728e-01 -2.17503463e-05 -1.88298655e+02] [-1.32508116e-02 7.05752961e-05 -9.99912202e-01 2.93135788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.25, Y:-187.56, Z:1.93 [[-9.97677780e-01 -6.66661030e-02 1.39527309e-02 8.24752700e+00] [ 6.66592482e-02 -9.97775341e-01 -9.56293031e-04 -1.87555024e+02] [ 1.39854431e-02 -2.39937582e-05 9.99902199e-01 1.93083182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.21762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.15, Y:-188.29, Z:2.93 [[-9.99886022e-01 -3.48717736e-03 1.46895100e-02 8.15407220e+00] [-3.48664938e-03 9.99993920e-01 6.15524416e-05 -1.88292635e+02] [-1.46896354e-02 1.03282550e-05 -9.99892101e-01 2.93087627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.16, Y:-187.56, Z:1.93 [[-9.97848214e-01 -6.38447832e-02 1.49259972e-02 8.15612009e+00] [ 6.38377535e-02 -9.97959841e-01 -9.47427258e-04 -1.87559680e+02] [ 1.49560341e-02 7.45353315e-06 9.99888152e-01 1.92904998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.27762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.07, Y:-188.29, Z:2.93 [[-9.99835585e-01 -9.90206466e-03 1.51905455e-02 8.06688220e+00] [-9.90088561e-03 9.99950973e-01 1.52821276e-04 -1.88288326e+02] [-1.51913140e-02 2.39629595e-06 -9.99884605e-01 2.93164713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.307628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.06, Y:-188.26, Z:2.93 [[-9.96753639e-01 -7.91413227e-02 1.47930221e-02 8.06222155e+00] [-7.91321423e-02 9.96863406e-01 1.20581014e-03 -1.88263077e+02] [-1.48420518e-02 3.12921236e-05 -9.99889850e-01 2.93099217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.33762800000005 meters Centerline goodness [0,1] 0.9998033044846577 Centerline is valid? [True, True] Translation: X:8.05, Y:-188.24, Z:2.93 [[-9.89073966e-01 -1.46653248e-01 1.50171632e-02 8.05017167e+00] [-1.46635045e-01 9.89187959e-01 2.31215311e-03 -1.88239795e+02] [-1.51938818e-02 8.48480446e-05 -9.99884563e-01 2.93314394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.03, Y:-188.22, Z:2.93 [[-9.77441816e-01 -2.10812375e-01 1.28701081e-02 8.02994221e+00] [-2.10791856e-01 9.77526529e-01 2.94591295e-03 -1.88222497e+02] [-1.32019070e-02 1.66544520e-04 -9.99912837e-01 2.92812221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.39762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.98, Y:-188.21, Z:2.93 [[-9.60422670e-01 -2.78263165e-01 1.25660794e-02 7.98180737e+00] [-2.78236417e-01 9.60504849e-01 3.86414164e-03 -1.88209827e+02] [-1.31450285e-02 2.14868313e-04 -9.99913577e-01 2.92776162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.427628 meters Centerline goodness [0,1] 0.999868354652566 Centerline is valid? [True, True] Translation: X:7.92, Y:-188.20, Z:2.93 [[-9.38585593e-01 -3.44806214e-01 1.28747136e-02 7.92179601e+00] [-3.44769704e-01 9.38673850e-01 5.02529618e-03 -1.88203536e+02] [-1.38179103e-02 2.77859403e-04 -9.99904490e-01 2.93022583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.85, Y:-188.21, Z:2.93 [[-9.12315184e-01 -4.09328219e-01 1.14635868e-02 7.84843101e+00] [-4.09291547e-01 9.12387149e-01 5.48812866e-03 -1.88205422e+02] [-1.27056752e-02 3.14953918e-04 -9.99919230e-01 2.92735470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.77, Y:-188.21, Z:2.93 [[-8.79824461e-01 -4.75172058e-01 1.09741718e-02 7.77031596e+00] [-4.75130358e-01 8.79892837e-01 6.30382522e-03 -1.88213976e+02] [-1.26514968e-02 3.32097441e-04 -9.99919911e-01 2.92713051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.517628 meters Centerline goodness [0,1] 0.9999121496969164 Centerline is valid? [True, True] Translation: X:7.69, Y:-188.23, Z:2.93 [[-8.42069785e-01 -5.39258796e-01 1.08824706e-02 7.68644182e+00] [-5.39208237e-01 8.42140026e-01 7.39275727e-03 -1.88234829e+02] [-1.31511734e-02 3.57299744e-04 -9.99913456e-01 2.92923476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.60, Y:-188.26, Z:2.93 [[-7.98499821e-01 -6.01910606e-01 1.00826028e-02 7.59670917e+00] [-6.01857187e-01 7.98563402e-01 8.02623842e-03 -1.88264985e+02] [-1.28826756e-02 3.40662967e-04 -9.99916957e-01 2.92715069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.577628 meters Centerline goodness [0,1] 0.9998245344680105 Centerline is valid? [True, True] Translation: X:7.50, Y:-188.31, Z:2.93 [[-7.49899981e-01 -6.61469393e-01 1.04048624e-02 7.50433966e+00] [-6.61398971e-01 7.49972074e-01 9.65864897e-03 -1.88306595e+02] [-1.41922569e-02 3.61255390e-04 -9.99899220e-01 2.92969211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.60762800000003 meters Centerline goodness [0,1] 0.99986838064318 Centerline is valid? [True, True] Translation: X:7.41, Y:-188.36, Z:2.93 [[-6.93789918e-01 -7.20123479e-01 8.81616648e-03 7.40982370e+00] [-7.20060461e-01 6.93845880e-01 9.53036811e-03 -1.88358151e+02] [-1.29801026e-02 2.63900413e-04 -9.99915720e-01 2.92787947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.637628 meters Centerline goodness [0,1] 0.9998904397747441 Centerline is valid? [True, True] Translation: X:7.32, Y:-188.42, Z:2.93 [[-6.34615698e-01 -7.72788136e-01 7.83666379e-03 7.31812898e+00] [-7.72724901e-01 6.34664044e-01 9.88835136e-03 -1.88417686e+02] [-1.26152493e-02 2.19717750e-04 -9.99920400e-01 2.92640825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.66762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.23, Y:-188.49, Z:2.92 [[-5.67606254e-01 -8.23276273e-01 6.27052130e-03 7.22587225e+00] [-8.23223865e-01 5.67640878e-01 9.28989303e-03 -1.88488925e+02] [-1.12075527e-02 1.10958603e-04 -9.99937187e-01 2.92336155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.697628 meters Centerline goodness [0,1] 0.9998253846993342 Centerline is valid? [True, True] Translation: X:7.14, Y:-188.56, Z:2.92 [[-5.00379368e-01 -8.65786454e-01 5.85697920e-03 7.14459182e+00] [-8.65725192e-01 5.00413638e-01 1.02996348e-02 -1.88562207e+02] [-1.18481965e-02 8.31903008e-05 -9.99929804e-01 2.92460958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.72762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.07, Y:-188.65, Z:2.92 [[-4.29176182e-01 -9.03208969e-01 4.62213839e-03 7.06604968e+00] [-9.03155691e-01 4.29201069e-01 9.81023260e-03 -1.88649409e+02] [-1.08445168e-02 3.58075812e-05 -9.99941196e-01 2.92172197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.99, Y:-188.74, Z:2.92 [[-3.55933692e-01 -9.34503289e-01 3.84844687e-03 6.99478150e+00] [-9.34448509e-01 3.55954497e-01 1.01183286e-02 -1.88742322e+02] [-1.08254833e-02 5.27860969e-06 -9.99941403e-01 2.92208512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.78762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.93, Y:-188.84, Z:2.92 [[-2.79523640e-01 -9.60134920e-01 2.73316121e-03 6.93027995e+00] [-9.60090122e-01 2.79537000e-01 9.27488627e-03 -1.88843170e+02] [-9.66916187e-03 -3.15311084e-05 -9.99953252e-01 2.92171316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.88, Y:-188.95, Z:2.92 [[-2.03939761e-01 -9.78981716e-01 1.83658524e-03 6.87541525e+00] [-9.78943622e-01 2.03948027e-01 8.63642637e-03 -1.88947236e+02] [-8.82947144e-03 -3.66026821e-05 -9.99961019e-01 2.92058476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.84762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.83, Y:-189.06, Z:2.92 [[-1.27303153e-01 -9.91863295e-01 1.05428386e-03 6.82839506e+00] [-9.91831740e-01 1.27307513e-01 7.91176376e-03 -1.89057808e+02] [-7.98160632e-03 -3.84797213e-05 -9.99968146e-01 2.92002865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.79, Y:-189.17, Z:2.92 [[-5.00048934e-02 -9.98748875e-01 4.41046664e-04 6.79070523e+00] [-9.98717062e-01 5.00068209e-02 7.97172802e-03 -1.89171781e+02] [-7.98380974e-03 -4.18554181e-05 -9.99968128e-01 2.91980394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.90762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.76, Y:-189.29, Z:2.92 [[ 2.63738287e-02 -9.99652137e-01 -1.62946252e-04 6.76381633e+00] [-9.99624635e-01 -2.63743118e-02 7.41513774e-03 -1.89288518e+02] [-7.41685588e-03 -3.26804852e-05 -9.99972494e-01 2.91947945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.937628 meters Centerline goodness [0,1] 0.9998680970805487 Centerline is valid? [True, True] Translation: X:6.75, Y:-189.40, Z:2.92 [[ 1.02209048e-01 -9.94762628e-01 -7.90615017e-04 6.74504312e+00] [-9.94730927e-01 -1.02212102e-01 7.94161977e-03 -1.89404412e+02] [-7.98083697e-03 -2.52561849e-05 -9.99968152e-01 2.92181572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.96762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.74, Y:-189.53, Z:2.92 [[ 1.78175519e-01 -9.83998071e-01 -1.13208308e-03 6.73597508e+00] [-9.83977591e-01 -1.78179114e-01 6.34852331e-03 -1.89526082e+02] [-6.44864825e-03 -1.72070508e-05 -9.99979207e-01 2.91790272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.74, Y:-189.64, Z:2.92 [[ 2.52633818e-01 -9.67561055e-01 -1.32652615e-03 6.73660513e+00] [-9.67547536e-01 -2.52637301e-01 5.11476765e-03 -1.89643997e+02] [-5.28397996e-03 -8.68617505e-06 -9.99986040e-01 2.91674799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.02762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.75, Y:-189.76, Z:2.92 [[ 3.26307196e-01 -9.45262370e-01 -1.63299312e-03 6.74504409e+00] [-9.45250422e-01 -3.26311282e-01 4.75258696e-03 -1.89763694e+02] [-5.02530569e-03 -7.21588846e-06 -9.99987373e-01 2.91595116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.057628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.76, Y:-189.88, Z:2.92 [[ 3.97306983e-01 -9.17683485e-01 -2.04543539e-03 6.76250328e+00] [-9.17671295e-01 -3.97312248e-01 4.72985096e-03 -1.89882251e+02] [-5.15318265e-03 -2.16547070e-06 -9.99986722e-01 2.91609119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.08762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.79, Y:-190.00, Z:2.92 [[ 4.65605373e-01 -8.84988868e-01 -2.51779555e-03 6.78761206e+00] [-8.84975986e-01 -4.65612181e-01 4.77498024e-03 -1.89995631e+02] [-5.39812063e-03 4.93214177e-06 -9.99985430e-01 2.91619350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.82, Y:-190.11, Z:2.92 [[ 5.29426518e-01 -8.48349280e-01 -3.32582441e-03 6.82338809e+00] [-8.48332859e-01 -5.29436964e-01 5.27836529e-03 -1.90107668e+02] [-6.23871177e-03 2.68995716e-05 -9.99980539e-01 2.91580390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.14762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.86, Y:-190.21, Z:2.92 [[ 5.91943742e-01 -8.05967945e-01 -4.27526011e-03 6.86147096e+00] [-8.05947419e-01 -5.91959179e-01 5.75229856e-03 -1.90211009e+02] [-7.16694772e-03 4.05977182e-05 -9.99974316e-01 2.91638139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.177628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.91, Y:-190.32, Z:2.92 [[ 6.50975857e-01 -7.59080074e-01 -5.27961783e-03 6.91038473e+00] [-7.59055806e-01 -6.50997264e-01 6.07005360e-03 -1.90315409e+02] [-8.04467350e-03 5.60662216e-05 -9.99967640e-01 2.91792672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.207628 meters Centerline goodness [0,1] 0.9998897464167585 Centerline is valid? [True, True] Translation: X:6.96, Y:-190.41, Z:2.92 [[ 7.05293357e-01 -7.08876911e-01 -7.40308287e-03 6.96118501e+00] [-7.08839328e-01 -7.05332202e-01 7.30011307e-03 -1.90409449e+02] [-1.03965143e-02 9.88750308e-05 -9.99945950e-01 2.92200015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.23762800000003 meters Centerline goodness [0,1] 0.9999118806864494 Centerline is valid? [True, True] Translation: X:6.96, Y:-190.42, Z:2.92 [[ 7.57832641e-01 -6.52403097e-01 -7.73868010e-03 6.95559728e+00] [-6.52370515e-01 -7.57872144e-01 6.52099877e-03 -1.90417652e+02] [-1.01192499e-02 1.06661013e-04 -9.99948793e-01 2.92101788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.267628 meters Centerline goodness [0,1] 0.999845831956833 Centerline is valid? [True, True] Translation: X:6.95, Y:-190.42, Z:2.92 [[ 8.05974013e-01 -5.91899336e-01 -7.81454067e-03 6.95063750e+00] [-5.91872831e-01 -8.06011889e-01 5.60248713e-03 -1.90424869e+02] [-9.61472109e-03 1.09755268e-04 -9.99953772e-01 2.92112838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.29762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.95, Y:-190.43, Z:2.92 [[ 8.48984944e-01 -5.28384290e-01 -5.88267485e-03 6.94532655e+00] [-5.28372332e-01 -8.49005320e-01 3.55602818e-03 -1.90434872e+02] [-6.87337167e-03 8.92282357e-05 -9.99976374e-01 2.91717338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.327628 meters Centerline goodness [0,1] 0.9998685334910932 Centerline is valid? [True, True] Translation: X:6.94, Y:-190.44, Z:2.92 [[ 8.87303359e-01 -4.61136563e-01 -6.76899080e-03 6.94142841e+00] [-4.61124042e-01 -8.87329172e-01 3.39988068e-03 -1.90444764e+02] [-7.57413229e-03 1.04618846e-04 -9.99971310e-01 2.92016842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.35762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.94, Y:-190.45, Z:2.92 [[ 9.20597990e-01 -3.90463446e-01 -6.13497907e-03 6.93755820e+00] [-3.90455441e-01 -9.20618427e-01 2.50192145e-03 -1.90454952e+02] [-6.62488365e-03 9.21720977e-05 -9.99978051e-01 2.91769758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.93, Y:-190.47, Z:2.92 [[ 9.48181896e-01 -3.17680350e-01 -5.50338257e-03 6.93454934e+00] [-3.17675503e-01 -9.48197864e-01 1.75673620e-03 -1.90465200e+02] [-5.77637617e-03 8.25843650e-05 -9.99983313e-01 2.91684815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.41762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.93, Y:-190.47, Z:2.92 [[ 9.70121138e-01 -2.42559677e-01 -5.45709521e-03 6.93263180e+00] [-2.42556304e-01 -9.70136484e-01 1.28174145e-03 -1.90474829e+02] [-5.60502595e-03 8.02083700e-05 -9.99984289e-01 2.91647145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.93, Y:-190.48, Z:2.92 [[ 9.86160461e-01 -1.65686099e-01 -5.97170655e-03 6.92775349e+00] [-1.65683586e-01 -9.86178538e-01 9.16515451e-04 -1.90483194e+02] [-6.04102271e-03 8.55824580e-05 -9.99981749e-01 2.91683059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.47762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.92, Y:-190.49, Z:2.92 [[ 9.96098508e-01 -8.79397583e-02 -7.37297045e-03 6.92365633e+00] [-8.79381255e-02 -9.96125789e-01 5.45988050e-04 -1.90493999e+02] [-7.39242006e-03 1.04507318e-04 -9.99972670e-01 2.91885405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.92, Y:-190.50, Z:2.92 [[ 9.99922746e-01 -9.45042726e-03 -8.07408765e-03 6.92006586e+00] [-9.45102675e-03 -9.99955337e-01 -3.60961118e-05 -1.90502891e+02] [-8.07338591e-03 1.12401742e-04 -9.99967403e-01 2.91997868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.53762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.92, Y:-190.51, Z:2.92 [[ 9.97545867e-01 6.94704405e-02 -8.72362027e-03 6.91865872e+00] [ 6.94667641e-02 -9.97584004e-01 -7.24091380e-04 -1.90514939e+02] [-8.75284698e-03 1.16312692e-04 -9.99961686e-01 2.92015537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.567628 meters Centerline goodness [0,1] 0.9998689441265126 Centerline is valid? [True, True] Translation: X:6.92, Y:-190.53, Z:2.92 [[ 9.88664711e-01 1.49823775e-01 -9.74298610e-03 6.91676654e+00] [ 1.49815440e-01 -9.88712711e-01 -1.58394021e-03 -1.90525523e+02] [-9.87032610e-03 1.06336042e-04 -9.99951282e-01 2.92312580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.59762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.92, Y:-190.53, Z:2.92 [[ 9.73353939e-01 2.29171984e-01 -7.89382000e-03 6.91668447e+00] [ 2.29163882e-01 -9.73385945e-01 -1.92815686e-03 -1.90534655e+02] [-8.12561297e-03 6.78006402e-05 -9.99966984e-01 2.91904245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.627628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.92, Y:-190.54, Z:2.92 [[ 9.51819017e-01 3.06583754e-01 -6.85281968e-03 6.91628024e+00] [ 3.06575463e-01 -9.51843685e-01 -2.25515020e-03 -1.90542792e+02] [-7.21420555e-03 4.55884833e-05 -9.99973976e-01 2.91851513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.65762800000005 meters Centerline goodness [0,1] 0.9999123710210966 Centerline is valid? [True, True] Translation: X:6.92, Y:-190.55, Z:2.92 [[ 9.24279587e-01 3.81658156e-01 -6.65565558e-03 6.91777688e+00] [ 3.81647996e-01 -9.24303549e-01 -2.78494983e-03 -1.90552461e+02] [-7.21474489e-03 3.39546599e-05 -9.99973973e-01 2.91949882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.92, Y:-190.56, Z:2.92 [[ 8.90325814e-01 4.55292687e-01 -5.33975397e-03 6.91898533e+00] [ 4.55284420e-01 -8.90341827e-01 -2.74377439e-03 -1.90560529e+02] [-6.00342672e-03 1.17463767e-05 -9.99981979e-01 2.91607374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.71762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.92, Y:-190.57, Z:2.92 [[ 8.51448868e-01 5.24421193e-01 -4.15190950e-03 6.92171331e+00] [ 5.24414931e-01 -8.51458990e-01 -2.56279263e-03 -1.90569878e+02] [-4.87916344e-03 4.76354533e-06 -9.99988097e-01 2.91517200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.92, Y:-190.58, Z:2.92 [[ 8.07502753e-01 5.89853939e-01 -3.41092580e-03 6.92439416e+00] [ 5.89848665e-01 -8.07509957e-01 -2.49415776e-03 -1.90579127e+02] [-4.22554532e-03 2.10922371e-06 -9.99991072e-01 2.91572854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.77762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.93, Y:-190.59, Z:2.92 [[ 7.58760026e-01 6.51364193e-01 -2.81259017e-03 6.92841065e+00] [ 6.51359711e-01 -7.58765239e-01 -2.41630642e-03 -1.90587703e+02] [-3.70799113e-03 1.38879865e-06 -9.99993125e-01 2.91515507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.807628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.93, Y:-190.59, Z:2.91 [[ 7.05952495e-01 7.08258064e-01 -1.26092647e-03 6.93077176e+00] [ 7.08256929e-01 -7.05953621e-01 -1.26797638e-03 -1.90594656e+02] [-1.78821010e-03 2.07117994e-06 -9.99998401e-01 2.91336065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.83762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.94, Y:-190.60, Z:2.91 [[ 6.49253274e-01 7.60571546e-01 -1.05344818e-03 6.93570909e+00] [ 7.60570535e-01 -6.49254128e-01 -1.24007239e-03 -1.90602252e+02] [-1.62711936e-03 3.89940789e-06 -9.99998676e-01 2.91275841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.94, Y:-190.61, Z:2.91 [[ 5.91395835e-01 8.06380492e-01 -1.21181147e-03 6.93717256e+00] [ 8.06378749e-01 -5.91397076e-01 -1.67667056e-03 -1.90607911e+02] [-2.06869619e-03 1.43969689e-05 -9.99997860e-01 2.91224696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.89762800000005 meters Centerline goodness [0,1] 0.9998907294899253 Centerline is valid? [True, True] Translation: X:6.94, Y:-190.61, Z:2.92 [[ 5.29207923e-01 8.48490533e-01 -1.67018846e-03 6.94142990e+00] [ 8.48486110e-01 -5.29210558e-01 -2.73998057e-03 -1.90614036e+02] [-3.20872894e-03 3.28877150e-05 -9.99994852e-01 2.91543411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.927628 meters Centerline goodness [0,1] 0.9998907294899253 Centerline is valid? [True, True] Translation: X:6.95, Y:-190.62, Z:2.92 [[ 4.61132491e-01 8.87330109e-01 -1.45047678e-03 6.94724674e+00] [ 8.87325493e-01 -4.61134771e-01 -2.86237124e-03 -1.90621464e+02] [-3.20873347e-03 3.28873554e-05 -9.99994851e-01 2.91543415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.957628 meters Centerline goodness [0,1] 0.9998470079118765 Centerline is valid? [True, True] Translation: X:6.95, Y:-190.63, Z:2.92 [[ 3.93019217e-01 9.19529144e-01 -1.43116810e-03 6.95322953e+00] [ 9.19522578e-01 -3.93021820e-01 -3.47534544e-03 -1.90627359e+02] [-3.75816171e-03 4.98861598e-05 -9.99992937e-01 2.91670949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.96, Y:-190.63, Z:2.91 [[ 3.21881780e-01 9.46779346e-01 -9.95073555e-04 6.96109249e+00] [ 9.46774328e-01 -3.21883314e-01 -3.08271096e-03 -1.90634303e+02] [-3.23894464e-03 5.01583942e-05 -9.99994753e-01 2.91486392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.017628 meters Centerline goodness [0,1] 0.9998249989062432 Centerline is valid? [True, True] Translation: X:6.97, Y:-190.64, Z:2.92 [[ 2.51108748e-01 9.67957992e-01 -1.31217902e-03 6.96681369e+00] [ 9.67942327e-01 -2.51112151e-01 -5.50812185e-03 -1.90640913e+02] [-5.66113466e-03 1.13023968e-04 -9.99983969e-01 2.91985811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.04762800000003 meters Centerline goodness [0,1] 0.9998686313576949 Centerline is valid? [True, True] Translation: X:6.98, Y:-190.65, Z:2.92 [[ 1.75568448e-01 9.84466814e-01 -9.01551725e-04 6.97550869e+00] [ 9.84450022e-01 -1.75570720e-01 -5.75118598e-03 -1.90646165e+02] [-5.82013782e-03 1.22194180e-04 -9.99983055e-01 2.91908137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.077628 meters Centerline goodness [0,1] 0.9998905429071804 Centerline is valid? [True, True] Translation: X:6.98, Y:-190.65, Z:2.92 [[ 9.87859515e-02 9.95108623e-01 -4.06322285e-04 6.98328102e+00] [ 9.95094733e-01 -9.87867200e-02 -5.25900954e-03 -1.90651581e+02] [-5.27342499e-03 1.15187097e-04 -9.99986089e-01 2.91827623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.99, Y:-190.66, Z:2.91 [[ 2.08434714e-02 9.99782751e-01 3.61860018e-06 6.99011657e+00] [ 9.99778938e-01 -2.08433819e-02 -2.76206612e-03 -1.90656275e+02] [-2.76139064e-03 6.11888463e-05 -9.99996186e-01 2.91321031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.00, Y:-190.66, Z:2.91 [[-5.80235290e-02 9.98315207e-01 1.30396747e-04 7.00149448e+00] [ 9.98313873e-01 5.80236647e-02 -1.63232204e-03 -1.90659620e+02] [-1.63713801e-03 3.54637963e-05 -9.99998659e-01 2.91158412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.16762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.01, Y:-190.66, Z:2.91 [[-1.37208614e-01 9.90542173e-01 6.35602740e-06 7.01305766e+00] [ 9.90542172e-01 1.37208614e-01 -3.91644221e-05 -1.90662491e+02] [-3.96661135e-05 9.22217128e-07 -9.99999999e-01 2.91005435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.03, Y:-190.66, Z:2.91 [[-2.15923935e-01 9.76410115e-01 -3.76878284e-04 7.02542027e+00] [ 9.76408862e-01 2.15924262e-01 1.56428609e-03 -1.90663929e+02] [ 1.60876193e-03 -3.02204888e-05 -9.99998706e-01 2.90930017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.22762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.04, Y:-190.66, Z:2.91 [[-2.95254401e-01 9.55418052e-01 -1.08830556e-03 7.03889245e+00] [ 9.55412212e-01 2.95256402e-01 3.34100203e-03 -1.90664617e+02] [ 3.51338284e-03 -5.33348745e-05 -9.99993827e-01 2.90811261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.05, Y:-190.66, Z:2.91 [[-3.71235619e-01 9.28537363e-01 -1.57494705e-03 7.04981434e+00] [ 9.28529608e-01 3.71238955e-01 3.79534234e-03 -1.90664327e+02] [ 4.10879887e-03 -5.34187009e-05 -9.99991557e-01 2.90725258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.28762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.06, Y:-190.66, Z:2.91 [[-4.44595050e-01 8.95729701e-01 -1.88251254e-03 7.05876192e+00] [ 8.95722102e-01 4.44599033e-01 3.68984538e-03 -1.90663878e+02] [ 4.14206735e-03 -4.57210960e-05 -9.99991421e-01 2.90671733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.07, Y:-190.66, Z:2.91 [[-5.16629161e-01 8.56206342e-01 -2.23808565e-03 7.06871428e+00] [ 8.56198566e-01 5.16634008e-01 3.64924769e-03 -1.90663346e+02] [ 4.28078018e-03 -3.09379500e-05 -9.99990837e-01 2.90653530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.34762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.08, Y:-190.66, Z:2.91 [[-5.82982329e-01 8.12481420e-01 -2.35511127e-03 7.07702854e+00] [ 8.12474959e-01 5.82987085e-01 3.24028154e-03 -1.90662200e+02] [ 4.00566800e-03 -2.44420556e-05 -9.99991977e-01 2.90703130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.09, Y:-190.66, Z:2.91 [[-6.45524551e-01 7.63737305e-01 -1.83931284e-03 7.08534291e+00] [ 7.63734270e-01 6.45527171e-01 2.15335169e-03 -1.90660220e+02] [ 2.83192144e-03 -1.47048677e-05 -9.99995990e-01 2.90922365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.40762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.09, Y:-190.66, Z:2.91 [[-7.03391266e-01 7.10801734e-01 -1.27309703e-03 7.09166598e+00] [ 7.10800594e-01 7.03392418e-01 1.27337983e-03 -1.90658854e+02] [ 1.80060739e-03 -9.23387622e-06 -9.99998379e-01 2.91024619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.10, Y:-190.66, Z:2.91 [[-7.56738782e-01 6.53716683e-01 -9.55517137e-04 7.09784357e+00] [ 6.53716173e-01 7.56739386e-01 8.16564189e-04 -1.90657682e+02] [ 1.25687908e-03 -6.71121678e-06 -9.99999210e-01 2.91129941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.46762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.12, Y:-190.64, Z:2.91 [[-8.00752869e-01 5.98994809e-01 -2.48000336e-04 7.11879007e+00] [ 5.98994781e-01 8.00752907e-01 1.83332912e-04 -1.90637161e+02] [ 3.08402452e-04 -1.74655185e-06 -9.99999952e-01 2.91257124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.14, Y:-190.62, Z:2.91 [[-8.40344926e-01 5.42050351e-01 1.34992631e-03 7.13576618e+00] [ 5.42049674e-01 8.40346010e-01 -8.56530986e-04 -1.90615429e+02] [-1.59868811e-03 1.19456510e-05 -9.99998722e-01 2.91377840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.52762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.52, Y:-190.02, Z:1.95 [[-8.11383716e-01 -5.84510595e-01 1.95679856e-03 7.52494332e+00] [ 5.84508981e-01 -8.11386075e-01 -1.37390263e-03 -1.90015392e+02] [ 2.39077975e-03 2.90041166e-05 9.99997142e-01 1.94646013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.557628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.10, Y:-190.60, Z:2.91 [[-8.41137804e-01 5.40816873e-01 2.07498170e-03 7.10131580e+00] [ 5.40815295e-01 8.41140363e-01 -1.30636495e-03 -1.90596484e+02] [-2.45185507e-03 2.33488970e-05 -9.99996994e-01 2.91329568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.58762800000005 meters Centerline goodness [0,1] 0.999826622166356 Centerline is valid? [True, True] Translation: X:7.11, Y:-190.57, Z:2.92 [[-8.76559355e-01 4.81286205e-01 2.69906484e-03 7.11320394e+00] [ 4.81284043e-01 8.76563510e-01 -1.44305834e-03 -1.90572022e+02] [-3.06042583e-03 3.40905488e-05 -9.99995316e-01 2.91582637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.617628 meters Centerline goodness [0,1] 0.9999565783760312 Centerline is valid? [True, True] Translation: X:7.13, Y:-190.55, Z:2.91 [[-9.07732761e-01 4.19544691e-01 1.86753152e-03 7.13129944e+00] [ 4.19543862e-01 9.07734682e-01 -8.34247271e-04 -1.90549794e+02] [-2.04522715e-03 2.62378089e-05 -9.99997908e-01 2.91338156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.64762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.14, Y:-190.52, Z:2.91 [[-9.35005905e-01 3.54629368e-01 1.40322920e-03 7.14355266e+00] [ 3.54629000e-01 9.35006958e-01 -5.11046326e-04 -1.90524584e+02] [-1.49326110e-03 1.97944354e-05 -9.99998885e-01 2.91321677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.677628 meters Centerline goodness [0,1] 0.9998267010376275 Centerline is valid? [True, True] Translation: X:7.39, Y:-189.85, Z:1.94 [[-9.19781976e-01 -3.92422449e-01 2.39554192e-03 7.39489190e+00] [ 3.92421214e-01 -9.19785094e-01 -9.85279270e-04 -1.89850518e+02] [ 2.59002946e-03 3.38193557e-05 9.99996645e-01 1.94469226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.707628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.10, Y:-190.51, Z:2.91 [[-9.37521241e-01 3.47923004e-01 1.87241352e-03 7.09930283e+00] [ 3.47922352e-01 9.37523111e-01 -6.74247952e-04 -1.90509917e+02] [-1.99001732e-03 1.93327388e-05 -9.99998020e-01 2.91194324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.10, Y:-190.48, Z:2.91 [[-9.60269723e-01 2.79064354e-01 2.26829514e-03 7.10140213e+00] [ 2.79063623e-01 9.60272402e-01 -6.39186679e-04 -1.90481049e+02] [-2.35655544e-03 1.92070445e-05 -9.99997223e-01 2.91232998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.30, Y:-189.79, Z:1.95 [[-9.44284701e-01 -3.29117692e-01 2.81913593e-03 7.30190498e+00] [ 3.29116276e-01 -9.44288909e-01 -9.65650754e-04 -1.89794830e+02] [ 2.97989154e-03 1.59742845e-05 9.99995560e-01 1.94714544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.06, Y:-190.46, Z:2.92 [[-9.62725970e-01 2.70418081e-01 5.72429045e-03 7.05888371e+00] [ 2.70413413e-01 9.62742988e-01 -1.58900938e-03 -1.90464508e+02] [-5.94071736e-03 1.81443254e-05 -9.99982354e-01 2.91748898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.25, Y:-189.79, Z:1.94 [[-9.44200179e-01 -3.29307806e-01 6.51074101e-03 7.25252224e+00] [ 3.29300261e-01 -9.44222626e-01 -2.22961425e-03 -1.89785616e+02] [ 6.88181835e-03 3.87865384e-05 9.99976319e-01 1.94106216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.85762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.01, Y:-190.45, Z:2.92 [[-9.63961535e-01 2.65940761e-01 7.32598161e-03 7.01221387e+00] [ 2.65933212e-01 9.63989373e-01 -2.00392949e-03 -1.90453070e+02] [-7.59509496e-03 1.65108690e-05 -9.99971157e-01 2.92038337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.20, Y:-189.77, Z:1.94 [[-9.45443138e-01 -3.25704885e-01 7.32127637e-03 7.20332960e+00] [ 3.25695059e-01 -9.45471484e-01 -2.52991116e-03 -1.89769615e+02] [ 7.74606246e-03 -7.38360143e-06 9.99969999e-01 1.94025690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.91762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.96, Y:-190.45, Z:2.92 [[-9.64518394e-01 2.63919116e-01 7.13914243e-03 6.96480281e+00] [ 2.63912110e-01 9.64544815e-01 -1.92330690e-03 -1.90448645e+02] [-7.39362027e-03 2.90412577e-05 -9.99972666e-01 2.91890492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.97, Y:-190.42, Z:2.92 [[-9.80634442e-01 1.95697823e-01 7.64551309e-03 6.97169790e+00] [ 1.95692176e-01 9.80664245e-01 -1.48721772e-03 -1.90423653e+02] [-7.78872659e-03 3.77501719e-05 -9.99969667e-01 2.91880500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.97762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.11, Y:-189.71, Z:1.94 [[-9.67890121e-01 -2.51257480e-01 7.64149981e-03 7.11485051e+00] [ 2.51249396e-01 -9.67920285e-01 -2.01574473e-03 -1.89710809e+02] [ 7.90283362e-03 -3.10972021e-05 9.99968772e-01 1.94134099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.92, Y:-190.42, Z:2.92 [[-9.81399314e-01 1.91821440e-01 7.74087981e-03 6.91806837e+00] [ 1.91815782e-01 9.81429841e-01 -1.47380440e-03 -1.90417381e+02] [-7.87983772e-03 3.84322929e-05 -9.99968953e-01 2.91899726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.03762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.92, Y:-190.39, Z:2.92 [[-9.92599833e-01 1.21207033e-01 7.37746442e-03 6.92218437e+00] [ 1.21203930e-01 9.92627248e-01 -8.67866881e-04 -1.90391369e+02] [-7.42826378e-03 3.27331613e-05 -9.99972410e-01 2.91839110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.92, Y:-190.36, Z:2.92 [[-9.98741531e-01 4.95815672e-02 7.55134109e-03 6.92399689e+00] [ 4.95803566e-02 9.98770077e-01 -3.47540556e-04 -1.90364688e+02] [-7.55928513e-03 2.72949972e-05 -9.99971428e-01 2.91873749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.09762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.92, Y:-190.34, Z:2.92 [[-9.99719401e-01 -2.23685486e-02 7.79530801e-03 6.92292084e+00] [-2.23676983e-02 9.99749793e-01 1.96252630e-04 -1.90336341e+02] [-7.79774746e-03 2.18344636e-05 -9.99969597e-01 2.91958413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.92, Y:-190.31, Z:2.92 [[-9.95352311e-01 -9.58625723e-02 9.17298167e-03 6.91738609e+00] [-9.58584638e-02 9.95394579e-01 8.87527474e-04 -1.90307719e+02] [-9.21581689e-03 4.09459119e-06 -9.99957533e-01 2.92280330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.15762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.91, Y:-190.28, Z:2.92 [[-9.85864149e-01 -1.67266960e-01 9.67694986e-03 6.90549155e+00] [-1.67258915e-01 9.85911641e-01 1.64055985e-03 -1.90281721e+02] [-9.81502897e-03 -1.18699471e-06 -9.99951831e-01 2.92352149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.88, Y:-190.26, Z:2.92 [[-9.71192854e-01 -2.38090315e-01 9.87132762e-03 6.87834071e+00] [-2.38078068e-01 9.71243019e-01 2.41495653e-03 -1.90259226e+02] [-1.01624358e-02 -4.75807855e-06 -9.99948361e-01 2.92402707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.21762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.84, Y:-190.24, Z:2.93 [[-9.51377020e-01 -3.07875347e-01 9.72299981e-03 6.83598210e+00] [-3.07859287e-01 9.51426703e-01 3.14471647e-03 -1.90241846e+02] [-1.02189023e-02 -1.50479883e-06 -9.99947786e-01 2.92526645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.247628 meters Centerline goodness [0,1] 0.9999343429922087 Centerline is valid? [True, True] Translation: X:6.78, Y:-190.23, Z:2.93 [[-9.26471426e-01 -3.76244305e-01 9.53521757e-03 6.77830278e+00] [-3.76224292e-01 9.26520493e-01 3.88058498e-03 -1.90233796e+02] [-1.02946225e-02 7.87062037e-06 -9.99947009e-01 2.92646262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.27762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.71, Y:-190.24, Z:2.92 [[-8.96252568e-01 -4.43460678e-01 8.60008644e-03 6.70696133e+00] [-4.43440147e-01 8.96293828e-01 4.26725194e-03 -1.90236836e+02] [-9.60056284e-03 1.09119160e-05 -9.99953914e-01 2.92338240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.307628 meters Centerline goodness [0,1] 0.9998465114239354 Centerline is valid? [True, True] Translation: X:6.63, Y:-190.25, Z:2.92 [[-8.60968071e-01 -5.08578231e-01 9.06447345e-03 6.63129748e+00] [-5.08549802e-01 8.61015785e-01 5.37737330e-03 -1.90250770e+02] [-1.05394697e-02 2.00105356e-05 -9.99944458e-01 2.92321524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.33762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.55, Y:-190.27, Z:2.92 [[-8.19543512e-01 -5.72952624e-01 8.58612441e-03 6.54826197e+00] [-5.72921120e-01 8.19588488e-01 6.00835291e-03 -1.90271089e+02] [-1.04795903e-02 4.93463627e-06 -9.99945088e-01 2.92098057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.46, Y:-190.30, Z:2.92 [[-7.72475084e-01 -6.34979553e-01 9.12205619e-03 6.45956686e+00] [-6.34935638e-01 7.72528942e-01 7.46784490e-03 -1.90298180e+02] [-1.17889812e-02 -2.31944494e-05 -9.99930507e-01 2.92355362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.39762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.37, Y:-190.34, Z:2.92 [[-7.21298192e-01 -6.92563095e-01 9.23462984e-03 6.36900716e+00] [-6.92507072e-01 7.21357302e-01 8.80892156e-03 -1.90338678e+02] [-1.27622016e-02 -4.11872820e-05 -9.99918559e-01 2.92395141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.427628 meters Centerline goodness [0,1] 0.9999125606610414 Centerline is valid? [True, True] Translation: X:6.28, Y:-190.39, Z:2.93 [[-6.66211240e-01 -7.45701450e-01 9.58802908e-03 6.27853550e+00] [-7.45625380e-01 6.66280230e-01 1.06512123e-02 -1.90390628e+02] [-1.43309387e-02 -5.31204419e-05 -9.99897305e-01 2.92760457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.457628 meters Centerline goodness [0,1] 0.9998249721049293 Centerline is valid? [True, True] Translation: X:6.19, Y:-190.45, Z:2.93 [[-6.06872153e-01 -7.94743003e-01 9.47367181e-03 6.19331458e+00] [-7.94647932e-01 6.06946089e-01 1.22926526e-02 -1.90449637e+02] [-1.55195077e-02 -6.81651954e-05 -9.99879563e-01 2.92824767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.48762800000003 meters Centerline goodness [0,1] 0.9997812677719935 Centerline is valid? [True, True] Translation: X:6.11, Y:-190.52, Z:2.93 [[-5.43828150e-01 -8.39153288e-01 8.52658599e-03 6.11074310e+00] [-8.39052417e-01 5.43894984e-01 1.30110739e-02 -1.90519104e+02] [-1.55558528e-02 -7.84643338e-05 -9.99878997e-01 2.92806147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.517628 meters Centerline goodness [0,1] 0.9998684383633732 Centerline is valid? [True, True] Translation: X:6.03, Y:-190.60, Z:2.93 [[-4.77929089e-01 -8.78369671e-01 7.10688267e-03 6.03139246e+00] [-8.78274905e-01 4.77981920e-01 1.29025425e-02 -1.90598642e+02] [-1.47301634e-02 -7.52963195e-05 -9.99891502e-01 2.92674371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.96, Y:-190.68, Z:2.92 [[-4.09158454e-01 -9.12445289e-01 5.74052998e-03 5.95777288e+00] [-9.12357905e-01 4.09198716e-01 1.26278895e-02 -1.90682951e+02] [-1.38712758e-02 -7.06101553e-05 -9.99903787e-01 2.92396108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.577628 meters Centerline goodness [0,1] 0.999890350877193 Centerline is valid? [True, True] Translation: X:5.89, Y:-190.78, Z:2.93 [[-3.39224096e-01 -9.40692921e-01 4.88270720e-03 5.88865550e+00] [-9.40597687e-01 3.39259231e-01 1.33853124e-02 -1.90776427e+02] [-1.42479721e-02 -5.20425973e-05 -9.99898491e-01 2.92704882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.60762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.83, Y:-190.88, Z:2.92 [[-2.66408701e-01 -9.63853880e-01 3.47869354e-03 5.82781769e+00] [-9.63773646e-01 2.66431409e-01 1.24364096e-02 -1.90876663e+02] [-1.29137149e-02 -3.95054231e-05 -9.99916614e-01 2.92410548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.78, Y:-190.98, Z:2.92 [[-1.92576161e-01 -9.81279282e-01 2.32235908e-03 5.77513813e+00] [-9.81209334e-01 1.92590162e-01 1.17163475e-02 -1.90984029e+02] [-1.19442726e-02 -2.24311794e-05 -9.99928664e-01 2.92279216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.66762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.73, Y:-191.09, Z:2.92 [[-1.17518432e-01 -9.93069841e-01 1.30712234e-03 5.73105777e+00] [-9.93009151e-01 1.17525701e-01 1.09788622e-02 -1.91091920e+02] [-1.10563974e-02 -7.76577406e-06 -9.99938876e-01 2.92236755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.70, Y:-191.20, Z:2.92 [[-4.23301217e-02 -9.99103586e-01 4.29342797e-04 5.69599056e+00] [-9.99049677e-01 4.23322977e-02 1.03788022e-02 -1.91204256e+02] [-1.03876735e-02 1.04011754e-05 -9.99946047e-01 2.92123525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.72762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.67, Y:-191.33, Z:2.92 [[ 3.46483800e-02 -9.99399492e-01 -3.81592896e-04 5.66856986e+00] [-9.99342836e-01 -3.46504789e-02 1.06414219e-02 -1.91325473e+02] [-1.06482540e-02 1.26340990e-05 -9.99943306e-01 2.92149015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.65, Y:-191.44, Z:2.92 [[ 1.11598660e-01 -9.93752522e-01 -1.28990917e-03 5.64975769e+00] [-9.93687611e-01 -1.11606114e-01 1.13581728e-02 -1.91441098e+02] [-1.14311746e-02 1.42098935e-05 -9.99934662e-01 2.92208668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.78762800000004 meters Centerline goodness [0,1] 0.999868576685504 Centerline is valid? [True, True] Translation: X:5.64, Y:-191.56, Z:2.93 [[ 1.87504363e-01 -9.82260844e-01 -2.39749840e-03 5.64092660e+00] [-9.82181993e-01 -1.87519689e-01 1.24458526e-02 -1.91561552e+02] [-1.26746519e-02 2.11280940e-05 -9.99919673e-01 2.92590153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.64, Y:-191.69, Z:2.92 [[ 2.63942852e-01 -9.64532563e-01 -3.33269568e-03 5.64297592e+00] [-9.64455899e-01 -2.63963891e-01 1.21607371e-02 -1.91692326e+02] [-1.26091382e-02 4.49837677e-06 -9.99920502e-01 2.92478351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.84762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.65, Y:-191.81, Z:2.92 [[ 3.37551728e-01 -9.41297337e-01 -4.26079868e-03 5.65164414e+00] [-9.41222525e-01 -3.37578618e-01 1.18673921e-02 -1.91811158e+02] [-1.26090991e-02 4.50098423e-06 -9.99920502e-01 2.92478158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.67, Y:-191.92, Z:2.92 [[ 4.09199314e-01 -9.12430994e-01 -5.05981015e-03 5.66569747e+00] [-9.12361324e-01 -4.09230596e-01 1.12754075e-02 -1.91921269e+02] [-1.23586604e-02 2.48606359e-06 -9.99923629e-01 2.92452895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.90762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.69, Y:-192.03, Z:2.93 [[ 4.77626386e-01 -8.78542953e-01 -5.94256288e-03 5.69022712e+00] [-8.78475221e-01 -4.77663353e-01 1.09090253e-02 -1.92034440e+02] [-1.24225919e-02 9.95588880e-06 -9.99922837e-01 2.92636518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.72, Y:-192.14, Z:2.93 [[ 5.42153002e-01 -8.40253123e-01 -6.69425706e-03 5.72335009e+00] [-8.40189826e-01 -5.42194328e-01 1.03134702e-02 -1.92143803e+02] [-1.22955138e-02 3.29678374e-05 -9.99924407e-01 2.92552455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.96762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.77, Y:-192.25, Z:2.92 [[ 6.04000038e-01 -7.96948920e-01 -7.50815721e-03 5.76533734e+00] [-7.96888358e-01 -6.04046700e-01 9.82487065e-03 -1.92250994e+02] [-1.23651976e-02 4.89408249e-05 -9.99923547e-01 2.92437098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.997628 meters Centerline goodness [0,1] 0.9998685190866459 Centerline is valid? [True, True] Translation: X:5.81, Y:-192.35, Z:2.93 [[ 6.61622087e-01 -7.49792467e-01 -8.21406818e-03 5.81138629e+00] [-7.49736105e-01 -6.61673070e-01 9.19357344e-03 -1.92349486e+02] [-1.23282998e-02 7.57122399e-05 -9.99924001e-01 2.92697891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.02762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.86, Y:-192.44, Z:2.92 [[ 7.14775129e-01 -6.99313400e-01 -7.56860179e-03 5.86198669e+00] [-6.99275632e-01 -7.14815193e-01 7.26844244e-03 -1.92441793e+02] [-1.04930707e-02 9.72369162e-05 -9.99944942e-01 2.92377257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.057628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.86, Y:-192.45, Z:2.92 [[ 7.66092679e-01 -6.42686486e-01 -7.48920084e-03 5.85676357e+00] [-6.42657139e-01 -7.66129277e-01 6.14266699e-03 -1.92448202e+02] [-9.68550509e-03 1.07136181e-04 -9.99953089e-01 2.92354071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.08762800000005 meters Centerline goodness [0,1] 0.9999124649859944 Centerline is valid? [True, True] Translation: X:5.85, Y:-192.46, Z:2.93 [[ 8.12641823e-01 -5.82713615e-01 -7.62300992e-03 5.85295941e+00] [-5.82689407e-01 -8.12677566e-01 5.31302450e-03 -1.92455201e+02] [-9.29102086e-03 1.24261218e-04 -9.99956830e-01 2.92544154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.117628 meters Centerline goodness [0,1] 0.9998687233344273 Centerline is valid? [True, True] Translation: X:5.85, Y:-192.46, Z:2.93 [[ 8.54972313e-01 -5.18616819e-01 -7.67712204e-03 5.84881090e+00] [-5.18597287e-01 -8.55006770e-01 4.50293077e-03 -1.92463748e+02] [-8.89928695e-03 1.31453531e-04 -9.99960392e-01 2.92542152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.14762800000005 meters Centerline goodness [0,1] 0.9999343156788475 Centerline is valid? [True, True] Translation: X:5.85, Y:-192.47, Z:2.92 [[ 8.92254940e-01 -4.51484070e-01 -6.57688890e-03 5.84577603e+00] [-4.51472780e-01 -8.92279172e-01 3.19505448e-03 -1.92471030e+02] [-7.31093719e-03 1.18483172e-04 -9.99973268e-01 2.92386770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.177628 meters Centerline goodness [0,1] 0.9998904709748083 Centerline is valid? [True, True] Translation: X:5.84, Y:-192.48, Z:2.93 [[ 9.24741523e-01 -3.80522326e-01 -7.47500762e-03 5.84408282e+00] [-3.80511044e-01 -9.24771724e-01 2.93316186e-03 -1.92479140e+02] [-8.02880925e-03 1.31906385e-04 -9.99967760e-01 2.92503957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.207628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.84, Y:-192.49, Z:2.92 [[ 9.51979119e-01 -3.06069557e-01 -7.56194652e-03 5.84157816e+00] [-3.06060911e-01 -9.52009145e-01 2.30373178e-03 -1.92490250e+02] [-7.90414440e-03 1.21311690e-04 -9.99968754e-01 2.92291363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.84, Y:-192.50, Z:2.92 [[ 9.73321689e-01 -2.29308415e-01 -7.90822221e-03 5.83991368e+00] [-2.29301785e-01 -9.73353809e-01 1.74736011e-03 -1.92500010e+02] [-8.09818259e-03 1.12625973e-04 -9.99967203e-01 2.92353475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.84, Y:-192.51, Z:2.92 [[ 9.88440922e-01 -1.51382881e-01 -8.23211088e-03 5.83630131e+00] [-1.51378529e-01 -9.88475195e-01 1.15284089e-03 -1.92511144e+02] [-8.31175779e-03 1.06649724e-04 -9.99965451e-01 2.92320783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.29762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.83, Y:-192.52, Z:2.92 [[ 9.97322551e-01 -7.26586299e-02 -8.27363152e-03 5.83251411e+00] [-7.26569553e-02 -9.97356864e-01 5.03195700e-04 -1.92520383e+02] [-8.28832470e-03 9.92884569e-05 -9.99965646e-01 2.92342477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.83, Y:-192.53, Z:2.92 [[ 9.99950089e-01 6.39976033e-03 -7.67218462e-03 5.82979818e+00] [ 6.39891096e-03 -9.99979518e-01 -1.35249916e-04 -1.92525982e+02] [-7.67289305e-03 8.61495389e-05 -9.99970559e-01 2.92187260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.35762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.83, Y:-192.53, Z:2.92 [[ 9.96362345e-01 8.49256299e-02 -7.05088571e-03 5.82777001e+00] [ 8.49229511e-02 -9.96387290e-01 -6.78998493e-04 -1.92534948e+02] [-7.08307728e-03 7.77465075e-05 -9.99974912e-01 2.92083867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.387628 meters Centerline goodness [0,1] 0.9998904133608031 Centerline is valid? [True, True] Translation: X:5.83, Y:-192.54, Z:2.92 [[ 9.86749528e-01 1.62104532e-01 -6.89132539e-03 5.82593073e+00] [ 1.62100006e-01 -9.86773588e-01 -1.21412215e-03 -1.92542826e+02] [-6.99699259e-03 8.09505766e-05 -9.99975518e-01 2.92281441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.41762800000004 meters Centerline goodness [0,1] 0.9998249491258397 Centerline is valid? [True, True] Translation: X:5.83, Y:-192.55, Z:2.92 [[ 9.71259642e-01 2.37967355e-01 -5.12302134e-03 5.82515109e+00] [ 2.37963687e-01 -9.71273151e-01 -1.32277298e-03 -1.92550482e+02] [-5.29062986e-03 6.56629604e-05 -9.99986002e-01 2.92323897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.82, Y:-192.56, Z:2.92 [[ 9.49685044e-01 3.13184757e-01 -3.69120337e-03 5.82449122e+00] [ 3.13182192e-01 -9.49692216e-01 -1.26837407e-03 -1.92557332e+02] [-3.90274253e-03 4.85367246e-05 -9.99992383e-01 2.91959604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.47762800000004 meters Centerline goodness [0,1] 0.9998467936091049 Centerline is valid? [True, True] Translation: X:5.82, Y:-192.56, Z:2.92 [[ 9.22925124e-01 3.84961916e-01 -3.67942513e-03 5.82454634e+00] [ 3.84958610e-01 -9.22932457e-01 -1.59644278e-03 -1.92563189e+02] [-4.01043055e-03 5.69707634e-05 -9.99991957e-01 2.92154829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.83, Y:-192.57, Z:2.92 [[ 8.90442802e-01 4.55093653e-01 -1.17658581e-03 5.82656951e+00] [ 4.55093226e-01 -8.90443579e-01 -6.23432268e-04 -1.92573694e+02] [-1.33140335e-03 1.96745422e-05 -9.99999114e-01 2.91745999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.53762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.83, Y:-192.58, Z:2.92 [[ 8.52165614e-01 5.23271904e-01 -5.29098005e-04 5.82751732e+00] [ 5.23271797e-01 -8.52165779e-01 -3.35287373e-04 -1.92582068e+02] [-6.26325676e-04 8.85830664e-06 -9.99999804e-01 2.91739036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.83, Y:-192.59, Z:2.92 [[ 8.08492617e-01 5.88506278e-01 -2.21883383e-04 5.83093435e+00] [ 5.88506255e-01 -8.08492647e-01 -1.65649472e-04 -1.92590898e+02] [-2.76876838e-04 3.34661574e-06 -9.99999962e-01 2.91704742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.59762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.83, Y:-192.60, Z:2.92 [[ 7.58786172e-01 6.51339707e-01 3.61746949e-04 5.83354339e+00] [ 6.51339628e-01 -7.58786259e-01 3.20547829e-04 -1.92598930e+02] [ 4.83274143e-04 -7.60713743e-06 -9.99999883e-01 2.91522213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.627628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.84, Y:-192.61, Z:2.91 [[ 7.04674691e-01 7.09530138e-01 7.50409710e-04 5.83681513e+00] [ 7.09529713e-01 -7.04675091e-01 7.76307100e-04 -1.92606454e+02] [ 1.07960831e-03 -1.46059798e-05 -9.99999417e-01 2.91491582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.65762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.84, Y:-192.61, Z:2.91 [[ 6.46150768e-01 7.63209538e-01 6.21808748e-04 5.84113574e+00] [ 7.63209166e-01 -6.46151067e-01 7.53429817e-04 -1.92613234e+02] [ 9.76807208e-04 -1.22591191e-05 -9.99999523e-01 2.91488371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.85, Y:-192.62, Z:2.92 [[ 5.83673922e-01 8.11987982e-01 5.19327209e-04 5.84805110e+00] [ 8.11987644e-01 -5.83674153e-01 7.40693956e-04 -1.92621324e+02] [ 9.04552460e-04 -1.06364693e-05 -9.99999591e-01 2.91556961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.71762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.86, Y:-192.63, Z:2.92 [[ 5.16677815e-01 8.56179831e-01 3.62487482e-04 5.85697257e+00] [ 8.56179611e-01 -5.16677942e-01 6.14691551e-04 -1.92629717e+02] [ 7.13575795e-04 -7.24309656e-06 -9.99999745e-01 2.91633489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.747628 meters Centerline goodness [0,1] 0.9998253770763758 Centerline is valid? [True, True] Translation: X:5.86, Y:-192.64, Z:2.92 [[ 4.48395598e-01 8.93835101e-01 -4.47056818e-04 5.86427438e+00] [ 8.93834638e-01 -4.48395821e-01 -9.09904891e-04 -1.92636371e+02] [-1.01376334e-03 8.40247870e-06 -9.99999486e-01 2.91956339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.77762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.87, Y:-192.64, Z:2.92 [[ 3.75967803e-01 9.26632721e-01 1.04236069e-04 5.86997116e+00] [ 9.26632683e-01 -3.75967818e-01 2.65539962e-04 -1.92642473e+02] [ 2.85247425e-04 -3.24592847e-06 -9.99999959e-01 2.91698937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.807628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.88, Y:-192.65, Z:2.92 [[ 3.02222500e-01 9.53237409e-01 -5.25084442e-05 5.87601084e+00] [ 9.53237394e-01 -3.02222505e-01 -1.67234795e-04 -1.92647040e+02] [-1.75283697e-04 4.89105438e-07 -9.99999985e-01 2.91683841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.83762800000005 meters Centerline goodness [0,1] 0.9998690356659536 Centerline is valid? [True, True] Translation: X:5.88, Y:-192.65, Z:2.92 [[ 2.28213524e-01 9.73610997e-01 -4.62538769e-04 5.87869883e+00] [ 9.73608820e-01 -2.28213992e-01 -2.05918424e-03 -1.92651531e+02] [-2.11040224e-03 1.96018683e-05 -9.99997773e-01 2.91925388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.89, Y:-192.66, Z:2.92 [[ 1.51358179e-01 9.88478977e-01 -1.17308546e-04 5.88939807e+00] [ 9.88478642e-01 -1.51358225e-01 -8.13402351e-04 -1.92656668e+02] [-8.21786737e-04 7.15810721e-06 -9.99999662e-01 2.91661454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.89762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.90, Y:-192.66, Z:2.92 [[ 7.43078586e-02 9.97235349e-01 -2.73441457e-05 5.89918840e+00] [ 9.97235263e-01 -7.43078635e-02 -4.14169105e-04 -1.92660862e+02] [-4.15055957e-04 3.50747294e-06 -9.99999914e-01 2.91676431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.927628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.91, Y:-192.67, Z:2.92 [[-2.81096131e-03 9.99996049e-01 -1.35482246e-05 5.90801370e+00] [ 9.99995682e-01 2.81097189e-03 8.57286282e-04 -1.92665068e+02] [ 8.57320979e-04 -1.11383676e-05 -9.99999632e-01 2.91596830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.957628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.92, Y:-192.67, Z:2.92 [[-8.09672414e-02 9.96716759e-01 -8.53015056e-05 5.91860912e+00] [ 9.96716350e-01 8.09672855e-02 9.03534946e-04 -1.92667834e+02] [ 9.07475055e-04 -1.18646731e-05 -9.99999588e-01 2.91586292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.93, Y:-192.67, Z:2.92 [[-1.59315638e-01 9.87227686e-01 -1.55465344e-04 5.92592570e+00] [ 9.87227283e-01 1.59315713e-01 8.91906839e-04 -1.92671165e+02] [ 9.05283196e-04 -1.13849224e-05 -9.99999590e-01 2.91522635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.94, Y:-192.67, Z:2.92 [[-2.36790166e-01 9.71560797e-01 -1.87514934e-04 5.93973896e+00] [ 9.71560522e-01 2.36790240e-01 7.30807669e-04 -1.92671764e+02] [ 7.54425787e-04 -9.13403804e-06 -9.99999715e-01 2.91605335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.95, Y:-192.67, Z:2.92 [[-3.13628204e-01 9.49545861e-01 -8.97540338e-05 5.94999919e+00] [ 9.49545825e-01 3.13628217e-01 2.60628210e-04 -1.92671890e+02] [ 2.75627836e-04 -3.48521060e-06 -9.99999962e-01 2.91690962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.96, Y:-192.67, Z:2.92 [[-3.87535777e-01 9.21854658e-01 -1.04327221e-04 5.96289872e+00] [ 9.21854627e-01 3.87535791e-01 2.39906930e-04 -1.92669865e+02] [ 2.61589853e-04 -3.20201285e-06 -9.99999966e-01 2.91684680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.97, Y:-192.67, Z:2.92 [[-4.58805475e-01 8.88536732e-01 -1.11839686e-04 5.97380041e+00] [ 8.88536707e-01 4.58805489e-01 2.10210284e-04 -1.92669292e+02] [ 2.38092220e-04 -2.92803670e-06 -9.99999972e-01 2.91760730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.98, Y:-192.67, Z:2.92 [[-5.27047451e-01 8.49835855e-01 -6.68091859e-05 5.98315796e+00] [ 8.49835849e-01 5.27047455e-01 1.04035489e-04 -1.92667557e+02] [ 1.23624701e-04 -1.94520168e-06 -9.99999992e-01 2.91755547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.16762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.99, Y:-192.67, Z:2.92 [[-5.91890642e-01 8.06018276e-01 -8.12381537e-05 5.99195614e+00] [ 8.06018269e-01 5.91890647e-01 1.07154865e-04 -1.92666627e+02] [ 1.34452883e-04 -2.05547413e-06 -9.99999991e-01 2.91791199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.00, Y:-192.66, Z:2.92 [[-6.52947722e-01 7.57402127e-01 1.13616181e-03 5.99979904e+00] [ 7.57401019e-01 6.52948710e-01 -1.29576060e-03 -1.92664169e+02] [-1.72326723e-03 1.44661830e-05 -9.99998515e-01 2.91914397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.22762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.01, Y:-192.66, Z:2.92 [[-7.10444893e-01 7.03749688e-01 2.10491883e-03 6.00731342e+00] [ 7.03746701e-01 7.10448011e-01 -2.05060623e-03 -1.92662557e+02] [-2.93854890e-03 2.44869583e-05 -9.99995682e-01 2.91995991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.257628 meters Centerline goodness [0,1] 0.9998686140977073 Centerline is valid? [True, True] Translation: X:6.02, Y:-192.64, Z:2.92 [[-7.58384435e-01 6.51795689e-01 3.92799181e-03 6.01947565e+00] [ 6.51787245e-01 7.58394606e-01 -3.31794621e-03 -1.92638556e+02] [-5.14159083e-03 4.39361979e-05 -9.99986781e-01 2.92300420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.28762800000004 meters Centerline goodness [0,1] 0.9998685824426143 Centerline is valid? [True, True] Translation: X:6.05, Y:-192.63, Z:2.93 [[-8.03865808e-01 5.94788273e-01 5.16461128e-03 6.04809128e+00] [ 5.94776325e-01 8.03882397e-01 -3.77031092e-03 -1.92625762e+02] [-6.39427681e-03 4.09644806e-05 -9.99979556e-01 2.92510579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.06, Y:-192.60, Z:2.92 [[-8.44878303e-01 5.34932790e-01 5.25014764e-03 6.06376955e+00] [ 5.34922675e-01 8.44894615e-01 -3.28975280e-03 -1.92601726e+02] [-6.19561811e-03 2.89822531e-05 -9.99980807e-01 2.92392854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.34762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.08, Y:-192.58, Z:2.92 [[-8.81278895e-01 4.72556345e-01 6.16525424e-03 6.08072219e+00] [ 4.72544964e-01 8.81300460e-01 -3.27971511e-03 -1.92578610e+02] [-6.98329158e-03 2.30161346e-05 -9.99975616e-01 2.92451188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.377628 meters Centerline goodness [0,1] 0.999845994763822 Centerline is valid? [True, True] Translation: X:6.09, Y:-192.55, Z:2.93 [[-9.12755844e-01 4.08429718e-01 7.86989513e-03 6.09243079e+00] [ 4.08414757e-01 9.12789770e-01 -3.49596489e-03 -1.92553197e+02] [-8.61141572e-03 2.32189215e-05 -9.99962921e-01 2.92818877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.40762800000005 meters Centerline goodness [0,1] 0.9998242260453057 Centerline is valid? [True, True] Translation: X:6.11, Y:-192.53, Z:2.93 [[-9.40238138e-01 3.40406921e-01 8.68166415e-03 6.10614207e+00] [ 3.40392432e-01 9.40278219e-01 -3.14071264e-03 -1.92527435e+02] [-9.23230002e-03 2.15496614e-06 -9.99957381e-01 2.92862059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.12, Y:-192.50, Z:2.93 [[-9.62371812e-01 2.71620840e-01 7.91294100e-03 6.11564917e+00] [ 2.71611579e-01 9.62404343e-01 -2.24300629e-03 -1.92500141e+02] [-8.22469604e-03 -9.35962904e-06 -9.99966177e-01 2.92536774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.46762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.32, Y:-191.80, Z:1.94 [[-9.41017579e-01 -3.38281587e-01 7.17524225e-03 6.32074508e+00] [ 3.38271521e-01 -9.41044934e-01 -2.60973968e-03 -1.91802135e+02] [ 7.63505225e-03 -2.86308025e-05 9.99970852e-01 1.93574517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.07, Y:-192.49, Z:2.92 [[-9.63535404e-01 2.67496706e-01 6.71097748e-03 6.07175240e+00] [ 2.67490141e-01 9.63558775e-01 -1.87414757e-03 -1.92488361e+02] [-6.96774954e-03 -1.06872247e-05 -9.99975725e-01 2.92297900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.52762800000005 meters Centerline goodness [0,1] 0.9998901822973864 Centerline is valid? [True, True] Translation: X:6.08, Y:-192.46, Z:2.93 [[-9.79883259e-01 1.99421493e-01 7.73731471e-03 6.07617066e+00] [ 1.99415240e-01 9.79913806e-01 -1.57923191e-03 -1.92462597e+02] [-7.89683429e-03 -4.52443495e-06 -9.99968820e-01 2.92531684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.557628 meters Centerline goodness [0,1] 0.9998463901689708 Centerline is valid? [True, True] Translation: X:6.23, Y:-191.75, Z:1.94 [[-9.64246925e-01 -2.64895506e-01 7.63136777e-03 6.22915398e+00] [ 2.64887256e-01 -9.64277123e-01 -2.09068422e-03 -1.91745595e+02] [ 7.91256622e-03 5.51624167e-06 9.99968695e-01 1.93581566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.58762800000005 meters Centerline goodness [0,1] 0.9998899066408314 Centerline is valid? [True, True] Translation: X:6.03, Y:-192.46, Z:2.92 [[-9.80281985e-01 1.97487847e-01 6.76617076e-03 6.02942958e+00] [ 1.97483215e-01 9.80305335e-01 -1.35265226e-03 -1.92458270e+02] [-6.90004568e-03 1.02245135e-05 -9.99976194e-01 2.92336456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.17, Y:-191.73, Z:1.94 [[-9.65927583e-01 -2.58765726e-01 4.91978160e-03 6.17494298e+00] [ 2.58761747e-01 -9.65940104e-01 -1.43980045e-03 -1.91730245e+02] [ 5.12478536e-03 -1.17691683e-04 9.99986861e-01 1.94001352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.64762800000005 meters Centerline goodness [0,1] 0.9998019714838937 Centerline is valid? [True, True] Translation: X:5.98, Y:-192.45, Z:2.92 [[-9.80494488e-01 1.96442531e-01 6.39466798e-03 5.97824323e+00] [ 1.96438552e-01 9.80515340e-01 -1.25063140e-03 -1.92450946e+02] [-6.51574724e-03 2.99221278e-05 -9.99978772e-01 2.92427891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.677628 meters Centerline goodness [0,1] 0.9998018275900034 Centerline is valid? [True, True] Translation: X:6.13, Y:-191.72, Z:1.94 [[-9.67615463e-01 -2.52341203e-01 6.65086243e-03 6.12618020e+00] [ 2.52335178e-01 -9.67638320e-01 -1.74367214e-03 -1.91721937e+02] [ 6.87562966e-03 -8.95756406e-06 9.99976363e-01 1.93565516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.707628 meters Centerline goodness [0,1] 0.9998018275900034 Centerline is valid? [True, True] Translation: X:5.93, Y:-192.44, Z:2.92 [[-9.81123636e-01 1.93263295e-01 6.76092239e-03 5.92698981e+00] [ 1.93258966e-01 9.81146930e-01 -1.29406356e-03 -1.92441229e+02] [-6.88355323e-03 3.69725236e-05 -9.99976307e-01 2.92486986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.93, Y:-192.41, Z:2.92 [[-9.92285158e-01 1.23849939e-01 5.59983238e-03 5.93345916e+00] [ 1.23848161e-01 9.92300958e-01 -6.64395331e-04 -1.92413937e+02] [-5.63900436e-03 3.42593173e-05 -9.99984100e-01 2.92190799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.767628 meters Centerline goodness [0,1] 0.9998900833168458 Centerline is valid? [True, True] Translation: X:5.94, Y:-192.39, Z:2.92 [[-9.98420417e-01 5.58395945e-02 6.21372577e-03 5.93740300e+00] [ 5.58388587e-02 9.98439751e-01 -2.91966471e-04 -1.92386745e+02] [-6.22033410e-03 5.54620700e-05 -9.99980652e-01 2.92454556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.98, Y:-191.64, Z:1.94 [[-9.94501202e-01 -1.04577415e-01 5.56096635e-03 5.97500979e+00] [ 1.04575274e-01 -9.94516745e-01 -6.75254806e-04 -1.91642366e+02] [ 5.60109055e-03 -9.00021362e-05 9.99984310e-01 1.93932023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.86, Y:-192.39, Z:2.92 [[-9.98598199e-01 5.26760431e-02 5.18371050e-03 5.85904857e+00] [ 5.26756288e-02 9.98611652e-01 -2.16513863e-04 -1.92387724e+02] [-5.18791880e-03 5.68448568e-05 -9.99986541e-01 2.92019194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.85762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.86, Y:-192.36, Z:2.92 [[-9.99856760e-01 -1.63744109e-02 4.28230291e-03 5.86021476e+00] [-1.63740214e-02 9.99865929e-01 1.26002062e-04 -1.92361253e+02] [-4.28379199e-03 5.58654940e-05 -9.99990823e-01 2.91843496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.887628 meters Centerline goodness [0,1] 0.9998241062398311 Centerline is valid? [True, True] Translation: X:5.84, Y:-191.61, Z:1.94 [[-9.99712861e-01 -2.33681798e-02 5.30326355e-03 5.84165604e+00] [ 2.33678349e-02 -9.99726927e-01 -1.26987868e-04 -1.91605520e+02] [ 5.30478285e-03 -3.02561710e-06 9.99985930e-01 1.93831618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.91762800000004 meters Centerline goodness [0,1] 0.9999560072148168 Centerline is valid? [True, True] Translation: X:5.76, Y:-192.36, Z:2.92 [[-9.99780669e-01 -2.04517150e-02 4.51009342e-03 5.76464272e+00] [-2.04511989e-02 9.99790840e-01 1.60519022e-04 -1.92363808e+02] [-4.51243297e-03 6.82469972e-05 -9.99989817e-01 2.92121827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.74, Y:-191.61, Z:1.94 [[-9.99862885e-01 -1.60258762e-02 4.16926257e-03 5.74266162e+00] [ 1.60253800e-02 -9.99871574e-01 -1.52398248e-04 -1.91608478e+02] [ 4.17116944e-03 -8.55633351e-05 9.99991297e-01 1.94043109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.97762800000004 meters Centerline goodness [0,1] 0.9998900857331282 Centerline is valid? [True, True] Translation: X:5.66, Y:-192.36, Z:2.92 [[-9.99658297e-01 -2.55715758e-02 5.42063454e-03 5.66455666e+00] [-2.55707206e-02 9.99672990e-01 2.27020227e-04 -1.92364809e+02] [-5.42466720e-03 8.83331222e-05 -9.99985283e-01 2.92222540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.64, Y:-191.61, Z:1.94 [[-9.99939895e-01 -9.83225792e-03 4.85109350e-03 5.63714830e+00] [ 9.83157250e-03 -9.99951655e-01 -1.65119869e-04 -1.91611718e+02] [ 4.85248248e-03 -1.17416067e-04 9.99988220e-01 1.94066070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.03762800000004 meters Centerline goodness [0,1] 0.9999339701545098 Centerline is valid? [True, True] Translation: X:5.56, Y:-192.37, Z:2.92 [[-9.99429353e-01 -3.31431501e-02 6.51922678e-03 5.56400383e+00] [-3.31418065e-02 9.99450610e-01 3.14048441e-04 -1.92368715e+02] [-6.52605374e-03 9.78102776e-05 -9.99978700e-01 2.92090717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.56, Y:-192.34, Z:2.92 [[-9.94396061e-01 -1.05567738e-01 5.65042103e-03 5.55668139e+00] [-1.05565589e-01 9.94412111e-01 6.78073171e-04 -1.92340533e+02] [-5.69042975e-03 7.77832667e-05 -9.99983806e-01 2.91930940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.09762800000004 meters Centerline goodness [0,1] 0.9998024192663169 Centerline is valid? [True, True] Translation: X:5.54, Y:-192.31, Z:2.92 [[-9.84136246e-01 -1.77282687e-01 6.83357180e-03 5.53870288e+00] [-1.77277777e-01 9.84159967e-01 1.32253412e-03 -1.92314337e+02] [-6.95979020e-03 9.01133486e-05 -9.99975776e-01 2.92253968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.51, Y:-192.29, Z:2.92 [[-9.68085344e-01 -2.50597826e-01 3.39073079e-03 5.51133257e+00] [-2.50596164e-01 9.68091281e-01 9.13332070e-04 -1.92289735e+02] [-3.51141595e-03 3.44792602e-05 -9.99993834e-01 2.91836529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.15762800000005 meters Centerline goodness [0,1] 0.9998246460041208 Centerline is valid? [True, True] Translation: X:5.46, Y:-192.28, Z:2.92 [[-9.46889857e-01 -3.21542702e-01 3.14485745e-03 5.45795581e+00] [-3.21540823e-01 9.46895079e-01 1.09959015e-03 -1.92276127e+02] [-3.33141523e-03 2.99907093e-05 -9.99994450e-01 2.91984896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.40, Y:-192.27, Z:2.92 [[-9.20009856e-01 -3.91894026e-01 9.67766589e-04 5.39522391e+00] [-3.91893801e-01 9.20010365e-01 4.20618615e-04 -1.92270904e+02] [-1.05519322e-03 7.71154521e-06 -9.99999443e-01 2.91599397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.21762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.32, Y:-192.28, Z:2.91 [[-8.87445985e-01 -4.60911412e-01 -5.42973207e-04 5.32096935e+00] [-4.60911323e-01 8.87446151e-01 -2.85920739e-04 -1.92276704e+02] [ 6.13643614e-04 -3.47671256e-06 -9.99999812e-01 2.91394094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.25, Y:-192.29, Z:2.91 [[-8.49808694e-01 -5.27090926e-01 -5.81823305e-04 5.24604000e+00] [-5.27090800e-01 8.49808893e-01 -3.64413443e-04 -1.92288850e+02] [ 6.86517638e-04 -3.00800080e-06 -9.99999764e-01 2.91295495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.27762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.16, Y:-192.31, Z:2.91 [[-8.07050292e-01 -5.90482334e-01 -6.63052351e-04 5.16110151e+00] [-5.90482132e-01 8.07050564e-01 -4.88261857e-04 -1.92312949e+02] [ 8.23426775e-04 -2.53130872e-06 -9.99999661e-01 2.91229480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.307628 meters Centerline goodness [0,1] 0.999867727783779 Centerline is valid? [True, True] Translation: X:5.07, Y:-192.35, Z:2.92 [[-7.58460464e-01 -6.51718686e-01 6.91932239e-04 5.07166772e+00] [-6.51718415e-01 7.58460779e-01 5.94569838e-04 -1.92347382e+02] [-9.12295739e-04 1.27321014e-08 -9.99999584e-01 2.91517470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.33762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.98, Y:-192.39, Z:2.91 [[-7.05543791e-01 -7.08666323e-01 5.10144174e-05 4.98445705e+00] [-7.08666321e-01 7.05543792e-01 5.08119411e-05 -1.92388910e+02] [-7.20016170e-05 -3.02149937e-07 -9.99999997e-01 2.91376028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.90, Y:-192.44, Z:2.91 [[-6.48605222e-01 -7.61124808e-01 5.40950520e-04 4.89522776e+00] [-7.61124547e-01 6.48605447e-01 6.30586949e-04 -1.92443398e+02] [-8.30818825e-04 -2.72873226e-06 -9.99999655e-01 2.91493355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.39762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.81, Y:-192.51, Z:2.92 [[-5.88051076e-01 -8.08823174e-01 1.00290929e-03 4.80741034e+00] [-8.08822017e-01 5.88051931e-01 1.36806813e-03 -1.92509344e+02] [-1.69628795e-03 -6.68117731e-06 -9.99998561e-01 2.91568792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.427628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.73, Y:-192.58, Z:2.92 [[-5.25347005e-01 -8.50886730e-01 1.51563549e-03 4.72750904e+00] [-8.50883233e-01 5.25349192e-01 2.43922704e-03 -1.92581233e+02] [-2.87174380e-03 -8.18820542e-06 -9.99995877e-01 2.91651449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.65, Y:-192.66, Z:2.92 [[-4.59905029e-01 -8.87966767e-01 1.54452409e-03 4.65231791e+00] [-8.87961791e-01 4.59907622e-01 2.97261533e-03 -1.92659006e+02] [-3.34992202e-03 -4.35764105e-06 -9.99994389e-01 2.91693461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.48762800000003 meters Centerline goodness [0,1] 0.9998898460047146 Centerline is valid? [True, True] Translation: X:4.58, Y:-192.75, Z:2.92 [[-3.92117118e-01 -9.19912845e-01 2.12693084e-03 4.58048376e+00] [-9.19899258e-01 3.92122886e-01 4.99972282e-03 -1.92748590e+02] [-5.43332750e-03 3.91480200e-06 -9.99985239e-01 2.91965755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.517628 meters Centerline goodness [0,1] 0.9999559044007408 Centerline is valid? [True, True] Translation: X:4.51, Y:-192.85, Z:2.92 [[-3.22312818e-01 -9.46631635e-01 1.73037839e-03 4.51382712e+00] [-9.46617729e-01 3.22317463e-01 5.13113000e-03 -1.92845813e+02] [-5.41502116e-03 1.58221099e-05 -9.99985339e-01 2.91966804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.54762800000003 meters Centerline goodness [0,1] 0.9998903196086604 Centerline is valid? [True, True] Translation: X:4.46, Y:-192.94, Z:2.92 [[-2.53025583e-01 -9.67458232e-01 1.62001636e-03 4.45687143e+00] [-9.67437109e-01 2.53030764e-01 6.39318159e-03 -1.92943824e+02] [-6.59505013e-03 5.03745551e-05 -9.99978251e-01 2.92212891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.577628 meters Centerline goodness [0,1] 0.9999122075413722 Centerline is valid? [True, True] Translation: X:4.41, Y:-193.05, Z:2.92 [[-1.79665613e-01 -9.83727250e-01 9.82929159e-04 4.40539423e+00] [-9.83710774e-01 1.79668293e-01 5.69360478e-03 -1.93050295e+02] [-5.77755538e-03 5.60269873e-05 -9.99983308e-01 2.92085036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.60762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.36, Y:-193.16, Z:2.92 [[-1.06138665e-01 -9.94351274e-01 3.57634278e-04 4.36185529e+00] [-9.94344008e-01 1.06139256e-01 3.80164220e-03 -1.93162540e+02] [-3.81812680e-03 4.78897259e-05 -9.99992710e-01 2.91817430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.33, Y:-193.28, Z:2.92 [[-3.07055422e-02 -9.99528472e-01 5.96458588e-05 4.32748394e+00] [-9.99521953e-01 3.07055574e-02 3.61042275e-03 -1.93276759e+02] [-3.61055180e-03 5.12426431e-05 -9.99993481e-01 2.91865671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.66762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.30, Y:-193.40, Z:2.92 [[ 4.48265121e-02 -9.98994762e-01 -2.20657873e-04 4.30287153e+00] [-9.98988171e-01 -4.48270180e-02 3.62940001e-03 -1.93399384e+02] [-3.63564303e-03 5.77412615e-05 -9.99993389e-01 2.91914675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.29, Y:-193.52, Z:2.92 [[ 1.18989756e-01 -9.92895311e-01 -5.82230805e-04 4.28814948e+00] [-9.92886467e-01 -1.18991154e-01 4.19146146e-03 -1.93516580e+02] [-4.23096275e-03 7.93481112e-05 -9.99991046e-01 2.92004853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.72762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.28, Y:-193.64, Z:2.92 [[ 1.94407739e-01 -9.80920372e-01 -9.24937219e-04 4.28202483e+00] [-9.80911256e-01 -1.94409921e-01 4.22983664e-03 -1.93637670e+02] [-4.32894990e-03 8.49683515e-05 -9.99990626e-01 2.92045034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.28, Y:-193.76, Z:2.92 [[ 2.68896992e-01 -9.63168151e-01 -1.23296047e-03 4.28344346e+00] [-9.63159455e-01 -2.68899805e-01 4.09379658e-03 -1.93763020e+02] [-4.27455732e-03 8.67279500e-05 -9.99990860e-01 2.92039495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.78762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.29, Y:-193.88, Z:2.92 [[ 3.41921418e-01 -9.39727305e-01 -1.52855447e-03 4.29315833e+00] [-9.39719032e-01 -3.41924823e-01 3.94417738e-03 -1.93878944e+02] [-4.22910190e-03 8.78129988e-05 -9.99991053e-01 2.92124365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.817628 meters Centerline goodness [0,1] 0.9998465517997281 Centerline is valid? [True, True] Translation: X:4.31, Y:-194.00, Z:2.92 [[ 4.13574515e-01 -9.10467585e-01 -2.21300394e-03 4.31028199e+00] [-9.10455874e-01 -4.13580423e-01 4.61905306e-03 -1.93996265e+02] [-5.12075319e-03 1.04519812e-04 -9.99986883e-01 2.92397834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.84762800000004 meters Centerline goodness [0,1] 0.9998905500952214 Centerline is valid? [True, True] Translation: X:4.34, Y:-194.11, Z:2.92 [[ 4.83366048e-01 -8.75415317e-01 -2.29935968e-03 4.33779341e+00] [-8.75406269e-01 -4.83371509e-01 3.98115279e-03 -1.94112679e+02] [-4.59660709e-03 8.85197855e-05 -9.99989432e-01 2.92383198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.37, Y:-194.22, Z:2.92 [[ 5.50890507e-01 -8.34575963e-01 -1.61565281e-03 4.37343121e+00] [-8.34572631e-01 -5.50892874e-01 2.35892974e-03 -1.94221966e+02] [-2.85875768e-03 4.88676186e-05 -9.99995913e-01 2.92193806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.90762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.42, Y:-194.33, Z:2.92 [[ 6.16606087e-01 -7.87270311e-01 -1.54596787e-03 4.41698018e+00] [-7.87267964e-01 -6.16608025e-01 1.92278024e-03 -1.94331951e+02] [-2.46700399e-03 3.14929763e-05 -9.99996956e-01 2.92033570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.937628 meters Centerline goodness [0,1] 0.9998686514886165 Centerline is valid? [True, True] Translation: X:4.47, Y:-194.43, Z:2.92 [[ 6.76142658e-01 -7.36766737e-01 -2.42516998e-03 4.46662267e+00] [-7.36762208e-01 -6.76147006e-01 2.58357956e-03 -1.94429210e+02] [-3.54326690e-03 3.99052418e-05 -9.99993722e-01 2.92265851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.96762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.52, Y:-194.53, Z:2.92 [[ 7.31776423e-01 -6.81542965e-01 -1.56649708e-03 4.52250030e+00] [-6.81541460e-01 -7.31778099e-01 1.43242588e-03 -1.94526104e+02] [-2.12258803e-03 1.94172238e-05 -9.99997747e-01 2.91977492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.52, Y:-194.54, Z:2.92 [[ 7.84918130e-01 -6.19599347e-01 -4.21919902e-04 4.51666453e+00] [-6.19599259e-01 -7.84918244e-01 3.29332084e-04 -1.94537862e+02] [-5.35226573e-04 2.92253537e-06 -9.99999857e-01 2.92029762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.02762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.51, Y:-194.55, Z:2.92 [[ 8.31888371e-01 -5.54942868e-01 -3.90124950e-04 4.51160460e+00] [-5.54942807e-01 -8.31888462e-01 2.58168302e-04 -1.94547532e+02] [-4.67809103e-04 1.72982668e-06 -9.99999891e-01 2.92136454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.057628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.51, Y:-194.56, Z:2.92 [[ 8.73314441e-01 -4.87156800e-01 -3.73847180e-04 4.50784108e+00] [-4.87156756e-01 -8.73314521e-01 2.07346861e-04 -1.94557404e+02] [-4.27496604e-04 1.04317187e-06 -9.99999909e-01 2.92231860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.08762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.51, Y:-194.57, Z:2.92 [[ 9.08968589e-01 -4.16864114e-01 -6.43458897e-04 4.50618292e+00] [-4.16864011e-01 -9.08968817e-01 2.93558811e-04 -1.94565482e+02] [-7.07258207e-04 1.39911813e-06 -9.99999750e-01 2.92288392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.51, Y:-194.57, Z:2.92 [[ 9.38888037e-01 -3.44221952e-01 -7.08315319e-04 4.50596686e+00] [-3.44221855e-01 -9.38888304e-01 2.58346753e-04 -1.94569817e+02] [-7.53957592e-04 1.25893684e-06 -9.99999716e-01 2.92238887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.14762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.51, Y:-194.58, Z:2.92 [[ 9.62984599e-01 -2.69555493e-01 -7.05795841e-04 4.50589078e+00] [-2.69555422e-01 -9.62984858e-01 1.96488522e-04 -1.94575339e+02] [-7.32635268e-04 1.03567504e-06 -9.99999732e-01 2.92234943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.177628 meters Centerline goodness [0,1] 0.9998678414096916 Centerline is valid? [True, True] Translation: X:4.51, Y:-194.58, Z:2.92 [[ 9.81217992e-01 -1.92897076e-01 -1.40334758e-03 4.50530392e+00] [-1.92896881e-01 -9.81218996e-01 2.74549781e-04 -1.94583660e+02] [-1.42995116e-03 1.30818694e-06 -9.99998978e-01 2.92388113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.207628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.50, Y:-194.59, Z:2.92 [[ 9.93624558e-01 -1.12739616e-01 1.26161414e-04 4.50115957e+00] [-1.12739615e-01 -9.93624566e-01 -1.43663848e-05 -1.94594952e+02] [ 1.26976741e-04 5.14035660e-08 -9.99999992e-01 2.92226453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.50, Y:-194.61, Z:2.92 [[ 9.99392673e-01 -3.48428018e-02 -5.14912592e-04 4.49849846e+00] [-3.48427967e-02 -9.99392805e-01 1.88859745e-05 -1.94607028e+02] [-5.15257980e-04 -9.33509745e-07 -9.99999867e-01 2.92283852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.50, Y:-194.62, Z:2.92 [[ 9.99106090e-01 4.22516990e-02 -1.34731336e-03 4.49612671e+00] [ 4.22516612e-02 -9.99106998e-01 -5.64693948e-05 -1.94619110e+02] [-1.34849613e-03 -5.07311302e-07 -9.99999091e-01 2.92429593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.29762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.50, Y:-194.63, Z:2.93 [[ 9.93275385e-01 1.15715900e-01 -3.72029915e-03 4.49528997e+00] [ 1.15715026e-01 -9.93282352e-01 -4.49893843e-04 -1.94630495e+02] [-3.74736736e-03 1.63739669e-05 -9.99992978e-01 2.92725465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.49, Y:-194.64, Z:2.93 [[ 9.81652275e-01 1.90651554e-01 -3.28577903e-03 4.49423107e+00] [ 1.90650408e-01 -9.81657774e-01 -6.61535891e-04 -1.94637706e+02] [-3.35163337e-03 2.29631003e-05 -9.99994383e-01 2.92706905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.35762800000003 meters Centerline goodness [0,1] 0.9998906578026592 Centerline is valid? [True, True] Translation: X:4.49, Y:-194.64, Z:2.93 [[ 9.64427650e-01 2.64326824e-01 -3.26158369e-03 4.49366550e+00] [ 2.64325200e-01 -9.64433165e-01 -9.27328358e-04 -1.94642374e+02] [-3.39069724e-03 3.22223484e-05 -9.99994251e-01 2.92776434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.49, Y:-194.65, Z:2.92 [[ 9.41458726e-01 3.37123453e-01 -1.80111881e-03 4.49351557e+00] [ 3.37122791e-01 -9.41460449e-01 -6.68335245e-04 -1.94645689e+02] [-1.92099361e-03 2.20118469e-05 -9.99998155e-01 2.92323404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.41762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.50, Y:-194.65, Z:2.92 [[ 9.12187590e-01 4.09769790e-01 -1.58761656e-03 4.49521288e+00] [ 4.09769131e-01 -9.12188971e-01 -7.35225650e-04 -1.94654878e+02] [-1.74947958e-03 2.01074554e-05 -9.99998469e-01 2.92350227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.50, Y:-194.66, Z:2.92 [[ 8.77270867e-01 4.79992994e-01 -1.59769456e-03 4.49801635e+00] [ 4.79992154e-01 -8.77272321e-01 -8.97948753e-04 -1.94664264e+02] [-1.83262232e-03 2.08634271e-05 -9.99998321e-01 2.92474255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.47762800000004 meters Centerline goodness [0,1] 0.9998906003850866 Centerline is valid? [True, True] Translation: X:4.50, Y:-194.67, Z:2.93 [[ 8.36927481e-01 5.47305238e-01 -3.06082286e-03 4.50267587e+00] [ 5.47301395e-01 -8.36933077e-01 -2.05134237e-03 -1.94674716e+02] [-3.68441432e-03 4.16321754e-05 -9.99993212e-01 2.92991179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.507628 meters Centerline goodness [0,1] 0.9998690956692484 Centerline is valid? [True, True] Translation: X:4.51, Y:-194.68, Z:2.93 [[ 7.90904080e-01 6.11931082e-01 -3.32965688e-03 4.50622219e+00] [ 6.11925425e-01 -7.90911088e-01 -2.63155593e-03 -1.94684300e+02] [-4.24379342e-03 4.38066204e-05 -9.99990994e-01 2.93084260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.53762800000004 meters Centerline goodness [0,1] 0.9998470747585966 Centerline is valid? [True, True] Translation: X:4.51, Y:-194.69, Z:2.93 [[ 7.39831568e-01 6.72780905e-01 -3.88661618e-03 4.51196518e+00] [ 6.72771272e-01 -7.39841775e-01 -3.60041916e-03 -1.94694080e+02] [-5.29777427e-03 4.89000435e-05 -9.99985966e-01 2.93111509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.52, Y:-194.70, Z:2.93 [[ 6.83636748e-01 7.29816147e-01 -3.03127364e-03 4.51773395e+00] [ 7.29808754e-01 -6.83643467e-01 -3.28521715e-03 -1.94702654e+02] [-4.46991494e-03 3.36451271e-05 -9.99990009e-01 2.92835507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.59762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.52, Y:-194.71, Z:2.93 [[ 6.22648474e-01 7.82494498e-01 -3.35243163e-03 4.52305355e+00] [ 7.82482905e-01 -6.22657498e-01 -4.25947711e-03 -1.94710331e+02] [-5.42043409e-03 2.89364798e-05 -9.99985309e-01 2.92646957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.627628 meters Centerline goodness [0,1] 0.9998249644459031 Centerline is valid? [True, True] Translation: X:4.53, Y:-194.72, Z:2.93 [[ 5.58707726e-01 8.29358449e-01 -3.20004129e-03 4.53015274e+00] [ 8.29344582e-01 -5.58716890e-01 -4.79607379e-03 -1.94718438e+02] [-5.76558143e-03 2.56665782e-05 -9.99983379e-01 2.92805345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.65762800000005 meters Centerline goodness [0,1] 0.9998249644459031 Centerline is valid? [True, True] Translation: X:4.54, Y:-194.73, Z:2.93 [[ 4.92033471e-01 8.70571733e-01 -2.81455767e-03 4.53710427e+00] [ 8.70557191e-01 -4.92041520e-01 -5.03197572e-03 -1.94725585e+02] [-5.76557505e-03 2.56670575e-05 -9.99983379e-01 2.92805340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.55, Y:-194.73, Z:2.93 [[ 4.19741199e-01 9.07642580e-01 -1.50770124e-03 4.54635855e+00] [ 9.07636676e-01 -4.19743907e-01 -3.27360084e-03 -1.94733637e+02] [-3.60410792e-03 5.62019846e-06 -9.99993505e-01 2.92538854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.71762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.55, Y:-194.74, Z:2.93 [[ 3.46431891e-01 9.38074112e-01 -1.38059883e-03 4.55357941e+00] [ 9.38066636e-01 -3.46434642e-01 -3.74511541e-03 -1.94740255e+02] [-3.99148307e-03 2.33371231e-06 -9.99992034e-01 2.92638466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.56, Y:-194.75, Z:2.93 [[ 2.71322435e-01 9.62487806e-01 -1.16632487e-03 4.56295129e+00] [ 9.62478915e-01 -2.71324942e-01 -4.13690300e-03 -1.94745289e+02] [-4.29817172e-03 -1.28500403e-07 -9.99990763e-01 2.92803613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.77762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.57, Y:-194.75, Z:2.93 [[ 1.94993424e-01 9.80804056e-01 -9.83741648e-04 4.57103973e+00] [ 9.80791592e-01 -1.94995905e-01 -4.94471830e-03 -1.94748858e+02] [-5.04162536e-03 -6.57984358e-07 -9.99987291e-01 2.92931217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.807628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.58, Y:-194.75, Z:2.93 [[ 1.18846993e-01 9.92912300e-01 -7.46225427e-04 4.57604973e+00] [ 9.92892338e-01 -1.18849335e-01 -6.29613799e-03 -1.94751731e+02] [-6.34020124e-03 7.35555712e-06 -9.99979901e-01 2.93107792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.83762800000005 meters Centerline goodness [0,1] 0.9998684787373959 Centerline is valid? [True, True] Translation: X:4.58, Y:-194.76, Z:2.93 [[ 4.27186396e-02 9.99087094e-01 -3.11500751e-04 4.57964789e+00] [ 9.99056100e-01 -4.27197680e-02 -7.86960726e-03 -1.94755796e+02] [-7.87573029e-03 2.49721909e-05 -9.99968986e-01 2.93245571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.59, Y:-194.76, Z:2.93 [[-3.55454214e-02 9.99368030e-01 2.51787253e-04 4.58801368e+00] [ 9.99347037e-01 3.55463068e-02 -6.47766574e-03 -1.94758231e+02] [-6.48252216e-03 2.13714867e-05 -9.99978988e-01 2.92913014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.89762800000005 meters Centerline goodness [0,1] 0.9998249414648023 Centerline is valid? [True, True] Translation: X:4.60, Y:-194.76, Z:2.93 [[-1.13737993e-01 9.93510338e-01 9.36590100e-04 4.59901907e+00] [ 9.93478520e-01 1.13741846e-01 -7.95126775e-03 -1.94761392e+02] [-8.00619619e-03 2.61209147e-05 -9.99967950e-01 2.93296458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.927628 meters Centerline goodness [0,1] 0.9999781568773072 Centerline is valid? [True, True] Translation: X:4.61, Y:-194.76, Z:2.93 [[-1.91214230e-01 9.81547203e-01 1.48532922e-03 4.61087090e+00] [ 9.81518596e-01 1.91219997e-01 -7.49384853e-03 -1.94762394e+02] [-7.63959071e-03 2.49477773e-05 -9.99970818e-01 2.93098709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.957628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.62, Y:-194.76, Z:2.93 [[-2.65761931e-01 9.64036451e-01 2.07787060e-03 4.61964323e+00] [ 9.64008117e-01 2.65770051e-01 -7.39128675e-03 -1.94764026e+02] [-7.67770562e-03 3.87614828e-05 -9.99970525e-01 2.93175424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.63, Y:-194.76, Z:2.93 [[-3.39324056e-01 9.40666061e-01 2.55858256e-03 4.62824536e+00] [ 9.40640342e-01 3.39333699e-01 -6.95615286e-03 -1.94763962e+02] [-7.41163020e-03 4.63159714e-05 -9.99972532e-01 2.93056093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.017628 meters Centerline goodness [0,1] 0.9999563051647296 Centerline is valid? [True, True] Translation: X:4.64, Y:-194.77, Z:2.93 [[-4.10585769e-01 9.11817145e-01 2.96995314e-03 4.63581474e+00] [ 9.11794257e-01 4.10596507e-01 -6.46073926e-03 -1.94765008e+02] [-7.11046521e-03 5.52986212e-05 -9.99974719e-01 2.93070507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.04762800000003 meters Centerline goodness [0,1] 0.9999563242487771 Centerline is valid? [True, True] Translation: X:4.64, Y:-194.77, Z:2.93 [[-4.79598605e-01 8.77481768e-01 3.30520328e-03 4.64132586e+00] [ 8.77461809e-01 4.79609990e-01 -5.91877479e-03 -1.94766782e+02] [-6.77882548e-03 6.15535108e-05 -9.99977022e-01 2.93043653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.077628 meters Centerline goodness [0,1] 0.9998689240851993 Centerline is valid? [True, True] Translation: X:4.65, Y:-194.77, Z:2.93 [[-5.44602397e-01 8.38682146e-01 4.52622224e-03 4.64744049e+00] [ 8.38654631e-01 5.44621197e-01 -6.79423005e-03 -1.94766624e+02] [-8.16327602e-03 9.57832637e-05 -9.99966675e-01 2.93234920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.66, Y:-194.76, Z:2.93 [[-6.08739246e-01 7.93351493e-01 5.47170331e-03 4.65692370e+00] [ 7.93320953e-01 6.08763828e-01 -6.96187308e-03 -1.94763509e+02] [-8.85418745e-03 1.02851521e-04 -9.99960796e-01 2.93173490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.137628 meters Centerline goodness [0,1] 0.9998254113744489 Centerline is valid? [True, True] Translation: X:4.67, Y:-194.76, Z:2.94 [[-6.69668224e-01 7.42616127e-01 8.10914004e-03 4.66717543e+00] [ 7.42563988e-01 6.69717307e-01 -8.80067962e-03 -1.94758601e+02] [-1.19663580e-02 1.28019880e-04 -9.99928392e-01 2.93646944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.16762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.68, Y:-194.75, Z:2.94 [[-7.27133769e-01 6.86449834e-01 7.94407753e-03 4.67644171e+00] [ 6.86410284e-01 7.27177156e-01 -7.36919264e-03 -1.94753652e+02] [-1.08353328e-02 9.45077019e-05 -9.99941292e-01 2.93507056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.197628 meters Centerline goodness [0,1] 0.9998254380414148 Centerline is valid? [True, True] Translation: X:4.70, Y:-194.73, Z:2.94 [[-7.74560625e-01 6.32428559e-01 9.48456214e-03 4.69594181e+00] [ 6.32382614e-01 7.74618686e-01 -7.62364300e-03 -1.94732304e+02] [-1.21683286e-02 9.28985137e-05 -9.99925959e-01 2.93647748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.22762800000004 meters Centerline goodness [0,1] 0.9998256130790191 Centerline is valid? [True, True] Translation: X:4.71, Y:-194.71, Z:2.94 [[-8.17673864e-01 5.75599902e-01 9.70589647e-03 4.71476849e+00] [ 5.75560578e-01 8.17731463e-01 -6.72869817e-03 -1.94711164e+02] [-1.18098549e-02 8.44507548e-05 -9.99930258e-01 2.93585879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.73, Y:-194.69, Z:2.93 [[-8.55909062e-01 5.17074334e-01 7.33554909e-03 4.73270290e+00] [ 5.17056031e-01 8.55940494e-01 -4.35107138e-03 -1.94692339e+02] [-8.52862084e-03 6.87684787e-05 -9.99963628e-01 2.93140538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.28762800000004 meters Centerline goodness [0,1] 0.9998254456590517 Centerline is valid? [True, True] Translation: X:5.10, Y:-194.08, Z:1.93 [[-8.29048778e-01 -5.59134074e-01 6.87105532e-03 5.10432563e+00] [ 5.59114086e-01 -8.29077247e-01 -4.72841306e-03 -1.94075402e+02] [ 8.34045249e-03 -7.83812587e-05 9.99965215e-01 1.92879048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.70, Y:-194.67, Z:2.93 [[-8.57046272e-01 5.15212619e-01 5.25772880e-03 4.69544899e+00] [ 5.15203338e-01 8.57062398e-01 -3.09299791e-03 -1.94672299e+02] [-6.09975321e-03 5.79571006e-05 -9.99981395e-01 2.92874631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.34762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.07, Y:-194.06, Z:1.93 [[-8.31415718e-01 -5.55630267e-01 4.78642809e-03 5.06733823e+00] [ 5.55620553e-01 -8.31429493e-01 -3.28628970e-03 -1.94055142e+02] [ 5.80553951e-03 -7.28350875e-05 9.99983145e-01 1.93153768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.377628 meters Centerline goodness [0,1] 0.9998909582588215 Centerline is valid? [True, True] Translation: X:5.05, Y:-194.08, Z:1.93 [[-7.92427289e-01 -6.09944047e-01 5.22030764e-03 5.05315932e+00] [ 6.09930233e-01 -7.92444481e-01 -4.10560793e-03 -1.94081880e+02] [ 6.64099510e-03 -6.93723054e-05 9.99977946e-01 1.92927028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.40762800000005 meters Centerline goodness [0,1] 0.9999782011596983 Centerline is valid? [True, True] Translation: X:5.04, Y:-194.11, Z:1.93 [[-7.49648389e-01 -6.61814551e-01 5.36589754e-03 5.03971094e+00] [ 6.61796864e-01 -7.49667589e-01 -4.83905775e-03 -1.94108896e+02] [ 7.22519830e-03 -7.64576824e-05 9.99973895e-01 1.92845432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.56, Y:-194.65, Z:2.93 [[-7.81828067e-01 6.23466594e-01 5.85492145e-03 4.55563154e+00] [ 6.23449839e-01 7.81849986e-01 -4.57144428e-03 -1.94648388e+02] [-7.42781305e-03 7.61663874e-05 -9.99972411e-01 2.93241627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.46762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.57, Y:-194.62, Z:2.93 [[-8.25059308e-01 5.65001616e-01 7.09313374e-03 4.57182321e+00] [ 5.64981476e-01 8.25089795e-01 -4.77098261e-03 -1.94624786e+02] [-8.54808514e-03 7.11455632e-05 -9.99963462e-01 2.93314146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.59, Y:-194.60, Z:2.93 [[-8.63669722e-01 5.04000214e-01 7.64163755e-03 4.58679600e+00] [ 5.03981120e-01 8.63703526e-01 -4.38750999e-03 -1.94601154e+02] [-8.81141527e-03 6.18815162e-05 -9.99961177e-01 2.93416126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.52762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.60, Y:-194.58, Z:2.93 [[-8.97901367e-01 4.40126401e-01 7.86682727e-03 4.60378933e+00] [ 4.40109975e-01 8.97935827e-01 -3.80274819e-03 -1.94577569e+02] [-8.73759592e-03 4.77763508e-05 -9.99961825e-01 2.93369816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.557628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.62, Y:-194.55, Z:2.93 [[-9.27450947e-01 3.73859170e-01 8.00384084e-03 4.61580097e+00] [ 3.73845552e-01 9.27485482e-01 -3.19116545e-03 -1.94550187e+02] [-8.61649265e-03 3.25508745e-05 -9.99962877e-01 2.93198433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.58762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.63, Y:-194.52, Z:2.93 [[-9.52020116e-01 3.05955739e-01 6.98461584e-03 4.62603372e+00] [ 3.05947645e-01 9.52045737e-01 -2.22552625e-03 -1.94520649e+02] [-7.33058626e-03 1.81810095e-05 -9.99973131e-01 2.93110984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.617628 meters Centerline goodness [0,1] 0.999826158760512 Centerline is valid? [True, True] Translation: X:4.63, Y:-194.49, Z:2.93 [[-9.71060848e-01 2.38712706e-01 7.55464132e-03 4.63371643e+00] [ 2.38705701e-01 9.71090234e-01 -1.82894899e-03 -1.94492815e+02] [-7.77283177e-03 2.73151990e-05 -9.99969791e-01 2.93359549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.64762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.64, Y:-194.47, Z:2.93 [[-9.85400655e-01 1.70126303e-01 6.52616892e-03 4.64008117e+00] [ 1.70122771e-01 9.85422265e-01 -1.09663683e-03 -1.94465279e+02] [-6.61759893e-03 2.96232953e-05 -9.99978103e-01 2.93171606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.677628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.76, Y:-193.77, Z:1.93 [[-9.74022281e-01 -2.26365450e-01 6.26737823e-03 4.75988961e+00] [ 2.26360501e-01 -9.74042443e-01 -1.49738822e-03 -1.93771769e+02] [ 6.44364937e-03 -3.98026156e-05 9.99979239e-01 1.92895153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.707628 meters Centerline goodness [0,1] 0.9998912097476066 Centerline is valid? [True, True] Translation: X:4.59, Y:-194.46, Z:2.93 [[-9.85289177e-01 1.70791542e-01 5.95707169e-03 4.58639679e+00] [ 1.70788765e-01 9.85307184e-01 -9.75651318e-04 -1.94463766e+02] [-6.03617852e-03 5.61022319e-05 -9.99981781e-01 2.93161108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.71, Y:-193.76, Z:1.93 [[-9.76095938e-01 -2.17283356e-01 4.96613767e-03 4.71107449e+00] [ 2.17279992e-01 -9.76108566e-01 -1.21365287e-03 -1.93755346e+02] [ 5.11119608e-03 -1.05599287e-04 9.99986932e-01 1.93108764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.53, Y:-194.46, Z:2.93 [[-9.85518458e-01 1.69498570e-01 4.85838722e-03 4.53434124e+00] [ 1.69496810e-01 9.85530431e-01 -7.74729798e-04 -1.94460304e+02] [-4.91940404e-03 5.99706205e-05 -9.99987898e-01 2.92968048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.79762800000003 meters Centerline goodness [0,1] 0.9998257498203045 Centerline is valid? [True, True] Translation: X:4.54, Y:-194.43, Z:2.93 [[-9.94969283e-01 1.00034482e-01 5.40623947e-03 4.53887065e+00] [ 1.00033394e-01 9.94983968e-01 -4.71848468e-04 -1.94433745e+02] [-5.42632271e-03 7.13297521e-05 -9.99985275e-01 2.93343386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.827628 meters Centerline goodness [0,1] 0.9998255027701435 Centerline is valid? [True, True] Translation: X:4.61, Y:-193.71, Z:1.93 [[-9.89873407e-01 -1.41837176e-01 5.73187118e-03 4.60635861e+00] [ 1.41834495e-01 -9.89890000e-01 -8.73547333e-04 -1.93711605e+02] [ 5.79782345e-03 -5.17242185e-05 9.99983191e-01 1.92733068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.85762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.47, Y:-194.43, Z:2.93 [[-9.95739487e-01 9.20312307e-02 5.75554007e-03 4.47197654e+00] [ 9.20300187e-02 9.95756119e-01 -4.75636161e-04 -1.94426179e+02] [-5.77488763e-03 5.60727528e-05 -9.99983324e-01 2.93048383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.47, Y:-194.40, Z:2.93 [[-9.99808417e-01 1.85394708e-02 6.27833785e-03 4.46847523e+00] [ 1.85393902e-02 9.99828128e-01 -7.10368835e-05 -1.94396660e+02] [-6.27857577e-03 4.53732813e-05 -9.99980289e-01 2.93052117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.91762800000004 meters Centerline goodness [0,1] 0.9998690470993933 Centerline is valid? [True, True] Translation: X:4.48, Y:-193.68, Z:1.93 [[-9.97160858e-01 -7.49619363e-02 7.13661615e-03 4.47882160e+00] [ 7.49600814e-02 -9.97186396e-01 -5.27419690e-04 -1.93680899e+02] [ 7.15607294e-03 9.03905739e-06 9.99974395e-01 1.92802268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.39, Y:-194.39, Z:2.93 [[-9.99940976e-01 8.95121799e-03 6.15791624e-03 4.38720599e+00] [ 8.95115308e-03 9.99959937e-01 -3.81019439e-05 -1.94390700e+02] [-6.15801060e-03 1.70207560e-05 -9.99981039e-01 2.93032744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.97762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.40, Y:-193.68, Z:1.93 [[-9.97485195e-01 -7.06660488e-02 5.44018364e-03 4.39853064e+00] [ 7.06646634e-02 -9.97500028e-01 -4.46696397e-04 -1.93680292e+02] [ 5.45814960e-03 -6.11442962e-05 9.99985102e-01 1.93110662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.31, Y:-194.39, Z:2.93 [[-9.99968974e-01 6.39108815e-03 4.60494644e-03 4.31018753e+00] [ 6.39114095e-03 9.99979576e-01 -3.24891268e-06 -1.94389642e+02] [-4.60487315e-03 2.61820499e-05 -9.99989397e-01 2.92862419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.03762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.31, Y:-194.36, Z:2.93 [[-9.98014999e-01 -6.28331497e-02 4.24945671e-03 4.30630427e+00] [-6.28324411e-02 9.98024045e-01 3.00184326e-04 -1.94363434e+02] [-4.25992150e-03 3.25847214e-05 -9.99990926e-01 2.92861281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.30, Y:-194.34, Z:2.93 [[-9.91596212e-01 -1.29303716e-01 4.18340358e-03 4.29671011e+00] [-1.29302345e-01 9.91605035e-01 5.97675239e-04 -1.94342345e+02] [-4.22556569e-03 5.17286084e-05 -9.99991071e-01 2.92735100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.09762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.19, Y:-193.62, Z:1.93 [[-9.96072445e-01 8.84552496e-02 3.91832337e-03 4.18601858e+00] [-8.84548309e-02 -9.96080150e-01 2.80356776e-04 -1.93624544e+02] [ 3.92776315e-03 -6.73389716e-05 9.99992284e-01 1.93328794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.18, Y:-194.36, Z:2.93 [[-9.91192031e-01 -1.32376000e-01 3.86675071e-03 4.17803594e+00] [-1.32374750e-01 9.91199572e-01 5.78714614e-04 -1.94360851e+02] [-3.90932957e-03 6.17571568e-05 -9.99992357e-01 2.92715737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.15762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.06, Y:-193.64, Z:1.93 [[-9.95239683e-01 9.73822580e-02 3.83014337e-03 4.05883287e+00] [-9.73817885e-02 -9.95247051e-01 3.09332522e-04 -1.93642906e+02] [ 3.84206239e-03 -6.51262108e-05 9.99992617e-01 1.93274003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.05, Y:-194.37, Z:2.93 [[-9.90336078e-01 -1.38648461e-01 3.32520629e-03 4.05346493e+00] [-1.38647496e-01 9.90341659e-01 5.20198070e-04 -1.94374837e+02] [-3.36521498e-03 5.41393911e-05 -9.99994336e-01 2.92791262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.21762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.93, Y:-193.67, Z:1.93 [[-9.94715856e-01 1.02614879e-01 3.24855112e-03 3.93070953e+00] [-1.02614527e-01 -9.94721158e-01 2.75236031e-04 -1.93665947e+02] [ 3.25964585e-03 -5.95668934e-05 9.99994686e-01 1.93240011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.93, Y:-194.39, Z:2.93 [[-9.89192513e-01 -1.46587892e-01 3.18781716e-03 3.92757590e+00] [-1.46586977e-01 9.89197648e-01 5.20144940e-04 -1.94387231e+02] [-3.22962819e-03 4.72309998e-05 -9.99994784e-01 2.92824126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.27762800000005 meters Centerline goodness [0,1] 0.9998264980806351 Centerline is valid? [True, True] Translation: X:3.90, Y:-194.36, Z:2.93 [[-9.76003077e-01 -2.17722439e-01 3.86428866e-03 3.90029479e+00] [-2.17720503e-01 9.76010726e-01 9.19938154e-04 -1.94362735e+02] [-3.97187835e-03 5.65276003e-05 -9.99992110e-01 2.93011688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.307628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.86, Y:-194.35, Z:2.93 [[-9.57408544e-01 -2.88724746e-01 2.62690640e-03 3.85949397e+00] [-2.88723552e-01 9.57412147e-01 8.31161938e-04 -1.94346557e+02] [-2.75500911e-03 3.73117965e-05 -9.99996204e-01 2.92653795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.33762800000005 meters Centerline goodness [0,1] 0.9998697238144867 Centerline is valid? [True, True] Translation: X:3.80, Y:-194.34, Z:2.93 [[-9.33537844e-01 -3.58466500e-01 2.97692913e-03 3.79825797e+00] [-3.58464529e-01 9.33542590e-01 1.18948135e-03 -1.94340825e+02] [-3.20547935e-03 4.33023556e-05 -9.99994862e-01 2.92741899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.73, Y:-194.34, Z:2.93 [[-9.04172731e-01 -4.27155012e-01 3.20430822e-03 3.72813290e+00] [-4.27152150e-01 9.04178408e-01 1.56429960e-03 -1.94340173e+02] [-3.56546472e-03 4.56698972e-05 -9.99993643e-01 2.92656781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.39762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.65, Y:-194.35, Z:2.93 [[-8.69653539e-01 -4.93643147e-01 4.37782473e-03 3.65124091e+00] [-4.93636526e-01 8.69664556e-01 2.55755264e-03 -1.94348438e+02] [-5.06975733e-03 6.31305145e-05 -9.99987147e-01 2.92867214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.427628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.57, Y:-194.37, Z:2.93 [[-8.29883788e-01 -5.57914926e-01 4.88202145e-03 3.56795553e+00] [-5.57904773e-01 8.29898145e-01 3.36644710e-03 -1.94366919e+02] [-5.92977163e-03 7.00567995e-05 -9.99982416e-01 2.92994017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.457628 meters Centerline goodness [0,1] 0.9998915613003969 Centerline is valid? [True, True] Translation: X:3.48, Y:-194.40, Z:2.93 [[-7.85125110e-01 -6.19312691e-01 5.50933748e-03 3.47978029e+00] [-6.19296738e-01 7.85144435e-01 4.44586190e-03 -1.94397054e+02] [-7.07900436e-03 7.86430824e-05 -9.99974940e-01 2.93238738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.39, Y:-194.43, Z:2.93 [[-7.34841746e-01 -6.78229113e-01 3.58862844e-03 3.39233599e+00] [-6.78220721e-01 7.34850508e-01 3.37428817e-03 -1.94433878e+02] [-4.92564591e-03 4.56856455e-05 -9.99987868e-01 2.92924227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.30, Y:-194.48, Z:2.93 [[-6.81324262e-01 -7.31974187e-01 3.32256856e-03 3.30457874e+00] [-7.31965155e-01 6.81332362e-01 3.63658004e-03 -1.94483194e+02] [-4.92565620e-03 4.56857952e-05 -9.99987868e-01 2.92924272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.22, Y:-194.54, Z:2.93 [[-6.23120704e-01 -7.82123125e-01 2.00124682e-03 3.21799089e+00] [-7.82118948e-01 6.23123917e-01 2.55630811e-03 -1.94541953e+02] [-3.24637244e-03 2.76754536e-05 -9.99994730e-01 2.92794775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.13, Y:-194.61, Z:2.93 [[-5.60628905e-01 -8.28066271e-01 1.21733275e-03 3.13453442e+00] [-8.28064257e-01 5.60630226e-01 1.82657149e-03 -1.94610719e+02] [-2.19499578e-03 1.59990316e-05 -9.99997591e-01 2.92610884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.60762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.05, Y:-194.69, Z:2.92 [[-4.94432762e-01 -8.69215721e-01 5.23491991e-04 3.05463817e+00] [-8.69215220e-01 4.94433040e-01 9.32952900e-04 -1.94688532e+02] [-1.06976906e-03 6.25527299e-06 -9.99999428e-01 2.92471216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.98, Y:-194.77, Z:2.92 [[-4.23581309e-01 -9.05858066e-01 1.96553006e-04 2.97862621e+00] [-9.05857967e-01 4.23581355e-01 4.23690441e-04 -1.94773352e+02] [-4.67059592e-04 1.41824548e-06 -9.99999891e-01 2.92395411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.66762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.91, Y:-194.87, Z:2.92 [[-3.51802961e-01 -9.36074074e-01 6.89056456e-05 2.90907576e+00] [-9.36074056e-01 3.51802968e-01 1.84838077e-04 -1.94867033e+02] [-1.97263343e-04 5.25795779e-07 -9.99999981e-01 2.92402633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.85, Y:-194.97, Z:2.93 [[-2.77541868e-01 -9.60713541e-01 6.28828351e-05 2.84901817e+00] [-9.60713516e-01 2.77541875e-01 2.18595384e-04 -1.94967226e+02] [-2.27460165e-04 2.56981659e-07 -9.99999974e-01 2.92500997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.72762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.80, Y:-195.07, Z:2.93 [[-2.02295931e-01 -9.79324418e-01 2.02835579e-04 2.79537564e+00] [-9.79323927e-01 2.02296032e-01 9.80418965e-04 -1.95072145e+02] [-1.00118106e-03 -3.06968839e-07 -9.99999499e-01 2.92587265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.75, Y:-195.18, Z:2.93 [[-1.25063504e-01 -9.92148727e-01 1.54004610e-04 2.74799992e+00] [-9.92147995e-01 1.25063599e-01 1.20539623e-03 -1.95182594e+02] [-1.21519270e-03 -2.04428854e-06 -9.99999262e-01 2.92658141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.78762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.71, Y:-195.30, Z:2.93 [[-4.66490777e-02 -9.98911338e-01 4.54253042e-05 2.70806714e+00] [-9.98910924e-01 4.66490998e-02 9.09126333e-04 -1.95295934e+02] [-9.10255651e-04 -2.96592762e-06 -9.99999586e-01 2.92710079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.68, Y:-195.41, Z:2.93 [[ 3.14552805e-02 -9.99505160e-01 -1.83574853e-05 2.67777856e+00] [-9.99504932e-01 -3.14552857e-02 6.75504131e-04 -1.95411545e+02] [-6.75747305e-04 -2.89977488e-06 -9.99999772e-01 2.92739951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.84762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.66, Y:-195.53, Z:2.93 [[ 1.09423236e-01 -9.93995234e-01 -1.75004250e-04 2.65593511e+00] [-9.93993820e-01 -1.09423375e-01 1.67681317e-03 -1.95529894e+02] [-1.68589385e-03 -9.52918018e-06 -9.99998579e-01 2.92806990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.64, Y:-195.65, Z:2.93 [[ 1.85777870e-01 -9.82591664e-01 -4.52686773e-04 2.64432612e+00] [-9.82588552e-01 -1.85778421e-01 2.47295169e-03 -1.95652278e+02] [-2.51400115e-03 -1.46148574e-05 -9.99996840e-01 2.92859679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.90762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.64, Y:-195.77, Z:2.93 [[ 2.60493953e-01 -9.65475111e-01 -8.43091275e-04 2.64092956e+00] [-9.65469830e-01 -2.60495317e-01 3.19318604e-03 -1.95768498e+02] [-3.30256298e-03 -1.78264648e-05 -9.99994546e-01 2.92975358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.65, Y:-195.89, Z:2.93 [[ 3.32854496e-01 -9.42977412e-01 -1.21877781e-03 2.64799382e+00] [-9.42970918e-01 -3.32856727e-01 3.49965940e-03 -1.95887680e+02] [-3.70577816e-03 -1.56053367e-05 -9.99993133e-01 2.93115449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.96762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.66, Y:-196.00, Z:2.93 [[ 4.02352195e-01 -9.15483303e-01 -1.74166622e-03 2.66416422e+00] [-9.15474631e-01 -4.02355965e-01 3.98460325e-03 -1.96000726e+02] [-4.34860754e-03 -8.76262314e-06 -9.99990545e-01 2.93290872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.69, Y:-196.11, Z:2.93 [[ 4.70807099e-01 -8.82233280e-01 -2.26171621e-03 2.68973064e+00] [-8.82223039e-01 -4.70812531e-01 4.25077711e-03 -1.96113783e+02] [-4.81502137e-03 -5.95789370e-06 -9.99988408e-01 2.93259303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.02762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.72, Y:-196.22, Z:2.93 [[ 5.36270183e-01 -8.44040013e-01 -3.27834888e-03 2.72331885e+00] [-8.44024224e-01 -5.36280203e-01 5.16258563e-03 -1.96223580e+02] [-6.11554245e-03 -1.53486826e-06 -9.99981300e-01 2.93355963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.057628 meters Centerline goodness [0,1] 0.9999348180336773 Centerline is valid? [True, True] Translation: X:2.76, Y:-196.33, Z:2.94 [[ 5.99343936e-01 -8.00482131e-01 -3.89932343e-03 2.76355613e+00] [-8.00465172e-01 -5.99356620e-01 5.21061237e-03 -1.96332164e+02] [-6.50808740e-03 -1.67632680e-06 -9.99978822e-01 2.93580771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.08762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.81, Y:-196.43, Z:2.93 [[ 6.59087765e-01 -7.52053537e-01 -4.33537625e-03 2.80629561e+00] [-7.52037223e-01 -6.59102024e-01 4.95357877e-03 -1.96431122e+02] [-6.58281169e-03 -4.47884978e-06 -9.99978333e-01 2.93495437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.86, Y:-196.53, Z:2.94 [[ 7.14637532e-01 -6.99478941e-01 -4.73376932e-03 2.85671751e+00] [-6.99463539e-01 -7.14653210e-01 4.64182296e-03 -1.96527159e+02] [-6.62986085e-03 -6.12186174e-06 -9.99978022e-01 2.93563499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.14762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.85, Y:-196.54, Z:2.94 [[ 7.67710802e-01 -6.40776894e-01 -5.00975121e-03 2.85193847e+00] [-6.40763149e-01 -7.67727147e-01 4.19694603e-03 -1.96536755e+02] [-6.53542804e-03 -1.19768338e-05 -9.99978644e-01 2.93648773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.177628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.85, Y:-196.54, Z:2.94 [[ 8.15614951e-01 -5.78576819e-01 -4.59521755e-03 2.85132397e+00] [-5.78567554e-01 -8.15627896e-01 3.27426486e-03 -1.96544024e+02] [-5.64240137e-03 -1.18955893e-05 -9.99984081e-01 2.93573446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.207628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.85, Y:-196.55, Z:2.93 [[ 8.58686435e-01 -5.12484495e-01 -4.15326681e-03 2.84994466e+00] [-5.12478424e-01 -8.58696479e-01 2.49452921e-03 -1.96554117e+02] [-4.84480312e-03 -1.35587657e-05 -9.99988264e-01 2.93448461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.23762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.85, Y:-196.57, Z:2.93 [[ 8.96262471e-01 -4.43501738e-01 -4.44867542e-03 2.84812217e+00] [-4.43496190e-01 -8.96273512e-01 2.21855332e-03 -1.96565531e+02] [-4.97116220e-03 -1.54354823e-05 -9.99987644e-01 2.93437687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.85, Y:-196.58, Z:2.94 [[ 9.28086973e-01 -3.72324715e-01 -5.37370455e-03 2.84682518e+00] [-3.72318370e-01 -9.28102530e-01 2.17378269e-03 -1.96576479e+02] [-5.79670181e-03 -1.67304826e-05 -9.99983199e-01 2.93657135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.29762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.85, Y:-196.59, Z:2.94 [[ 9.54314011e-01 -2.98745132e-01 -6.00947883e-03 2.84679768e+00] [-2.98739094e-01 -9.54332932e-01 1.89944574e-03 -1.96587664e+02] [-6.30249372e-03 -1.74014213e-05 -9.99980139e-01 2.93719077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.85, Y:-196.60, Z:2.94 [[ 9.74812467e-01 -2.22945346e-01 -6.00217536e-03 2.84785690e+00] [-2.22940999e-01 -9.74830946e-01 1.39223530e-03 -1.96595109e+02] [-6.16149867e-03 -1.90373576e-05 -9.99981018e-01 2.93835881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.35762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.85, Y:-196.60, Z:2.94 [[ 9.89305787e-01 -1.45724200e-01 -6.20627713e-03 2.84965908e+00] [-1.45721201e-01 -9.89325253e-01 9.35166699e-04 -1.96603004e+02] [-6.27630311e-03 -2.07796696e-05 -9.99980304e-01 2.93903058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.85, Y:-196.61, Z:2.94 [[ 9.97732257e-01 -6.70379718e-02 -6.02105424e-03 2.84919540e+00] [-6.70366008e-02 -9.97750425e-01 4.29468512e-04 -1.96611128e+02] [-6.03630012e-03 -2.48635789e-05 -9.99981781e-01 2.93917702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.41762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.85, Y:-196.62, Z:2.94 [[ 9.99890767e-01 1.43902115e-02 -3.37278141e-03 2.84873673e+00] [ 1.43902117e-02 -9.99896455e-01 -2.42135747e-05 -1.96621937e+02] [-3.37278062e-03 -2.43241086e-05 -9.99994312e-01 2.93713841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.447628 meters Centerline goodness [0,1] 0.99986965872309 Centerline is valid? [True, True] Translation: X:2.85, Y:-196.63, Z:2.94 [[ 9.95603779e-01 9.36187409e-02 -2.94055201e-03 2.84935277e+00] [ 9.36184044e-02 -9.95608121e-01 -2.52177263e-04 -1.96633515e+02] [-2.95124598e-03 -2.42211520e-05 -9.99995645e-01 2.93903742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.47762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.85, Y:-196.64, Z:2.94 [[ 9.84917306e-01 1.73002180e-01 -2.85400592e-03 2.85052668e+00] [ 1.73001538e-01 -9.84921441e-01 -4.72051465e-04 -1.96644812e+02] [-2.89263756e-03 -2.88157573e-05 -9.99995816e-01 2.93658630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.85, Y:-196.66, Z:2.94 [[ 9.67941638e-01 2.51154032e-01 -3.26160663e-03 2.85331411e+00] [ 2.51152741e-01 -9.67947132e-01 -8.06173028e-04 -1.96655928e+02] [-3.35953640e-03 -3.88330066e-05 -9.99994356e-01 2.93705179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.53762800000004 meters Centerline goodness [0,1] 0.9998483765460178 Centerline is valid? [True, True] Translation: X:2.86, Y:-196.66, Z:2.94 [[ 9.45380585e-01 3.25931425e-01 -4.92506635e-03 2.85525052e+00] [ 3.25927325e-01 -9.45393412e-01 -1.63585600e-03 -1.96663809e+02] [-5.18930215e-03 -5.87071967e-05 -9.99986534e-01 2.94081984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.567628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.86, Y:-196.67, Z:2.94 [[ 9.17022596e-01 3.98793820e-01 -5.74872992e-03 2.85918547e+00] [ 3.98786458e-01 -9.17040612e-01 -2.42419073e-03 -1.96670371e+02] [-6.23857109e-03 -6.94779677e-05 -9.99980538e-01 2.93921416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.59762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.86, Y:-196.68, Z:2.94 [[ 8.84117909e-01 4.67226689e-01 -5.89440826e-03 2.86184740e+00] [ 4.67216741e-01 -8.84137556e-01 -3.04948619e-03 -1.96675798e+02] [-6.63626904e-03 -5.78608654e-05 -9.99977978e-01 2.94065841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.627628 meters Centerline goodness [0,1] 0.9998041690238914 Centerline is valid? [True, True] Translation: X:2.86, Y:-196.68, Z:2.94 [[ 8.45806038e-01 5.33462415e-01 -5.47699360e-03 2.86449014e+00] [ 5.33451572e-01 -8.45823770e-01 -3.40159513e-03 -1.96681588e+02] [-6.44719453e-03 -4.46211412e-05 -9.99979216e-01 2.94398504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.65762800000005 meters Centerline goodness [0,1] 0.9999129545405088 Centerline is valid? [True, True] Translation: X:2.87, Y:-196.69, Z:2.94 [[ 8.02181867e-01 5.97059430e-01 -4.92837239e-03 2.86894743e+00] [ 5.97048430e-01 -8.02197006e-01 -3.62452015e-03 -1.96686795e+02] [-6.11757951e-03 -3.49526590e-05 -9.99981287e-01 2.94243126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.87, Y:-196.69, Z:2.94 [[ 7.53709107e-01 6.57194400e-01 -4.25466681e-03 2.87264802e+00] [ 6.57184121e-01 -7.53721115e-01 -3.67579812e-03 -1.96693351e+02] [-5.62254616e-03 -2.56169472e-05 -9.99984193e-01 2.94012168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.71762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.88, Y:-196.70, Z:2.94 [[ 7.01780095e-01 7.12389974e-01 -2.28528125e-03 2.88019237e+00] [ 7.12386227e-01 -7.01783816e-01 -2.31059061e-03 -1.96700962e+02] [-3.24981498e-03 -6.47638713e-06 -9.99994719e-01 2.93862697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.747628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.89, Y:-196.71, Z:2.94 [[ 6.44634617e-01 7.64489590e-01 -1.36994714e-03 2.88782222e+00] [ 7.64487870e-01 -6.44636073e-01 -1.62164327e-03 -1.96709512e+02] [-2.12284674e-03 -1.94058132e-06 -9.99997747e-01 2.93786904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.77762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.90, Y:-196.72, Z:2.94 [[ 5.83624448e-01 8.12023387e-01 -7.22854055e-04 2.89668461e+00] [ 8.12022763e-01 -5.83624896e-01 -1.00612990e-03 -1.96717263e+02] [-1.23887663e-03 2.28058794e-07 -9.99999233e-01 2.93727551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.807628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.90, Y:-196.72, Z:2.94 [[ 5.18747351e-01 8.54927587e-01 -8.46838811e-05 2.90422078e+00] [ 8.54927575e-01 -5.18747358e-01 -1.40209493e-04 -1.96723483e+02] [-1.63798503e-04 3.34718038e-07 -9.99999987e-01 2.93682093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.83762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.91, Y:-196.73, Z:2.93 [[ 4.51744542e-01 8.92146738e-01 1.03231358e-03 2.90705463e+00] [ 8.92144383e-01 -4.51745722e-01 2.04985265e-03 -1.96725909e+02] [ 2.29511260e-03 -5.03698246e-06 -9.99997366e-01 2.93312278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.91, Y:-196.73, Z:2.93 [[ 3.81067104e-01 9.24546800e-01 1.03755453e-03 2.91225671e+00] [ 9.24543318e-01 -3.81068517e-01 2.53746331e-03 -1.96728781e+02] [ 2.74138295e-03 -7.67968824e-06 -9.99996242e-01 2.93214945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.89762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.92, Y:-196.73, Z:2.93 [[ 3.07837917e-01 9.51438500e-01 7.73461440e-04 2.91634922e+00] [ 9.51435431e-01 -3.07838888e-01 2.41637971e-03 -1.96733193e+02] [ 2.53713819e-03 -7.95467687e-06 -9.99996781e-01 2.93212147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.927628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.92, Y:-196.74, Z:2.93 [[ 2.30276822e-01 9.73125123e-01 2.83779521e-04 2.92366374e+00] [ 9.73124378e-01 -2.30276996e-01 1.20379625e-03 -1.96736587e+02] [ 1.23679227e-03 -1.05360542e-06 -9.99999235e-01 2.93389438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.957628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.94, Y:-196.74, Z:2.93 [[ 1.50548111e-01 9.88602628e-01 3.31079859e-04 2.93500309e+00] [ 9.88600297e-01 -1.50548475e-01 2.14713838e-03 -1.96740782e+02] [ 2.17251022e-03 4.05801900e-06 -9.99997640e-01 2.93489982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.95, Y:-196.74, Z:2.94 [[ 6.98572372e-02 9.97556986e-01 1.64139840e-04 2.94632703e+00] [ 9.97554568e-01 -6.98574292e-02 2.19611476e-03 -1.96743678e+02] [ 2.20221600e-03 1.03239380e-05 -9.99997575e-01 2.93603116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.96, Y:-196.75, Z:2.94 [[-1.25620087e-02 9.99921095e-01 4.45621855e-07 2.96034770e+00] [ 9.99921094e-01 1.25620087e-02 -5.21535365e-05 -1.96745653e+02] [-5.21550193e-05 -2.09566486e-07 -9.99999999e-01 2.93774768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.97, Y:-196.75, Z:2.94 [[-9.20004770e-02 9.95758957e-01 1.08638740e-04 2.97290372e+00] [ 9.95758091e-01 9.20005403e-02 -1.31315185e-03 -1.96747505e+02] [-1.31757754e-03 -1.26326922e-05 -9.99999132e-01 2.93874177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.98, Y:-196.75, Z:2.94 [[-1.70580100e-01 9.85343761e-01 3.19025038e-04 2.98105370e+00] [ 9.85341801e-01 1.70580397e-01 -1.96560720e-03 -1.96748005e+02] [-1.99121821e-03 -2.09447681e-05 -9.99998017e-01 2.93909187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.99, Y:-196.75, Z:2.94 [[-2.47444035e-01 9.68901977e-01 6.39262120e-04 2.99051319e+00] [ 9.68898433e-01 2.47444859e-01 -2.62063339e-03 -1.96747415e+02] [-2.69731900e-03 -2.90800322e-05 -9.99996362e-01 2.93937801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.00, Y:-196.75, Z:2.94 [[-3.22890265e-01 9.46435843e-01 1.03567903e-03 2.99888441e+00] [ 9.46430601e-01 3.22891924e-01 -3.15014252e-03 -1.96745669e+02] [-3.31582019e-03 -3.69520297e-05 -9.99994502e-01 2.94000861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.16762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.01, Y:-196.74, Z:2.94 [[-3.96291417e-01 9.18123635e-01 1.45009764e-03 3.00610507e+00] [ 9.18117087e-01 3.96294068e-01 -3.46785436e-03 -1.96744772e+02] [-3.75858414e-03 -4.29214952e-05 -9.99992936e-01 2.94041977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.01, Y:-196.74, Z:2.94 [[-4.67252310e-01 8.84122916e-01 1.39543976e-03 3.01160978e+00] [ 8.84118744e-01 4.67254393e-01 -2.71661347e-03 -1.96743131e+02] [-3.05384558e-03 -3.56094739e-05 -9.99995336e-01 2.94003235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.22762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.02, Y:-196.74, Z:2.94 [[-5.35228334e-01 8.44706178e-01 1.45016452e-03 3.01689843e+00] [ 8.44702911e-01 5.35230297e-01 -2.34957491e-03 -1.96741615e+02] [-2.76087243e-03 -3.26008723e-05 -9.99996188e-01 2.94039612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.02, Y:-196.74, Z:2.94 [[-5.99615819e-01 8.00284790e-01 2.26371230e-03 3.02115943e+00] [ 8.00278804e-01 5.99620091e-01 -3.09562161e-03 -1.96741793e+02] [-3.83474627e-03 -4.45827146e-05 -9.99992646e-01 2.94158876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.28762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.02, Y:-196.74, Z:2.94 [[-6.59956505e-01 7.51299342e-01 2.59038325e-03 3.02445410e+00] [ 7.51293295e-01 6.59961588e-01 -3.01472612e-03 -1.96740766e+02] [-3.97451519e-03 -4.34505473e-05 -9.99992101e-01 2.94220321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.03, Y:-196.73, Z:2.94 [[-7.16516606e-01 6.97562339e-01 3.27670107e-03 3.03090916e+00] [ 6.97554731e-01 7.16524096e-01 -3.25838327e-03 -1.96734789e+02] [-4.62076073e-03 -4.90073856e-05 -9.99989323e-01 2.94204821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.34762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.05, Y:-196.71, Z:2.94 [[-7.63288610e-01 6.46046221e-01 3.84435652e-03 3.05021951e+00] [ 6.46037710e-01 7.63298289e-01 -3.31641409e-03 -1.96712743e+02] [-5.07694754e-03 -4.77818168e-05 -9.99987111e-01 2.94253185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.07, Y:-196.69, Z:2.94 [[-8.07032500e-01 5.90494009e-01 3.92038984e-03 3.06916920e+00] [ 5.90486768e-01 8.07042020e-01 -2.92481372e-03 -1.96691044e+02] [-4.89100432e-03 -4.54814080e-05 -9.99988038e-01 2.94267025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.40762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.09, Y:-196.67, Z:2.94 [[-8.46641702e-01 5.32150143e-01 3.74883996e-03 3.08569184e+00] [ 5.32144717e-01 8.46650001e-01 -2.40340684e-03 -1.96667418e+02] [-4.45292865e-03 -3.98990739e-05 -9.99990085e-01 2.94276736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.45, Y:-196.11, Z:1.92 [[-7.98741778e-01 -6.01667859e-01 2.71295561e-03 3.45149272e+00] [ 6.01664256e-01 -7.98746385e-01 -2.08234420e-03 -1.96112066e+02] [ 3.41984306e-03 -3.09668897e-05 9.99994152e-01 1.91784256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.46762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.44, Y:-196.14, Z:1.92 [[-7.56431883e-01 -6.54067291e-01 2.60487582e-03 3.43698522e+00] [ 6.54063540e-01 -7.56436367e-01 -2.21527079e-03 -1.96138627e+02] [ 3.41935897e-03 2.80528511e-05 9.99994154e-01 1.91782218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.00, Y:-196.65, Z:2.94 [[-8.09929836e-01 5.86522420e-01 2.26098327e-03 3.00026910e+00] [ 5.86520066e-01 8.09932991e-01 -1.66172586e-03 -1.96645496e+02] [-2.80588441e-03 -1.97692992e-05 -9.99996063e-01 2.94244003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.52762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.41, Y:-196.11, Z:1.92 [[-7.60449086e-01 -6.49395172e-01 1.76025049e-03 3.40769037e+00] [ 6.49393397e-01 -7.60451123e-01 -1.51855381e-03 -1.96107306e+02] [ 2.32472597e-03 -1.16878100e-05 9.99997298e-01 1.92028429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.557628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.39, Y:-196.13, Z:1.92 [[-7.14467844e-01 -6.99667303e-01 1.16795038e-03 3.39423036e+00] [ 6.99666392e-01 -7.14468799e-01 -1.12892706e-03 -1.96134266e+02] [ 1.62433745e-03 1.05935451e-05 9.99998681e-01 1.92095332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.58762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.92, Y:-196.62, Z:2.94 [[-7.72731623e-01 6.34729587e-01 2.04717442e-03 2.91545272e+00] [ 6.34727268e-01 7.72734334e-01 -1.71581933e-03 -1.96621460e+02] [-2.67100326e-03 -2.64704328e-05 -9.99996433e-01 2.94112671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.94, Y:-196.60, Z:2.94 [[-8.16442442e-01 5.77416802e-01 3.40221283e-03 2.93829043e+00] [ 5.77411539e-01 8.16449529e-01 -2.46597071e-03 -1.96601651e+02] [-4.20162798e-03 -4.88462063e-05 -9.99991172e-01 2.94350543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.64762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.95, Y:-196.57, Z:2.95 [[-8.55776337e-01 5.17317281e-01 5.44899864e-03 2.95129210e+00] [ 5.17306185e-01 8.55793681e-01 -3.38917963e-03 -1.96574946e+02] [-6.41649980e-03 -8.15790319e-05 -9.99979411e-01 2.94566641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.677628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.31, Y:-196.01, Z:1.91 [[-8.03683360e-01 -5.95021751e-01 6.49412909e-03 3.31044884e+00] [ 5.95004261e-01 -8.03709574e-01 -4.56631821e-03 -1.96013886e+02] [ 7.93645238e-03 1.94160519e-04 9.99968487e-01 1.91267345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.707628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.92, Y:-196.55, Z:2.95 [[-8.58324329e-01 5.13063032e-01 6.75801365e-03 2.92183073e+00] [ 5.13046096e-01 8.58350926e-01 -4.17032159e-03 -1.96552775e+02] [-7.94038512e-03 -1.12315967e-04 -9.99968468e-01 2.94887241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.27, Y:-195.99, Z:1.91 [[-8.05108326e-01 -5.93096420e-01 6.10089010e-03 3.26884614e+00] [ 5.93080148e-01 -8.05131437e-01 -4.39409790e-03 -1.95991387e+02] [ 7.51814214e-03 8.05920007e-05 9.99971735e-01 1.91221429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.88, Y:-196.53, Z:2.95 [[-8.60820448e-01 5.08871920e-01 6.12587363e-03 2.88175540e+00] [ 5.08858118e-01 8.60842237e-01 -3.74954060e-03 -1.96528966e+02] [-7.18144668e-03 -1.10480689e-04 -9.99974207e-01 2.94760742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.90, Y:-196.51, Z:2.95 [[-8.95145408e-01 4.45721854e-01 6.83572494e-03 2.89705461e+00] [ 4.45707776e-01 8.95171499e-01 -3.54484272e-03 -1.96506161e+02] [-7.69916001e-03 -1.26413926e-04 -9.99970353e-01 2.94703528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.20, Y:-195.92, Z:1.91 [[-8.44579185e-01 -5.35387731e-01 6.78067844e-03 3.20112255e+00] [ 5.35371852e-01 -8.44606391e-01 -4.12601527e-03 -1.95923755e+02] [ 7.93602230e-03 1.45437754e-04 9.99968499e-01 1.91150767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.85762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.86, Y:-196.48, Z:2.95 [[-8.98552494e-01 4.38805042e-01 7.31782290e-03 2.85963762e+00] [ 4.38788957e-01 8.98582276e-01 -3.76089127e-03 -1.96482148e+02] [-8.22596401e-03 -1.68378351e-04 -9.99966152e-01 2.95018546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.16, Y:-195.91, Z:1.91 [[-8.45381224e-01 -5.34105973e-01 7.83557581e-03 3.15974823e+00] [ 5.34085662e-01 -8.45417501e-01 -4.66417809e-03 -1.95906443e+02] [ 9.11549830e-03 2.41860107e-04 9.99958424e-01 1.90890569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.91762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.82, Y:-196.46, Z:2.95 [[-9.00745386e-01 4.34245642e-01 9.40596575e-03 2.82102132e+00] [ 4.34219272e-01 9.00794466e-01 -4.79112657e-03 -1.96461654e+02] [-1.05533677e-02 -2.31333556e-04 -9.99944285e-01 2.95364665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.12, Y:-195.89, Z:1.91 [[-8.47131278e-01 -5.31307506e-01 8.99625937e-03 3.11797265e+00] [ 5.31280351e-01 -8.47179015e-01 -5.37633758e-03 -1.95886848e+02] [ 1.04779307e-02 2.25072116e-04 9.99945080e-01 1.90645943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.97762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.78, Y:-196.44, Z:2.95 [[-9.02154795e-01 4.31294925e-01 1.00703746e-02 2.78368360e+00] [ 4.31265035e-01 9.02210967e-01 -5.08348353e-03 -1.96441609e+02] [-1.12780830e-02 -2.43088608e-04 -9.99936371e-01 2.95468494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.007628 meters Centerline goodness [0,1] 0.9999782962561041 Centerline is valid? [True, True] Translation: X:2.79, Y:-196.41, Z:2.96 [[-9.30608161e-01 3.65774183e-01 1.33303555e-02 2.79303520e+00] [ 3.65731657e-01 9.30703574e-01 -5.58683282e-03 -1.96412758e+02] [-1.44501287e-02 -3.23819218e-04 -9.99895539e-01 2.95724379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.03762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.80, Y:-196.39, Z:2.96 [[-9.54368058e-01 2.98247562e-01 1.51658241e-02 2.80495556e+00] [ 2.98203725e-01 9.54488478e-01 -5.12677869e-03 -1.96386431e+02] [-1.60046536e-02 -3.70328576e-04 -9.99871849e-01 2.95866709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.81, Y:-196.36, Z:2.96 [[-9.73099115e-01 2.29683751e-01 1.79857380e-02 2.81148519e+00] [ 2.29636304e-01 9.73265220e-01 -4.68828371e-03 -1.96359191e+02] [-1.85817158e-02 -4.31986337e-04 -9.99827252e-01 2.96141047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.09762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.98, Y:-195.75, Z:1.90 [[-9.40795036e-01 -3.38470136e-01 1.85112659e-02 2.97794325e+00] [ 3.38415256e-01 -9.40976996e-01 -6.11620103e-03 -1.95745101e+02] [ 1.94888268e-02 5.10403221e-04 9.99809945e-01 1.89923283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.77, Y:-196.35, Z:2.96 [[-9.73957811e-01 2.25914451e-01 1.92052850e-02 2.76599575e+00] [ 2.25861163e-01 9.74147036e-01 -4.92826776e-03 -1.96353928e+02] [-1.98221383e-02 -4.62196881e-04 -9.99803415e-01 2.95985067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.15762800000005 meters Centerline goodness [0,1] 0.9998694829348937 Centerline is valid? [True, True] Translation: X:2.93, Y:-195.73, Z:1.90 [[-9.41496776e-01 -3.36436490e-01 1.98572411e-02 2.92558510e+00] [ 3.36374074e-01 -9.41705994e-01 -6.50404846e-03 -1.95730937e+02] [ 2.08878822e-02 5.55920430e-04 9.99781670e-01 1.89810099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.72, Y:-196.34, Z:2.96 [[-9.75226142e-01 2.20234408e-01 2.07551607e-02 2.71892535e+00] [ 2.20172714e-01 9.75446827e-01 -5.24054492e-03 -1.96339423e+02] [-2.13997039e-02 -5.40996354e-04 -9.99770854e-01 2.96061489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.21762800000005 meters Centerline goodness [0,1] 0.9998262720145932 Centerline is valid? [True, True] Translation: X:2.87, Y:-195.72, Z:1.89 [[-9.42463511e-01 -3.33512354e-01 2.30659854e-02 2.87246787e+00] [ 3.33432868e-01 -9.42745399e-01 -7.32356880e-03 -1.95722771e+02] [ 2.41878523e-02 7.88761305e-04 9.99707120e-01 1.89377207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.67, Y:-196.33, Z:2.96 [[-9.75863117e-01 2.17116449e-01 2.34867091e-02 2.67354407e+00] [ 2.17038856e-01 9.76145528e-01 -5.83463581e-03 -1.96325286e+02] [-2.41932415e-02 -5.96277415e-04 -9.99707123e-01 2.96379823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.27762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.68, Y:-196.30, Z:2.96 [[-9.88475245e-01 1.49513778e-01 2.37132893e-02 2.67933649e+00] [ 1.49457644e-01 9.88759495e-01 -4.13215480e-03 -1.96296185e+02] [-2.40645540e-02 -5.40400382e-04 -9.99710261e-01 2.96412052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.307628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.79, Y:-195.68, Z:1.90 [[-9.65964264e-01 -2.57670354e-01 2.27822262e-02 2.78793008e+00] [ 2.57610594e-01 -9.66232762e-01 -5.57053640e-03 -1.95675252e+02] [ 2.34482955e-02 4.88003747e-04 9.99724932e-01 1.89973347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.33762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.62, Y:-196.29, Z:2.96 [[-9.88542522e-01 1.49175404e-01 2.30300244e-02 2.62459671e+00] [ 1.49124565e-01 9.88810652e-01 -3.91901942e-03 -1.96292740e+02] [-2.33569547e-02 -4.39774972e-04 -9.99727092e-01 2.95966841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.63, Y:-196.27, Z:2.96 [[-9.96446003e-01 8.07477285e-02 2.39826606e-02 2.62945817e+00] [ 8.07146564e-02 9.96734490e-01 -2.34541163e-03 -1.96269608e+02] [-2.40937316e-02 -4.01323828e-04 -9.99709623e-01 2.95902344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.39762800000005 meters Centerline goodness [0,1] 0.9998696728789261 Centerline is valid? [True, True] Translation: X:2.63, Y:-196.25, Z:2.96 [[-9.99611007e-01 1.17627835e-02 2.52877776e-02 2.62599186e+00] [ 1.17496850e-02 9.99930748e-01 -6.66506528e-04 -1.96247033e+02] [-2.52938664e-02 -3.69123842e-04 -9.99679991e-01 2.96014930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.427628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.62, Y:-196.22, Z:2.96 [[-9.97866968e-01 -6.06523064e-02 2.41415051e-02 2.61922820e+00] [-6.06438108e-02 9.98158881e-01 1.08455361e-03 -1.96217441e+02] [-2.41628384e-02 -3.81792646e-04 -9.99707963e-01 2.95711830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.457628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.61, Y:-196.19, Z:2.96 [[-9.90879963e-01 -1.32683521e-01 2.34943150e-02 2.61161346e+00] [-1.32655781e-01 9.91158375e-01 2.74226323e-03 -1.96188362e+02] [-2.36504402e-02 -3.99403011e-04 -9.99720209e-01 2.95766848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.60, Y:-196.16, Z:2.96 [[-9.78782570e-01 -2.03520340e-01 2.37519066e-02 2.59542456e+00] [-2.03470714e-01 9.79070630e-01 4.51327418e-03 -1.96161644e+02] [-2.41733372e-02 -4.15303292e-04 -9.99707696e-01 2.95837400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.57, Y:-196.14, Z:2.96 [[-9.62008062e-01 -2.71968947e-01 2.39453423e-02 2.56990634e+00] [-2.71894755e-01 9.62305950e-01 6.36408755e-03 -1.96139919e+02] [-2.47735796e-02 -3.88309448e-04 -9.99693012e-01 2.95883545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.54762800000003 meters Centerline goodness [0,1] 0.9999566611770825 Centerline is valid? [True, True] Translation: X:2.52, Y:-196.13, Z:2.96 [[-9.40380365e-01 -3.39357002e-01 2.28384488e-02 2.52232670e+00] [-3.39265429e-01 9.40657598e-01 7.88997926e-03 -1.96128240e+02] [-2.41606801e-02 -3.28714543e-04 -9.99708034e-01 2.95735152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.577628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.47, Y:-196.12, Z:2.95 [[-9.13998119e-01 -4.05154788e-01 2.13783917e-02 2.46611341e+00] [-4.05050407e-01 9.14248071e-01 9.19961603e-03 -1.96124428e+02] [-2.32724218e-02 -2.50894505e-04 -9.99729129e-01 2.95458946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.60762800000003 meters Centerline goodness [0,1] 0.9998478789986092 Centerline is valid? [True, True] Translation: X:2.40, Y:-196.13, Z:2.96 [[-8.82914384e-01 -4.69091738e-01 2.03747706e-02 2.39622470e+00] [-4.68971533e-01 8.83149426e-01 1.06203518e-02 -1.96131266e+02] [-2.29758863e-02 -1.78326003e-04 -9.99736004e-01 2.95520478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.32, Y:-196.15, Z:2.95 [[-8.48477925e-01 -5.28930799e-01 1.78163024e-02 2.32488184e+00] [-5.28815310e-01 8.48664956e-01 1.10526256e-02 -1.96145504e+02] [-2.09661456e-02 -4.36246294e-05 -9.99780185e-01 2.94864189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.66762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.24, Y:-196.17, Z:2.95 [[-8.08457785e-01 -5.88319534e-01 1.66173134e-02 2.24332507e+00] [-5.88194577e-01 8.08628546e-01 1.21249465e-02 -1.96169181e+02] [-2.05705769e-02 2.82938137e-05 -9.99788403e-01 2.94734389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.697628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.16, Y:-196.20, Z:2.95 [[-7.63659426e-01 -6.45456521e-01 1.44969319e-02 2.15916596e+00] [-6.45338294e-01 7.63797011e-01 1.23536847e-02 -1.96201415e+02] [-1.90464796e-02 7.85824688e-05 -9.99818596e-01 2.94697196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.72762800000004 meters Centerline goodness [0,1] 0.9998262720145932 Centerline is valid? [True, True] Translation: X:2.07, Y:-196.24, Z:2.95 [[-7.15307780e-01 -6.98699235e-01 1.24160275e-02 2.07446310e+00] [-6.98590645e-01 7.15415515e-01 1.23187580e-02 -1.96244611e+02] [-1.74897255e-02 1.37982776e-04 -9.99847034e-01 2.94892540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.00, Y:-196.30, Z:2.94 [[-6.64979415e-01 -7.46813792e-01 8.45799563e-03 1.99775890e+00] [-7.46749883e-01 6.65033177e-01 9.77169987e-03 -1.96297405e+02] [-1.29224879e-02 1.81972025e-04 -9.99916485e-01 2.93968991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.78762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.91, Y:-196.36, Z:2.94 [[-6.07411422e-01 -7.94359145e-01 6.70173926e-03 1.91360932e+00] [-7.94307579e-01 6.07448366e-01 9.05271501e-03 -1.96361530e+02] [-1.12620675e-02 1.75480197e-04 -9.99936566e-01 2.93807031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.83, Y:-196.44, Z:2.94 [[-5.46204662e-01 -8.37632728e-01 5.64620457e-03 1.83083746e+00] [-8.37584510e-01 5.46233815e-01 8.98932638e-03 -1.96435108e+02] [-1.06139018e-02 1.80838489e-04 -9.99943655e-01 2.93721894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.84762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.75, Y:-196.52, Z:2.94 [[-4.81560482e-01 -8.76399254e-01 4.88350445e-03 1.75362095e+00] [-8.76350091e-01 4.81585206e-01 9.28480069e-03 -1.96515791e+02] [-1.04890159e-02 1.91533528e-04 -9.99944970e-01 2.93691851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.877628 meters Centerline goodness [0,1] 0.999869178440607 Centerline is valid? [True, True] Translation: X:1.68, Y:-196.61, Z:2.94 [[-4.15545588e-01 -9.09564801e-01 3.70647685e-03 1.68415358e+00] [-9.09524287e-01 4.15562071e-01 8.58706061e-03 -1.96606347e+02] [-9.35075927e-03 1.97184434e-04 -9.99956261e-01 2.93734796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.90762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.62, Y:-196.70, Z:2.93 [[-3.44589184e-01 -9.38749397e-01 2.80437517e-03 1.61887144e+00] [-9.38713842e-01 3.44600547e-01 8.17230250e-03 -1.96702800e+02] [-8.63813325e-03 1.83581261e-04 -9.99962674e-01 2.93286128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.56, Y:-196.80, Z:2.93 [[-2.72040499e-01 -9.62284214e-01 1.74882752e-03 1.56111589e+00] [-9.62260579e-01 2.72046077e-01 6.74605692e-03 -1.96803779e+02] [-6.96738575e-03 1.52372907e-04 -9.99975716e-01 2.93140602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.96762800000005 meters Centerline goodness [0,1] 0.9998255484321166 Centerline is valid? [True, True] Translation: X:1.51, Y:-196.91, Z:2.93 [[-1.98521600e-01 -9.80095995e-01 1.00748583e-03 1.50998641e+00] [-9.80079751e-01 1.98524112e-01 5.64427600e-03 -1.96910688e+02] [-5.73194253e-03 1.33094236e-04 -9.99983563e-01 2.93408459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.997628 meters Centerline goodness [0,1] 0.9998692098092643 Centerline is valid? [True, True] Translation: X:1.47, Y:-197.02, Z:2.93 [[-1.23404632e-01 -9.92356280e-01 5.57526258e-04 1.46800258e+00] [-9.92340579e-01 1.23405816e-01 5.58386531e-03 -1.97024207e+02] [-5.60998579e-03 1.35818912e-04 -9.99984255e-01 2.93348706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.02762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.43, Y:-197.14, Z:2.93 [[-4.62966301e-02 -9.98927727e-01 1.35128762e-04 1.43440669e+00] [-9.98909369e-01 4.62965987e-02 6.05780033e-03 -1.97143834e+02] [-6.05756071e-03 1.45474354e-04 -9.99981642e-01 2.93017725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.057628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.41, Y:-197.26, Z:2.93 [[ 2.99765643e-02 -9.99550555e-01 -3.07531587e-04 1.40986553e+00] [-9.99534866e-01 -2.99778174e-02 5.60189753e-03 -1.97259150e+02] [-5.60859891e-03 1.39462902e-04 -9.99984262e-01 2.92943874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.08762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.40, Y:-197.38, Z:2.93 [[ 1.04975947e-01 -9.94474711e-01 -3.17271986e-04 1.39815370e+00] [-9.94471830e-01 -1.04976407e-01 2.39430630e-03 -1.97382710e+02] [-2.41438313e-03 6.41734807e-05 -9.99997083e-01 2.92519762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.39, Y:-197.50, Z:2.92 [[ 1.80289203e-01 -9.83613628e-01 -1.82852013e-04 1.39199209e+00] [-9.83613247e-01 -1.80289294e-01 8.66138568e-04 -1.97502189e+02] [-8.84911960e-04 2.37002301e-05 -9.99999608e-01 2.92344045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.14762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.39, Y:-197.62, Z:2.92 [[ 2.54732422e-01 -9.67011578e-01 -3.88229948e-05 1.39111905e+00] [-9.67011568e-01 -2.54732425e-01 1.36084459e-04 -1.97622223e+02] [-1.41484723e-04 2.87716115e-06 -9.99999990e-01 2.92242740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.177628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.40, Y:-197.74, Z:2.92 [[ 3.27468669e-01 -9.44862002e-01 2.61331832e-04 1.40161312e+00] [-9.44861755e-01 -3.27468773e-01 -6.83024765e-04 -1.97743110e+02] [ 7.30942161e-04 -2.32532423e-05 -9.99999733e-01 2.92252945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.207628 meters Centerline goodness [0,1] 0.9998912523380747 Centerline is valid? [True, True] Translation: X:1.42, Y:-197.86, Z:2.92 [[ 3.98418394e-01 -9.17203103e-01 1.11858624e-03 1.42053473e+00] [-9.17200050e-01 -3.98419956e-01 -2.36812576e-03 -1.97861487e+02] [ 2.61771938e-03 -8.24624957e-05 -9.99996570e-01 2.92433272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.23762800000003 meters Centerline goodness [0,1] 0.9998691584708986 Centerline is valid? [True, True] Translation: X:1.45, Y:-197.98, Z:2.92 [[ 4.67965831e-01 -8.83745343e-01 1.46591023e-03 1.45109921e+00] [-8.83741609e-01 -4.67968118e-01 -2.57094538e-03 -1.97975380e+02] [ 2.95806026e-03 -9.23712675e-05 -9.99995621e-01 2.92369474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.267628 meters Centerline goodness [0,1] 0.9999564051703468 Centerline is valid? [True, True] Translation: X:1.49, Y:-198.09, Z:2.92 [[ 5.35818594e-01 -8.44331818e-01 1.48845591e-03 1.48598281e+00] [-8.44328960e-01 -5.35820655e-01 -2.19855751e-03 -1.98086462e+02] [ 2.65385748e-03 -7.87184343e-05 -9.99996475e-01 2.92123630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.29762800000003 meters Centerline goodness [0,1] 0.999912736157773 Centerline is valid? [True, True] Translation: X:1.53, Y:-198.20, Z:2.92 [[ 6.00418683e-01 -7.99683700e-01 1.84018817e-03 1.52801165e+00] [-7.99680356e-01 -6.00421497e-01 -2.31405474e-03 -1.98195371e+02] [ 2.95540039e-03 -8.21606328e-05 -9.99995629e-01 2.92178985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.327628 meters Centerline goodness [0,1] 0.999912736157773 Centerline is valid? [True, True] Translation: X:1.58, Y:-198.30, Z:2.92 [[ 6.59809639e-01 -7.51430099e-01 2.01177479e-03 1.57706608e+00] [-7.51426980e-01 -6.59812701e-01 -2.16660455e-03 -1.98295623e+02] [ 2.95544643e-03 -8.21552907e-05 -9.99995629e-01 2.92178768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.35762800000003 meters Centerline goodness [0,1] 0.9998693294422545 Centerline is valid? [True, True] Translation: X:1.63, Y:-198.39, Z:2.92 [[ 7.14992434e-01 -6.99128560e-01 2.25291694e-03 1.62964196e+00] [-6.99125463e-01 -7.14995978e-01 -2.08281383e-03 -1.98388206e+02] [ 3.06698118e-03 -8.58754709e-05 -9.99995293e-01 2.92329901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.387628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.62, Y:-198.40, Z:2.92 [[ 7.67471539e-01 -6.41079576e-01 2.10104335e-03 1.62453895e+00] [-6.41077438e-01 -7.67474411e-01 -1.65737522e-03 -1.98397768e+02] [ 2.67500641e-03 -7.49431736e-05 -9.99996419e-01 2.92207358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.41762800000004 meters Centerline goodness [0,1] 0.9998694687377627 Centerline is valid? [True, True] Translation: X:1.62, Y:-198.40, Z:2.93 [[ 8.13878491e-01 -5.81031985e-01 1.90624695e-03 1.62157721e+00] [-5.81030590e-01 -8.13880721e-01 -1.27522618e-03 -1.98404251e+02] [ 2.29240484e-03 -6.97086301e-05 -9.99997370e-01 2.92671345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.447628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.62, Y:-198.41, Z:2.93 [[ 8.54586023e-01 -5.19309769e-01 -3.04329146e-04 1.62087859e+00] [-5.19309741e-01 -8.54586077e-01 1.72362630e-04 -1.98407495e+02] [-3.49585049e-04 1.07423953e-05 -9.99999939e-01 2.92773617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.47762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.62, Y:-198.41, Z:2.93 [[ 8.91285966e-01 -4.53436447e-01 -2.17152146e-03 1.61964557e+00] [-4.53435337e-01 -8.91288607e-01 1.00675453e-03 -1.98411504e+02] [-2.39195153e-03 8.73383814e-05 -9.99997136e-01 2.92906033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.507628 meters Centerline goodness [0,1] 0.9998910438003923 Centerline is valid? [True, True] Translation: X:1.62, Y:-198.42, Z:2.93 [[ 9.23031444e-01 -3.84717681e-01 -2.29316935e-03 1.61787926e+00] [-3.84716749e-01 -9.23034288e-01 8.52353988e-04 -1.98417759e+02] [-2.44458959e-03 9.54711234e-05 -9.99997007e-01 2.93222939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.53762800000004 meters Centerline goodness [0,1] 0.9999782182531038 Centerline is valid? [True, True] Translation: X:1.62, Y:-198.42, Z:2.93 [[ 9.49698801e-01 -3.13144047e-01 -3.60453312e-03 1.61680672e+00] [-3.13142401e-01 -9.49705629e-01 1.02670904e-03 -1.98422467e+02] [-3.74475322e-03 1.53667815e-04 -9.99992977e-01 2.93085938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.567628 meters Centerline goodness [0,1] 0.9999564838990427 Centerline is valid? [True, True] Translation: X:1.62, Y:-198.43, Z:2.93 [[ 9.70640680e-01 -2.40494819e-01 -4.34874691e-03 1.61607097e+00] [-2.40493297e-01 -9.70650403e-01 8.77456469e-04 -1.98425677e+02] [-4.43213667e-03 1.94149538e-04 -9.99990159e-01 2.93138924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.59762800000004 meters Centerline goodness [0,1] 0.9999128331408399 Centerline is valid? [True, True] Translation: X:1.61, Y:-198.43, Z:2.93 [[ 9.85993385e-01 -1.66694015e-01 -5.49088636e-03 1.61291808e+00] [-1.66692886e-01 -9.86008640e-01 6.65840890e-04 -1.98427414e+02] [-5.52505308e-03 2.58776982e-04 -9.99984703e-01 2.93199726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.627628 meters Centerline goodness [0,1] 0.9997812677719935 Centerline is valid? [True, True] Translation: X:1.61, Y:-198.43, Z:2.93 [[ 9.95431942e-01 -9.52969627e-02 -5.80843106e-03 1.60870966e+00] [-9.52971466e-02 -9.95448840e-01 2.45727179e-04 -1.98425692e+02] [-5.80541302e-03 3.08922223e-04 -9.99983101e-01 2.93171502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.65762800000005 meters Centerline goodness [0,1] 0.99978153059664 Centerline is valid? [True, True] Translation: X:1.60, Y:-198.43, Z:2.93 [[ 9.99789199e-01 -1.98913742e-02 -5.08836917e-03 1.60497016e+00] [-1.98925653e-02 -9.99802107e-01 -1.83575167e-04 -1.98426893e+02] [-5.08371066e-03 2.84757185e-04 -9.99987037e-01 2.93336249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.687628 meters Centerline goodness [0,1] 0.9998253808879382 Centerline is valid? [True, True] Translation: X:1.60, Y:-198.43, Z:2.93 [[ 9.98326830e-01 5.76808859e-02 -4.05667148e-03 1.60154272e+00] [ 5.76794669e-02 -9.98335045e-01 -4.66008739e-04 -1.98429950e+02] [-4.07679710e-03 2.31242378e-04 -9.99991663e-01 2.93064013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.71762800000005 meters Centerline goodness [0,1] 0.999737802346669 Centerline is valid? [True, True] Translation: X:1.60, Y:-198.43, Z:2.93 [[ 9.91095015e-01 1.33103085e-01 -3.77362787e-03 1.59705624e+00] [ 1.33101242e-01 -9.91102173e-01 -7.36416846e-04 -1.98432597e+02] [-3.83807013e-03 2.27584508e-04 -9.99992609e-01 2.93317767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.747628 meters Centerline goodness [0,1] 0.9998690442412205 Centerline is valid? [True, True] Translation: X:1.59, Y:-198.43, Z:2.93 [[ 9.77732888e-01 2.09822196e-01 -3.61184512e-03 1.59228374e+00] [ 2.09819914e-01 -9.77739534e-01 -1.00381400e-03 -1.98434028e+02] [-3.74206622e-03 2.23624927e-04 -9.99992973e-01 2.93288678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.77762800000005 meters Centerline goodness [0,1] 0.9998252702850279 Centerline is valid? [True, True] Translation: X:1.59, Y:-198.44, Z:2.93 [[ 9.58275552e-01 2.85838287e-01 -2.10703594e-03 1.58897036e+00] [ 2.85837288e-01 -9.58277859e-01 -7.67271634e-04 -1.98435572e+02] [-2.23844150e-03 1.32988208e-04 -9.99997486e-01 2.92969650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.807628 meters Centerline goodness [0,1] 0.999825388510564 Centerline is valid? [True, True] Translation: X:1.58, Y:-198.43, Z:2.93 [[ 9.33097993e-01 3.59621716e-01 -5.96919076e-04 1.58390608e+00] [ 3.59621616e-01 -9.33098183e-01 -2.71119903e-04 -1.98434585e+02] [-6.54484710e-04 3.83164349e-05 -9.99999785e-01 2.92735536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.83762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.59, Y:-198.45, Z:2.93 [[ 9.02226310e-01 4.31261235e-01 1.19698804e-03 1.58998318e+00] [ 4.31260730e-01 -9.02227100e-01 6.65301651e-04 -1.98453951e+02] [ 1.36687386e-03 -8.40387184e-05 -9.99999062e-01 2.92551207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.59, Y:-198.46, Z:2.93 [[ 8.65649890e-01 5.00647855e-01 1.41197238e-03 1.59180008e+00] [ 5.00646990e-01 -8.65651035e-01 9.36224549e-04 -1.98463414e+02] [ 1.69099416e-03 -1.03542956e-04 -9.99998565e-01 2.92566742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.89762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.59, Y:-198.47, Z:2.93 [[ 8.23484857e-01 5.67335995e-01 1.60003029e-03 1.59490741e+00] [ 5.67334628e-01 -8.23486402e-01 1.25152760e-03 -1.98472891e+02] [ 2.02763985e-03 -1.22861437e-04 -9.99997937e-01 2.92597424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.927628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.60, Y:-198.48, Z:2.93 [[ 7.75847298e-01 6.30918707e-01 1.59878906e-03 1.59780055e+00] [ 6.30917016e-01 -7.75848935e-01 1.46602211e-03 -1.98480769e+02] [ 2.16535957e-03 -1.28706068e-04 -9.99997647e-01 2.92612766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.95762800000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.60, Y:-198.49, Z:2.92 [[ 7.21563726e-01 6.92344521e-01 2.20310132e-03 1.59730414e+00] [ 6.92340514e-01 -7.21567067e-01 2.36238095e-03 -1.98486819e+02] [ 3.22526687e-03 -1.79312097e-04 -9.99994783e-01 2.92455470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.60, Y:-198.49, Z:2.92 [[ 6.63515079e-01 7.48160845e-01 1.75786010e-03 1.59847845e+00] [ 7.48157599e-01 -6.63517390e-01 2.20915692e-03 -1.98493279e+02] [ 2.81917546e-03 -1.50652539e-04 -9.99996015e-01 2.92472822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.017628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.60, Y:-198.50, Z:2.93 [[ 6.00761319e-01 7.99427879e-01 9.50392715e-04 1.59973258e+00] [ 7.99426643e-01 -6.00762065e-01 1.40886416e-03 -1.98499676e+02] [ 1.69724517e-03 -8.66218319e-05 -9.99998556e-01 2.92556349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.04762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.61, Y:-198.51, Z:2.93 [[ 5.33975754e-01 8.45499639e-01 5.04846325e-04 1.61050688e+00] [ 8.45499169e-01 -5.33975990e-01 8.92738484e-04 -1.98511494e+02] [ 1.02438588e-03 -4.98535558e-05 -9.99999474e-01 2.92689910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.077628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.61, Y:-198.52, Z:2.93 [[ 4.60768365e-01 8.87520201e-01 6.38578225e-04 1.61100653e+00] [ 8.87519148e-01 -4.60768803e-01 1.36842227e-03 -1.98517877e+02] [ 1.50873934e-03 -6.37752909e-05 -9.99998860e-01 2.92753111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.10762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.62, Y:-198.53, Z:2.93 [[ 3.87007492e-01 9.22076018e-01 1.00911818e-03 1.62162494e+00] [ 9.22072092e-01 -3.87008791e-01 2.69289482e-03 -1.98526625e+02] [ 2.87359134e-03 -1.11690752e-04 -9.99995865e-01 2.92685118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.62, Y:-198.53, Z:2.92 [[ 3.10345038e-01 9.50622934e-01 1.41235370e-03 1.62475028e+00] [ 9.50610292e-01 -3.10348199e-01 4.90582495e-03 -1.98533373e+02] [ 5.10191113e-03 -1.79900468e-04 -9.99986969e-01 2.92479986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.16762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.64, Y:-198.54, Z:2.92 [[ 2.32189676e-01 9.72669695e-01 1.27251264e-03 1.63582437e+00] [ 9.72649864e-01 -2.32193072e-01 6.21445811e-03 -1.98540580e+02] [ 6.34008369e-03 -2.05223766e-04 -9.99979880e-01 2.92401212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.64, Y:-198.55, Z:2.92 [[ 1.50666912e-01 9.88583980e-01 1.09386016e-03 1.64177590e+00] [ 9.88544800e-01 -1.50670684e-01 8.80478665e-03 -1.98547116e+02] [ 8.86908369e-03 -2.45260246e-04 -9.99960639e-01 2.92174275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.22762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.65, Y:-198.55, Z:2.92 [[ 7.14183116e-02 9.97446365e-01 4.16847799e-04 1.64701788e+00] [ 9.97403734e-01 -7.14191145e-02 9.22506220e-03 -1.98552651e+02] [ 9.23127566e-03 -2.43072816e-04 -9.99957361e-01 2.92167366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.257628 meters Centerline goodness [0,1] 0.9998463362163587 Centerline is valid? [True, True] Translation: X:1.66, Y:-198.56, Z:2.92 [[-7.65191268e-03 9.99970676e-01 -3.08038930e-04 1.65704939e+00] [ 9.99927840e-01 7.65443704e-03 9.25879610e-03 -1.98557242e+02] [ 9.26088246e-03 -2.37169202e-04 -9.99957089e-01 2.92499390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.28762800000004 meters Centerline goodness [0,1] 0.9998900325503651 Centerline is valid? [True, True] Translation: X:1.67, Y:-198.56, Z:2.92 [[-8.73927375e-02 9.96173243e-01 -1.17431571e-03 1.66725925e+00] [ 9.96118223e-01 8.74002564e-02 1.04728917e-02 -1.98562521e+02] [ 1.05354500e-02 -2.54502609e-04 -9.99944468e-01 2.92437287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.68, Y:-198.57, Z:2.92 [[-1.66900381e-01 9.85971246e-01 -2.22832791e-03 1.67904287e+00] [ 9.85903259e-01 1.66915047e-01 1.15814544e-02 -1.98565785e+02] [ 1.17909225e-02 -2.63966594e-04 -9.99930450e-01 2.92301507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.34762800000004 meters Centerline goodness [0,1] 0.9999561143659623 Centerline is valid? [True, True] Translation: X:1.69, Y:-198.57, Z:2.93 [[-2.43647159e-01 9.69859406e-01 -2.96570349e-03 1.68766335e+00] [ 9.69799542e-01 2.43665079e-01 1.07785406e-02 -1.98567867e+02] [ 1.11763074e-02 -2.49977091e-04 -9.99937512e-01 2.92554183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.70, Y:-198.57, Z:2.93 [[-3.18936888e-01 9.47769726e-01 -3.43640031e-03 1.69584145e+00] [ 9.47722093e-01 3.18955321e-01 9.50459368e-03 -1.98570198e+02] [ 1.01042243e-02 -2.25386965e-04 -9.99948926e-01 2.92543025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.40762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.70, Y:-198.57, Z:2.93 [[-3.91827233e-01 9.20033647e-01 -3.08356369e-03 1.70391203e+00] [ 9.20008493e-01 3.91839329e-01 6.80540045e-03 -1.98572533e+02] [ 7.46945892e-03 -1.70363553e-04 -9.99972089e-01 2.92833318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.71, Y:-198.57, Z:2.93 [[-4.62388669e-01 8.86671103e-01 -3.32769219e-03 1.70986132e+00] [ 8.86650576e-01 4.62400616e-01 6.03550631e-03 -1.98573932e+02] [ 6.89023596e-03 -1.59750464e-04 -9.99976249e-01 2.92941672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.46762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.72, Y:-198.58, Z:2.93 [[-5.30303737e-01 8.47799874e-01 -3.64975919e-03 1.71533379e+00] [ 8.47781769e-01 5.30316273e-01 5.54278496e-03 -1.98575504e+02] [ 6.63469908e-03 -1.54839724e-04 -9.99977978e-01 2.92948351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.497628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.72, Y:-198.58, Z:2.93 [[-5.94766176e-01 8.03889033e-01 -3.95210987e-03 1.72086237e+00] [ 8.03872966e-01 5.94779287e-01 5.08483835e-03 -1.98576698e+02] [ 6.43827887e-03 -1.52704422e-04 -9.99979262e-01 2.92989842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.52762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.73, Y:-198.57, Z:2.93 [[-6.53890414e-01 7.56582476e-01 -3.20695453e-03 1.72999065e+00] [ 7.56574306e-01 6.53898266e-01 3.51812411e-03 -1.98574206e+02] [ 4.75877306e-03 -1.25831765e-04 -9.99988669e-01 2.93294168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.557628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.74, Y:-198.57, Z:2.93 [[-7.10393536e-01 7.03799160e-01 -2.78684375e-03 1.73665961e+00] [ 7.03794318e-01 7.10398995e-01 2.61264972e-03 -1.98573697e+02] [ 3.81855167e-03 -1.05355325e-04 -9.99992704e-01 2.93353245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.58762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.76, Y:-198.56, Z:2.93 [[-7.57214113e-01 6.53162376e-01 -2.38725986e-03 1.75793683e+00] [ 6.53159502e-01 7.57217870e-01 1.93949163e-03 -1.98555979e+02] [ 3.07447879e-03 -9.06510331e-05 -9.99995270e-01 2.93448729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.617628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.78, Y:-198.53, Z:2.94 [[-8.00458271e-01 5.99386517e-01 -1.53620865e-03 1.77886858e+00] [ 5.99385553e-01 8.00459743e-01 1.07657298e-03 -1.98533884e+02] [ 1.87495651e-03 -5.90295226e-05 -9.99998241e-01 2.93565881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.64762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.80, Y:-198.51, Z:2.94 [[-8.40081018e-01 5.42460908e-01 -2.13401218e-04 1.79562717e+00] [ 5.42460893e-01 8.40081045e-01 1.27082478e-04 -1.98512500e+02] [ 2.48211595e-04 -9.00223766e-06 -9.99999969e-01 2.93721005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.677628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.18, Y:-197.88, Z:1.92 [[-8.38791958e-01 -5.44451669e-01 6.56027652e-04 2.18230316e+00] [ 5.44451537e-01 -8.38792214e-01 -3.81654540e-04 -1.97883699e+02] [ 7.58063338e-04 3.70465041e-05 9.99999712e-01 1.92166191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.70762800000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.76, Y:-198.49, Z:2.94 [[-8.42329735e-01 5.38959559e-01 1.79207382e-03 1.75963548e+00] [ 5.38958502e-01 8.42331638e-01 -1.06936561e-03 -1.98488954e+02] [-2.08586529e-03 6.50949688e-05 -9.99997822e-01 2.93963246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.73762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.77, Y:-198.47, Z:2.94 [[-8.79217917e-01 4.76413933e-01 2.37033297e-03 1.77452977e+00] [ 4.76412441e-01 8.79221109e-01 -1.19508047e-03 -1.98467762e+02] [-2.65339977e-03 7.85199514e-05 -9.99996477e-01 2.94033919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.767628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.11, Y:-197.81, Z:1.92 [[-8.75308583e-01 -4.83560751e-01 1.97122988e-03 2.11000998e+00] [ 4.83559291e-01 -8.75310798e-01 -1.19150983e-03 -1.97810181e+02] [ 2.30160619e-03 -8.97322585e-05 9.99997347e-01 1.92011789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.73, Y:-198.45, Z:2.94 [[-8.81649261e-01 4.71899981e-01 2.23332164e-03 1.73392918e+00] [ 4.71898667e-01 8.81652087e-01 -1.11585670e-03 -1.98448516e+02] [-2.49558544e-03 7.01072683e-05 -9.99996884e-01 2.94023635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.74, Y:-198.42, Z:2.94 [[-9.13018046e-01 4.07914099e-01 2.03353286e-03 1.74467416e+00] [ 4.07913234e-01 9.13020309e-01 -8.41964590e-04 -1.98424155e+02] [-2.20010603e-03 6.07761024e-05 -9.99997578e-01 2.94020285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.85762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.03, Y:-197.74, Z:1.92 [[-9.07304773e-01 -4.20473574e-01 1.51674976e-04 2.03235029e+00] [ 4.20473539e-01 -9.07304776e-01 -2.16179548e-04 -1.97744833e+02] [ 2.28513217e-04 -1.32365422e-04 9.99999965e-01 1.92315929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.887628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.70, Y:-198.40, Z:2.94 [[-9.16181254e-01 4.00762923e-01 -9.95125695e-04 1.70188453e+00] [ 4.00762718e-01 9.16181794e-01 4.06521644e-04 -1.98402637e+02] [ 1.07463485e-03 -2.63617687e-05 -9.99999422e-01 2.93562030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.91762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.71, Y:-198.38, Z:2.93 [[-9.42763100e-01 3.33457786e-01 -1.90822940e-03 1.71429978e+00] [ 3.33457201e-01 9.42765030e-01 6.26367169e-04 -1.98377195e+02] [ 2.00787896e-03 -4.57969819e-05 -9.99997983e-01 2.93423433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.947628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.72, Y:-198.35, Z:2.93 [[-9.64528959e-01 2.63972264e-01 -1.59079350e-03 1.72041419e+00] [ 2.63971964e-01 9.64530270e-01 3.99633191e-04 -1.98350297e+02] [ 1.63986056e-03 -3.44670983e-05 -9.99998655e-01 2.93351849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.97762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.73, Y:-198.32, Z:2.93 [[-9.80963844e-01 1.94178726e-01 -2.13516480e-03 1.72743412e+00] [ 1.94178363e-01 9.80966167e-01 3.78055774e-04 -1.98321807e+02] [ 2.16793482e-03 -4.37437593e-05 -9.99997649e-01 2.93276920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.007628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.85, Y:-197.60, Z:1.93 [[-9.74985230e-01 -2.22256292e-01 -2.43766010e-03 1.85291341e+00] [ 2.22255524e-01 -9.74988277e-01 5.84945954e-04 -1.97601717e+02] [-2.50669794e-03 2.85302423e-05 9.99996858e-01 1.92834135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.03762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.67, Y:-198.31, Z:2.93 [[-9.82232222e-01 1.87645868e-01 -2.98151334e-03 1.67063355e+00] [ 1.87645167e-01 9.82236746e-01 5.15580515e-04 -1.98311118e+02] [ 3.02529852e-03 -5.30467748e-05 -9.99995422e-01 2.93202777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.067628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.68, Y:-198.28, Z:2.93 [[-9.93168017e-01 1.16649366e-01 -3.19622114e-03 1.67544077e+00] [ 1.16648936e-01 9.93173158e-01 3.21371568e-04 -1.98282933e+02] [ 3.21188884e-03 -5.36598330e-05 -9.99994840e-01 2.93269457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.09762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.67, Y:-198.25, Z:2.93 [[-9.98990258e-01 4.48234044e-02 -3.05391336e-03 1.67493177e+00] [ 4.48233419e-02 9.98994925e-01 8.89331345e-05 -1.98252689e+02] [ 3.05483023e-03 -4.80432678e-05 -9.99995333e-01 2.93361117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.127628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.70, Y:-197.53, Z:1.93 [[-9.96641527e-01 -8.18388562e-02 -2.84059182e-03 1.69860508e+00] [ 8.18383573e-02 -9.96645573e-01 2.91633847e-04 -1.97530052e+02] [-2.85493024e-03 5.81850344e-05 9.99995923e-01 1.92677666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.15762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.60, Y:-198.25, Z:2.93 [[-9.99276528e-01 3.79524634e-02 -2.45589635e-03 1.59772704e+00] [ 3.79524326e-02 9.99279545e-01 5.91590841e-05 -1.98250765e+02] [ 2.45637222e-03 -3.40909566e-05 -9.99996983e-01 2.93396383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.187628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.62, Y:-197.53, Z:1.93 [[-9.96875052e-01 -7.89856094e-02 -1.18481537e-03 1.61961422e+00] [ 7.89854330e-02 -9.96875751e-01 1.94994841e-04 -1.97528177e+02] [-1.19651550e-03 1.00802338e-04 9.99999279e-01 1.92554477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.21762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.52, Y:-198.25, Z:2.94 [[-9.99590410e-01 2.85427572e-02 2.07919977e-03 1.52053468e+00] [ 2.85427344e-02 9.99592572e-01 -4.06613380e-05 -1.98245127e+02] [-2.07951323e-03 1.87013632e-05 -9.99997838e-01 2.93692666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.247628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.54, Y:-197.53, Z:1.92 [[-9.96895188e-01 -7.86893730e-02 2.82238740e-03 1.53561279e+00] [ 7.86891276e-02 -9.96899183e-01 -1.98035971e-04 -1.97530126e+02] [ 2.82921902e-03 2.46700959e-05 9.99995997e-01 1.92286347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.27762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.44, Y:-198.24, Z:2.94 [[-9.99762397e-01 2.16092924e-02 2.86136431e-03 1.44143432e+00] [ 2.16092638e-02 9.99766492e-01 -4.09264225e-05 -1.98242019e+02] [-2.86158055e-03 2.09152778e-05 -9.99995905e-01 2.93750496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.307628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.45, Y:-197.53, Z:1.92 [[-9.97204580e-01 -7.46422500e-02 3.39997176e-03 1.45162923e+00] [ 7.46418550e-02 -9.97210376e-01 -2.43083494e-04 -1.97528485e+02] [ 3.40863142e-03 1.13762253e-05 9.99994191e-01 1.92240056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.33762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.36, Y:-198.24, Z:2.94 [[-9.99881870e-01 1.48346748e-02 4.02232647e-03 1.35939248e+00] [ 1.48346495e-02 9.99889960e-01 -3.61189527e-05 -1.98240160e+02] [-4.02241966e-03 2.35551174e-05 -9.99991910e-01 2.93771466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.367628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.36, Y:-198.21, Z:2.94 [[-9.98459228e-01 -5.54007976e-02 3.14979342e-03 1.35893677e+00] [-5.54004546e-02 9.98464196e-01 1.96102749e-04 -1.98213573e+02] [-3.15582020e-03 2.13006122e-05 -9.99995020e-01 2.93692406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.39762800000005 meters Centerline goodness [0,1] 0.9999344262295082 Centerline is valid? [True, True] Translation: X:1.35, Y:-198.19, Z:2.94 [[-9.92204903e-01 -1.24581460e-01 2.98178269e-03 1.35074272e+00] [-1.24580819e-01 9.92209383e-01 4.00460548e-04 -1.98187506e+02] [-3.00844272e-03 2.58659895e-05 -9.99995474e-01 2.93861977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.427628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.33, Y:-198.16, Z:2.94 [[-9.80917036e-01 -1.94409790e-01 2.56946747e-03 1.33271936e+00] [-1.94409056e-01 9.80920401e-01 5.34814720e-04 -1.98163202e+02] [-2.62441627e-03 2.50811239e-05 -9.99996556e-01 2.93744558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.45762800000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.30, Y:-198.15, Z:2.94 [[-9.64673547e-01 -2.63422606e-01 3.67132281e-03 1.29734460e+00] [-2.63420531e-01 9.64680532e-01 1.04643068e-03 -1.98145022e+02] [-3.81730714e-03 4.23621959e-05 -9.99992713e-01 2.93877138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.48762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.24, Y:-198.14, Z:2.94 [[-9.42595722e-01 -3.33910085e-01 4.16664808e-03 1.24213806e+00] [-3.33906597e-01 9.42604929e-01 1.52682702e-03 -1.98135106e+02] [-4.43732596e-03 4.79093350e-05 -9.99990154e-01 2.93858740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.517628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.17, Y:-198.13, Z:2.94 [[-9.14630795e-01 -4.04269082e-01 4.12525462e-03 1.17469637e+00] [-4.04264772e-01 9.14640097e-01 1.86719311e-03 -1.98131822e+02] [-4.52797173e-03 4.00972024e-05 -9.99989748e-01 2.93785317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.54762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.10, Y:-198.14, Z:2.94 [[-8.80798908e-01 -4.73472350e-01 4.14941945e-03 1.10117357e+00] [-4.73466939e-01 8.80808681e-01 2.26375164e-03 -1.98136501e+02] [-4.72666849e-03 2.92970445e-05 -9.99988829e-01 2.93778055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.577628 meters Centerline goodness [0,1] 0.9999345421221444 Centerline is valid? [True, True] Translation: X:1.02, Y:-198.15, Z:2.94 [[-8.41355371e-01 -5.40465574e-01 4.25476794e-03 1.02065128e+00] [-5.40458562e-01 8.41366129e-01 2.75313431e-03 -1.98149315e+02] [-5.06779195e-03 1.68385789e-05 -9.99987159e-01 2.93961121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.60762800000003 meters Centerline goodness [0,1] 0.9998688438586136 Centerline is valid? [True, True] Translation: X:0.94, Y:-198.17, Z:2.94 [[-7.98362148e-01 -6.02164508e-01 3.97313893e-03 9.36585964e-01] [-6.02156948e-01 7.98372034e-01 3.01739954e-03 -1.98174304e+02] [-4.98901392e-03 1.65243650e-05 -9.99987555e-01 2.94062303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.637628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.85, Y:-198.21, Z:2.94 [[-7.50630728e-01 -6.60716320e-01 2.73028246e-03 8.47273204e-01] [-6.60711893e-01 7.50635694e-01 2.41867482e-03 -1.98211510e+02] [-3.64750539e-03 1.16015491e-05 -9.99993348e-01 2.93598987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.66762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.76, Y:-198.25, Z:2.94 [[-6.99138602e-01 -7.14984542e-01 1.52322155e-03 7.63883994e-01] [-7.14982818e-01 6.99140261e-01 1.57031247e-03 -1.98254180e+02] [-2.18769465e-03 8.78882818e-06 -9.99997607e-01 2.93502535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.697628 meters Centerline goodness [0,1] 0.9998688696564385 Centerline is valid? [True, True] Translation: X:0.68, Y:-198.31, Z:2.94 [[-6.45416960e-01 -7.63830386e-01 -2.99322314e-04 6.79337843e-01] [-7.63830300e-01 6.45417029e-01 -3.62333831e-04 -1.98310721e+02] [ 4.69949308e-04 -5.22494701e-06 -9.99999890e-01 2.93583924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.72762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.60, Y:-198.38, Z:2.93 [[-5.85220691e-01 -8.10873450e-01 -9.95890808e-04 5.95540944e-01] [-8.10872231e-01 5.85221538e-01 -1.40609061e-03 -1.98375348e+02] [ 1.72297830e-03 -1.53331199e-05 -9.99998516e-01 2.93159811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.757628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.51, Y:-198.45, Z:2.93 [[-5.21211431e-01 -8.53426809e-01 -1.15141957e-03 5.13195033e-01] [-8.53424647e-01 5.21212702e-01 -1.92107113e-03 -1.98449931e+02] [ 2.23962811e-03 -1.86343916e-05 -9.99997492e-01 2.93114948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.78762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.43, Y:-198.53, Z:2.93 [[-4.52600222e-01 -8.91712829e-01 -1.12700703e-03 4.33689394e-01] [-8.91709977e-01 4.52601625e-01 -2.25536070e-03 -1.98534634e+02] [ 2.52121928e-03 -1.58133438e-05 -9.99996822e-01 2.93090638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.817628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.36, Y:-198.62, Z:2.93 [[-3.82344695e-01 -9.24019335e-01 -8.95852160e-04 3.63047128e-01] [-9.24016714e-01 3.82345744e-01 -2.20073468e-03 -1.98622192e+02] [ 2.37604665e-03 -1.36568602e-05 -9.99997177e-01 2.93127316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.84762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.30, Y:-198.72, Z:2.93 [[-3.09846174e-01 -9.50786513e-01 -5.96178895e-04 2.98317364e-01] [-9.50784686e-01 3.09846747e-01 -1.86374890e-03 -1.98719179e+02] [ 1.95675141e-03 -1.06377013e-05 -9.99998086e-01 2.93114392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.877628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.24, Y:-198.82, Z:2.93 [[-2.35663214e-01 -9.71834697e-01 -4.13071347e-04 2.39310724e-01] [-9.71833132e-01 2.35663576e-01 -1.74398346e-03 -1.98822187e+02] [ 1.79220951e-03 -9.55632701e-06 -9.99998394e-01 2.93181748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.90762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.19, Y:-198.93, Z:2.93 [[-1.61212589e-01 -9.86919692e-01 -1.52767113e-04 1.87923456e-01] [-9.86919207e-01 1.61212661e-01 -9.78534721e-04 -1.98929526e+02] [ 9.90363178e-04 -6.98331718e-06 -9.99999510e-01 2.93409680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.937628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.15, Y:-199.04, Z:2.93 [[-8.53441599e-02 -9.96351531e-01 -1.99754433e-05 1.46251113e-01] [-9.96351495e-01 8.53441622e-02 -2.69007696e-04 -1.99044832e+02] [ 2.69731017e-04 -3.05567304e-06 -9.99999964e-01 2.93451651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.96762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.11, Y:-199.16, Z:2.93 [[-8.33705737e-03 -9.99965246e-01 2.90432577e-06 1.14764599e-01] [-9.99964946e-01 8.33705712e-03 7.74241379e-04 -1.99158785e+02] [-7.74238685e-04 3.55067084e-06 -9.99999700e-01 2.93427722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.997628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.09, Y:-199.28, Z:2.93 [[ 6.92940964e-02 -9.97596272e-01 -8.41120789e-05 9.21098983e-02] [-9.97595626e-01 -6.92941473e-02 1.13528288e-03 -1.99280058e+02] [-1.13838244e-03 5.24144074e-06 -9.99999352e-01 2.93366349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.02762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.08, Y:-199.40, Z:2.93 [[ 1.47700427e-01 -9.89032125e-01 -2.01582981e-04 7.84037588e-02] [-9.89031240e-01 -1.47700564e-01 1.32252420e-03 -1.99398255e+02] [-1.33779284e-03 4.03447749e-06 -9.99999105e-01 2.93243721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.057628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.07, Y:-199.52, Z:2.93 [[ 2.24156758e-01 -9.74553079e-01 -2.09086648e-04 7.35378307e-02] [-9.74552663e-01 -2.24156855e-01 9.01204684e-04 -1.99520240e+02] [-9.25140006e-04 1.75482946e-06 -9.99999572e-01 2.93277700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.08762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.08, Y:-199.64, Z:2.93 [[ 2.99484446e-01 -9.54101125e-01 -3.32998518e-04 7.59326976e-02] [-9.54100540e-01 -2.99484631e-01 1.05640886e-03 -1.99640105e+02] [-1.10764881e-03 1.33604526e-06 -9.99999387e-01 2.93346314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.117628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.09, Y:-199.76, Z:2.93 [[ 3.72672707e-01 -9.27962685e-01 -5.55932140e-04 8.70564465e-02] [-9.27961657e-01 -3.72673122e-01 1.38092823e-03 -1.99760656e+02] [-1.48863083e-03 1.24944860e-06 -9.99998892e-01 2.93450436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.14762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.11, Y:-199.88, Z:2.94 [[ 4.42828833e-01 -8.96606071e-01 -4.22173744e-04 1.07162294e-01] [-8.96605664e-01 -4.42829034e-01 8.53765480e-04 -1.99875836e+02] [-9.52442104e-04 4.51399194e-07 -9.99999546e-01 2.93521216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.177628 meters Centerline goodness [0,1] 0.9998691242229251 Centerline is valid? [True, True] Translation: X:0.14, Y:-199.99, Z:2.94 [[ 5.09824606e-01 -8.60278210e-01 -5.22319170e-04 1.36883002e-01] [-8.60277761e-01 -5.09824874e-01 8.78939664e-04 -1.99987591e+02] [-1.02242395e-03 1.23449799e-06 -9.99999477e-01 2.93740697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.20762800000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.18, Y:-200.10, Z:2.93 [[ 5.74843306e-01 -8.18263296e-01 5.93649851e-04 1.75825493e-01] [-8.18262865e-01 -5.74843613e-01 -8.39422630e-04 -2.00097065e+02] [ 1.02812455e-03 -3.22514789e-06 -9.99999472e-01 2.93243278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.23762800000003 meters Centerline goodness [0,1] 0.999869007073618 Centerline is valid? [True, True] Translation: X:0.22, Y:-200.20, Z:2.93 [[ 6.35115724e-01 -7.72416625e-01 7.57741829e-04 2.20241106e-01] [-7.72416084e-01 -6.35116176e-01 -9.14273712e-04 -2.00198508e+02] [ 1.18745431e-03 -4.62236509e-06 -9.99999295e-01 2.93419848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.267628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.27, Y:-200.30, Z:2.93 [[ 6.92309919e-01 -7.21597384e-01 2.04714985e-03 2.73287324e-01] [-7.21594269e-01 -6.92312946e-01 -2.12040566e-03 -2.00298121e+02] [ 2.94734752e-03 -9.23373090e-06 -9.99995657e-01 2.92948666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.29762800000003 meters Centerline goodness [0,1] 0.999846900835484 Centerline is valid? [True, True] Translation: X:0.33, Y:-200.39, Z:2.93 [[ 7.44059364e-01 -6.68106669e-01 3.02342807e-03 3.27710255e-01] [-6.68101260e-01 -7.44065507e-01 -2.68850480e-03 -2.00388487e+02] [ 4.04583653e-03 -1.95489360e-05 -9.99991815e-01 2.93282238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.327628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.32, Y:-200.40, Z:2.93 [[ 7.94018164e-01 -6.07879205e-01 4.24586420e-03 3.24368645e-01] [-6.07870684e-01 -7.94029515e-01 -3.21875065e-03 -2.00396387e+02] [ 5.32795308e-03 -2.51898964e-05 -9.99985806e-01 2.92812725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.35762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.32, Y:-200.40, Z:2.93 [[ 8.39107182e-01 -5.43945303e-01 4.75866212e-03 3.21152438e-01] [-5.43936735e-01 -8.39120675e-01 -3.05305750e-03 -2.00402893e+02] [ 5.65378805e-03 -2.65686584e-05 -9.99984017e-01 2.92710172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.387628 meters Centerline goodness [0,1] 0.9998685853209803 Centerline is valid? [True, True] Translation: X:0.32, Y:-200.41, Z:2.93 [[ 8.79319115e-01 -4.76203384e-01 5.31339576e-03 3.18340420e-01] [-4.76194861e-01 -8.79335168e-01 -2.84912167e-03 -2.00411836e+02] [ 6.02901713e-03 -2.49246081e-05 -9.99981825e-01 2.93126020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.41762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.32, Y:-200.42, Z:2.93 [[ 9.14169515e-01 -4.05286295e-01 6.09243673e-03 3.16048777e-01] [-4.05277455e-01 -9.14189816e-01 -2.67685483e-03 -2.00418665e+02] [ 6.65453618e-03 -2.20281721e-05 -9.99977858e-01 2.92739451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.447628 meters Centerline goodness [0,1] 0.9998904349731565 Centerline is valid? [True, True] Translation: X:0.32, Y:-200.43, Z:2.93 [[ 9.43429656e-01 -3.31516251e-01 6.12041165e-03 3.15691700e-01] [-3.31509372e-01 -9.43449508e-01 -2.13574104e-03 -2.00425357e+02] [ 6.48233223e-03 -1.40523877e-05 -9.99978989e-01 2.93042595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.47762800000004 meters Centerline goodness [0,1] 0.9998466324876211 Centerline is valid? [True, True] Translation: X:0.32, Y:-200.43, Z:2.93 [[ 9.66765282e-01 -2.55594739e-01 6.01829085e-03 3.15796557e-01] [-2.55589826e-01 -9.66784014e-01 -1.58475506e-03 -2.00430837e+02] [ 6.22344244e-03 -6.12774410e-06 -9.99980634e-01 2.93116481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.507628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.32, Y:-200.44, Z:2.93 [[ 9.84230251e-01 -1.76810029e-01 5.38769386e-03 3.15077358e-01] [-1.76807337e-01 -9.84244997e-01 -9.75773839e-04 -2.00444652e+02] [ 5.47533732e-03 7.80232716e-06 -9.99985010e-01 2.92933081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.53762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.31, Y:-200.46, Z:2.93 [[ 9.95117139e-01 -9.86067186e-02 4.31207573e-03 3.12135128e-01] [-9.86057553e-02 -9.95126482e-01 -4.35946379e-04 -2.00455627e+02] [ 4.33404800e-03 8.62222932e-06 -9.99990608e-01 2.92978867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.567628 meters Centerline goodness [0,1] 0.9998685075608152 Centerline is valid? [True, True] Translation: X:0.31, Y:-200.47, Z:2.94 [[ 9.99797774e-01 -1.99321234e-02 2.66863768e-03 3.10348611e-01] [-1.99320363e-02 -9.99801336e-01 -5.92296932e-05 -2.00465022e+02] [ 2.66928809e-03 6.02633231e-06 -9.99996437e-01 2.93519909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.59762800000004 meters Centerline goodness [0,1] 0.9998248686514886 Centerline is valid? [True, True] Translation: X:0.31, Y:-200.48, Z:2.94 [[ 9.98271208e-01 5.87642780e-02 1.16370440e-03 3.09676640e-01] [ 5.87642408e-02 -9.98271887e-01 6.61994083e-05 -2.00475820e+02] [ 1.16558354e-03 2.29924197e-06 -9.99999321e-01 2.93793567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.627628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.31, Y:-200.49, Z:2.94 [[ 9.90771828e-01 1.35539809e-01 -3.82156923e-04 3.09326960e-01] [ 1.35539799e-01 -9.90771901e-01 -5.02473895e-05 -2.00486106e+02] [-3.85440863e-04 -2.01377470e-06 -9.99999926e-01 2.93587495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.65762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.31, Y:-200.50, Z:2.94 [[ 9.77089950e-01 2.12826137e-01 -5.14407905e-04 3.10156626e-01] [ 2.12826109e-01 -9.77090086e-01 -1.09640649e-04 -2.00495013e+02] [-5.25957260e-04 -2.35065680e-06 -9.99999862e-01 2.93603267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.687628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.31, Y:-200.50, Z:2.94 [[ 9.57387168e-01 2.88806504e-01 -7.83037669e-04 3.10980652e-01] [ 2.88806410e-01 -9.57387489e-01 -2.33024704e-04 -2.00502249e+02] [-8.16969517e-04 -3.05143708e-06 -9.99999666e-01 2.93642296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.71762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.31, Y:-200.51, Z:2.94 [[ 9.31602388e-01 3.63477206e-01 -1.14499511e-03 3.13112408e-01] [ 3.63476938e-01 -9.31603092e-01 -4.41630027e-04 -2.00509774e+02] [-1.22720343e-03 -4.75572976e-06 -9.99999247e-01 2.93644104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.747628 meters Centerline goodness [0,1] 0.999868677362166 Centerline is valid? [True, True] Translation: X:0.32, Y:-200.52, Z:2.94 [[ 8.98726731e-01 4.38505073e-01 -1.88780490e-03 3.16763112e-01] [ 4.38504140e-01 -8.98728714e-01 -9.04782490e-04 -2.00520119e+02] [-2.09337618e-03 -1.46580530e-05 -9.99997809e-01 2.94028779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.77762800000005 meters Centerline goodness [0,1] 0.9999781778505182 Centerline is valid? [True, True] Translation: X:0.32, Y:-200.53, Z:2.94 [[ 8.60903564e-01 5.08764715e-01 -1.87576639e-03 3.20290632e-01] [ 5.08763553e-01 -8.60905607e-01 -1.08724600e-03 -2.00529199e+02] [-2.16801020e-03 -1.83076118e-05 -9.99997650e-01 2.93709856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.807628 meters Centerline goodness [0,1] 0.999803300185772 Centerline is valid? [True, True] Translation: X:0.32, Y:-200.54, Z:2.94 [[ 8.16662592e-01 5.77110870e-01 -2.29239469e-03 3.24579934e-01] [ 5.77108705e-01 -8.16665809e-01 -1.58101852e-03 -2.00535628e+02] [-2.78454334e-03 -3.18022488e-05 -9.99996123e-01 2.94197743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.83762800000005 meters Centerline goodness [0,1] 0.999868946989057 Centerline is valid? [True, True] Translation: X:0.33, Y:-200.54, Z:2.94 [[ 7.67996079e-01 6.40448927e-01 -2.68234451e-03 3.31309250e-01] [ 6.40445222e-01 -7.68000762e-01 -2.17892949e-03 -2.00544681e+02] [-3.45553568e-03 -4.44854170e-05 -9.99994029e-01 2.94144735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.867628 meters Centerline goodness [0,1] 0.9998254685079739 Centerline is valid? [True, True] Translation: X:0.34, Y:-200.55, Z:2.94 [[ 7.15060993e-01 6.99055824e-01 -2.95491079e-03 3.38391840e-01] [ 6.99050171e-01 -7.15067096e-01 -2.81199939e-03 -2.00554565e+02] [-4.07870403e-03 -5.48798166e-05 -9.99991681e-01 2.94323996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.89762800000005 meters Centerline goodness [0,1] 0.9998036263664332 Centerline is valid? [True, True] Translation: X:0.34, Y:-200.56, Z:2.94 [[ 6.58660782e-01 7.52435344e-01 -2.65096976e-03 3.43710652e-01] [ 7.52429557e-01 -6.58666114e-01 -2.95161965e-03 -2.00561148e+02] [-3.96700690e-03 -5.05518990e-05 -9.99992130e-01 2.94422094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.927628 meters Centerline goodness [0,1] 0.9998690042136978 Centerline is valid? [True, True] Translation: X:0.35, Y:-200.56, Z:2.94 [[ 5.98848110e-01 8.00859380e-01 -2.27931662e-03 3.48229273e-01] [ 8.00853848e-01 -5.98852446e-01 -2.97703507e-03 -2.00564784e+02] [-3.74916079e-03 -4.26076611e-05 -9.99992971e-01 2.94237200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.95762800000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.35, Y:-200.57, Z:2.94 [[ 5.36322387e-01 8.44011715e-01 -1.58800895e-03 3.53845995e-01] [ 8.44008161e-01 -5.36324738e-01 -2.44965367e-03 -2.00569771e+02] [-2.91922488e-03 -2.64884046e-05 -9.99995739e-01 2.93713754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.98762800000003 meters Centerline goodness [0,1] 0.9997814398741094 Centerline is valid? [True, True] Translation: X:0.36, Y:-200.57, Z:2.94 [[ 4.69775023e-01 8.82785382e-01 -1.18214927e-03 3.60778588e-01] [ 8.82782690e-01 -4.69776510e-01 -2.18035572e-03 -2.00574439e+02] [-2.48013211e-03 -1.93042524e-05 -9.99996924e-01 2.94033693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.017628 meters Centerline goodness [0,1] 0.9999781425542611 Centerline is valid? [True, True] Translation: X:0.37, Y:-200.58, Z:2.94 [[ 4.03737186e-01 9.14874455e-01 -1.00767194e-03 3.68329251e-01] [ 9.14871650e-01 -4.03738444e-01 -2.26583227e-03 -2.00578844e+02] [-2.47978797e-03 -7.08974420e-06 -9.99996925e-01 2.93513015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.04762800000003 meters Centerline goodness [0,1] 0.9999781826115414 Centerline is valid? [True, True] Translation: X:0.38, Y:-200.58, Z:2.94 [[ 3.32045327e-01 9.43262950e-01 -9.53300599e-04 3.76276476e-01] [ 9.43259100e-01 -3.32046695e-01 -2.69495628e-03 -2.00583954e+02] [-2.85859272e-03 -4.36182641e-06 -9.99995914e-01 2.93573528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.077628 meters Centerline goodness [0,1] 0.9999563404571155 Centerline is valid? [True, True] Translation: X:0.38, Y:-200.59, Z:2.94 [[ 2.57913757e-01 9.66167393e-01 -1.03052069e-03 3.83728970e-01] [ 9.66159718e-01 -2.57915816e-01 -3.85120596e-03 -2.00588255e+02] [-3.98669721e-03 -2.36858210e-06 -9.99992053e-01 2.93690508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.10762800000003 meters Centerline goodness [0,1] 0.999847108160056 Centerline is valid? [True, True] Translation: X:0.39, Y:-200.59, Z:2.94 [[ 1.80809073e-01 9.83517874e-01 -8.18784507e-04 3.90734450e-01] [ 9.83507920e-01 -1.80810927e-01 -4.42486266e-03 -2.00592590e+02] [-4.49997670e-03 -5.22573262e-06 -9.99989875e-01 2.94182046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.137628 meters Centerline goodness [0,1] 0.999847108160056 Centerline is valid? [True, True] Translation: X:0.40, Y:-200.60, Z:2.94 [[ 1.03189435e-01 9.94661611e-01 -4.69543671e-04 3.96382449e-01] [ 9.94651543e-01 -1.03190503e-01 -4.47536747e-03 -2.00595293e+02] [-4.49992867e-03 -5.22169415e-06 -9.99989875e-01 2.94182005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.16762800000004 meters Centerline goodness [0,1] 0.9998692497112598 Centerline is valid? [True, True] Translation: X:0.41, Y:-200.60, Z:2.94 [[ 2.29011987e-02 9.99737721e-01 -1.53469983e-04 4.08959715e-01] [ 9.99720402e-01 -2.29017053e-02 -5.88473275e-03 -2.00597050e+02] [-5.88670404e-03 -1.86596392e-05 -9.99982673e-01 2.94132574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.197628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.42, Y:-200.60, Z:2.94 [[-5.82133455e-02 9.98304119e-01 3.03215620e-04 4.19789324e-01] [ 9.98287349e-01 5.82141252e-02 -5.78656093e-03 -2.00598859e+02] [-5.79439905e-03 -3.41587537e-05 -9.99983212e-01 2.93921671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.22762800000004 meters Centerline goodness [0,1] 0.9998476008011844 Centerline is valid? [True, True] Translation: X:0.43, Y:-200.60, Z:2.94 [[-1.40748264e-01 9.90045045e-01 8.57439081e-04 4.29830751e-01] [ 9.90023588e-01 1.40750859e-01 -6.51858175e-03 -2.00599037e+02] [-6.57437485e-03 -6.85941496e-05 -9.99978386e-01 2.94323230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.257628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.44, Y:-200.60, Z:2.94 [[-2.18827040e-01 9.75762577e-01 1.45574853e-03 4.36178602e-01] [ 9.75738483e-01 2.18831867e-01 -6.85753521e-03 -2.00598305e+02] [-7.00989040e-03 -8.01842734e-05 -9.99975427e-01 2.94031215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.28762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.44, Y:-200.60, Z:2.94 [[-2.94950758e-01 9.55509895e-01 2.21147022e-03 4.40523398e-01] [ 9.55480654e-01 2.94959035e-01 -7.47580493e-03 -2.00598066e+02] [-7.79549870e-03 -9.19773181e-05 -9.99969610e-01 2.94067463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.45, Y:-200.60, Z:2.94 [[-3.68781740e-01 9.29510907e-01 3.08246027e-03 4.45961543e-01] [ 9.29476132e-01 3.68794608e-01 -8.04093452e-03 -2.00596755e+02] [-8.61093107e-03 -1.00276575e-04 -9.99962920e-01 2.93951814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.34762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.45, Y:-200.59, Z:2.94 [[-4.40961617e-01 8.97519147e-01 3.49763651e-03 4.52128400e-01] [ 8.97489108e-01 4.40975477e-01 -7.34363430e-03 -2.00594554e+02] [-8.13342432e-03 -9.91701864e-05 -9.99966918e-01 2.93901119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.46, Y:-200.59, Z:2.94 [[-5.10314884e-01 8.59978874e-01 3.88013517e-03 4.59017003e-01] [ 8.59952537e-01 5.10329625e-01 -6.73115929e-03 -2.00591218e+02] [-7.76880271e-03 -9.82786911e-05 -9.99969818e-01 2.93726431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.40762800000005 meters Centerline goodness [0,1] 0.9998915165979605 Centerline is valid? [True, True] Translation: X:0.47, Y:-200.59, Z:2.94 [[-5.76228526e-01 8.17280242e-01 3.70032787e-03 4.66121492e-01] [ 8.17262448e-01 5.76240401e-01 -5.39367069e-03 -2.00587141e+02] [-6.54041890e-03 -8.38478925e-05 -9.99978608e-01 2.93799365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.437628 meters Centerline goodness [0,1] 0.9998260037409196 Centerline is valid? [True, True] Translation: X:0.47, Y:-200.58, Z:2.94 [[-6.36850558e-01 7.70978199e-01 3.73950527e-03 4.70500604e-01] [ 7.70964317e-01 6.36861534e-01 -4.62692619e-03 -2.00584357e+02] [-5.94880628e-03 -6.36354000e-05 -9.99982304e-01 2.93840455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.46762800000005 meters Centerline goodness [0,1] 0.9998258673980236 Centerline is valid? [True, True] Translation: X:0.47, Y:-200.58, Z:2.94 [[-6.92738139e-01 7.21176766e-01 4.23590909e-03 4.73145038e-01] [ 7.21162894e-01 6.92751088e-01 -4.47332776e-03 -2.00584000e+02] [-6.16049068e-03 -4.40642861e-05 -9.99981023e-01 2.93696951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.497628 meters Centerline goodness [0,1] 0.9998474280732346 Centerline is valid? [True, True] Translation: X:0.48, Y:-200.58, Z:2.93 [[-7.47356560e-01 6.64419235e-01 2.29154375e-03 4.80083956e-01] [ 6.64416014e-01 7.47360073e-01 -2.06909122e-03 -2.00580036e+02] [-3.08735231e-03 -2.38105327e-05 -9.99995234e-01 2.93469405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.52762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.50, Y:-200.56, Z:2.93 [[-7.91529780e-01 6.11129366e-01 -1.22699871e-03 4.98319678e-01] [ 6.11128616e-01 7.91530731e-01 9.57377664e-04 -2.00562826e+02] [ 1.55628879e-03 7.93890763e-06 -9.99998789e-01 2.92939727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.557628 meters Centerline goodness [0,1] 0.9998911173537162 Centerline is valid? [True, True] Translation: X:0.52, Y:-200.54, Z:2.93 [[-8.31466479e-01 5.55570619e-01 -2.18671718e-03 5.17035753e-01] [ 5.55568673e-01 8.31469355e-01 1.47030755e-03 -2.00544530e+02] [ 2.63504800e-03 7.63987897e-06 -9.99996528e-01 2.93034878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.58762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.53, Y:-200.52, Z:2.93 [[-8.68334960e-01 4.95973217e-01 -2.22812050e-03 5.31923215e-01] [ 4.95971568e-01 8.68337819e-01 1.27899487e-03 -2.00522503e+02] [ 2.56910849e-03 5.51154273e-06 -9.99996700e-01 2.92833035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.617628 meters Centerline goodness [0,1] 0.9998474147702502 Centerline is valid? [True, True] Translation: X:0.55, Y:-200.50, Z:2.93 [[-9.00392510e-01 4.35064110e-01 -3.54244709e-03 5.45329450e-01] [ 4.35060738e-01 9.00399478e-01 1.71295214e-03 -2.00500161e+02] [ 3.93486151e-03 1.14962721e-06 -9.99992258e-01 2.92951936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.64762800000005 meters Centerline goodness [0,1] 0.9999127875286166 Centerline is valid? [True, True] Translation: X:0.56, Y:-200.48, Z:2.92 [[-9.27915358e-01 3.72742513e-01 -6.00895344e-03 5.58748147e-01] [ 3.72734803e-01 9.27934814e-01 2.39738563e-03 -2.00481598e+02] [ 6.46952464e-03 -1.51751310e-05 -9.99979072e-01 2.92452296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.677628 meters Centerline goodness [0,1] 0.9998694119183389 Centerline is valid? [True, True] Translation: X:0.57, Y:-200.46, Z:2.92 [[-9.51248559e-01 3.08292141e-01 -9.06280552e-03 5.70569864e-01] [ 3.08278598e-01 9.51291729e-01 2.89005442e-03 -2.00460151e+02] [ 9.51235300e-03 -4.47088715e-05 -9.99954756e-01 2.92141236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.70762800000006 meters Centerline goodness [0,1] 0.9998257763839888 Centerline is valid? [True, True] Translation: X:0.79, Y:-199.78, Z:1.94 [[-9.32644794e-01 -3.60651016e-01 -1.02241426e-02 7.91046200e-01] [ 3.60629751e-01 -9.32700833e-01 3.91650911e-03 -1.99781005e+02] [-1.09485593e-02 -3.44181556e-05 9.99940062e-01 1.94004942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.73762800000003 meters Centerline goodness [0,1] 0.9998472682841683 Centerline is valid? [True, True] Translation: X:0.53, Y:-200.45, Z:2.92 [[-9.49616579e-01 3.13241971e-01 -1.03836865e-02 5.29310786e-01] [ 3.13224952e-01 9.49673336e-01 3.26864885e-03 -2.00453284e+02] [ 1.08849882e-02 -1.48466560e-04 -9.99940746e-01 2.92073492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.767628 meters Centerline goodness [0,1] 0.999847208276946 Centerline is valid? [True, True] Translation: X:0.75, Y:-199.77, Z:1.94 [[-9.37390339e-01 -3.48166902e-01 -8.89724003e-03 7.53439546e-01] [ 3.48149098e-01 -9.37432539e-01 3.52713754e-03 -1.99765296e+02] [-9.56859486e-03 2.08738569e-04 9.99954198e-01 1.93828778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.79762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.49, Y:-200.44, Z:2.92 [[-9.49597604e-01 3.13381952e-01 -7.49284441e-03 4.87607401e-01] [ 3.13373339e-01 9.49627155e-01 2.32751203e-03 -2.00442327e+02] [ 7.84480878e-03 -1.37857820e-04 -9.99969220e-01 2.92170627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.827628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.50, Y:-200.42, Z:2.92 [[-9.68820062e-01 2.47708938e-01 -5.28855332e-03 4.95314127e-01] [ 2.47705862e-01 9.68834491e-01 1.23922903e-03 -2.00416098e+02] [ 5.43070096e-03 -1.09415714e-04 -9.99985248e-01 2.92363001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.85762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.50, Y:-200.39, Z:2.93 [[-9.82948630e-01 1.83861203e-01 -2.65512444e-03 5.03021704e-01] [ 1.83860723e-01 9.82952213e-01 4.25951742e-04 -2.00392015e+02] [ 2.68817644e-03 -6.94844186e-05 -9.99996384e-01 2.92583373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.887628 meters Centerline goodness [0,1] 0.9998908249268527 Centerline is valid? [True, True] Translation: X:0.63, Y:-199.67, Z:1.93 [[-9.80764716e-01 -1.95168950e-01 -3.10691243e-03 6.26504919e-01] [ 1.95167800e-01 -9.80769636e-01 6.72117818e-04 -1.99670548e+02] [-3.17834190e-03 5.28201766e-05 9.99994948e-01 1.93336712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.91762800000004 meters Centerline goodness [0,1] 0.9998468874403955 Centerline is valid? [True, True] Translation: X:0.45, Y:-200.39, Z:2.93 [[-9.82140631e-01 1.88129204e-01 -2.68028062e-03 4.49566071e-01] [ 1.88128762e-01 9.82144284e-01 4.18239325e-04 -2.00390109e+02] [ 2.71110532e-03 -9.34680406e-05 -9.99996321e-01 2.92613173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.947628 meters Centerline goodness [0,1] 0.9999344534510258 Centerline is valid? [True, True] Translation: X:0.57, Y:-199.66, Z:1.93 [[-9.83127619e-01 -1.82916144e-01 -1.33018150e-03 5.68244438e-01] [ 1.82915799e-01 -9.83128510e-01 3.77789773e-04 -1.99656998e+02] [-1.37684321e-03 1.28104347e-04 9.99999044e-01 1.93349504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.97762800000004 meters Centerline goodness [0,1] 0.9985839705465873 Centerline is valid? [True, True] Translation: X:0.40, Y:-200.39, Z:2.93 [[-9.80003013e-01 1.98982041e-01 -4.90915307e-04 3.95329107e-01] [ 1.98982030e-01 9.80003136e-01 7.34827689e-05 -2.00387670e+02] [ 4.95720292e-04 -2.56699892e-05 -9.99999877e-01 2.93150330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.007628 meters Centerline goodness [0,1] 0.9985804140822923 Centerline is valid? [True, True] Translation: X:0.40, Y:-200.36, Z:2.93 [[-9.91062864e-01 1.33395648e-01 -1.55568435e-05 3.99386336e-01] [ 1.33395648e-01 9.91062864e-01 3.47821093e-07 -2.00360768e+02] [ 1.54642076e-05 -1.73050265e-06 -1.00000000e+00 2.93112784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.03762800000004 meters Centerline goodness [0,1] 0.9968766381268566 Centerline is valid? [True, True] Translation: X:0.47, Y:-199.60, Z:1.93 [[-9.96238278e-01 -8.66528341e-02 -7.61441437e-04 4.67429229e-01] [ 8.66528108e-02 -9.96238569e-01 6.36401897e-05 -1.99603398e+02] [-7.64091930e-04 -2.58024774e-06 9.99999708e-01 1.92944545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.067628 meters Centerline goodness [0,1] 0.9970540741064025 Centerline is valid? [True, True] Translation: X:0.32, Y:-200.36, Z:2.93 [[-9.90646778e-01 1.36440721e-01 -1.70053506e-03 3.21045114e-01] [ 1.36440707e-01 9.90648231e-01 1.25173066e-04 -2.00359535e+02] [ 1.70171075e-03 -1.08019910e-04 -9.99998546e-01 2.92940073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.09762800000004 meters Centerline goodness [0,1] 0.997027907078389 Centerline is valid? [True, True] Translation: X:0.32, Y:-200.33, Z:2.93 [[-9.97699064e-01 6.77896330e-02 -1.06954481e-03 3.22881313e-01] [ 6.77896695e-02 9.97699635e-01 2.12344211e-06 -2.00331757e+02] [ 1.06722841e-03 -7.03855329e-05 -9.99999428e-01 2.92808519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.127628 meters Centerline goodness [0,1] 0.9960068080649385 Centerline is valid? [True, True] Translation: X:0.31, Y:-200.31, Z:2.93 [[-9.99997400e-01 -1.28496237e-03 -1.88411254e-03 3.12574416e-01] [-1.28471915e-03 9.99999166e-01 -1.30292510e-04 -2.00306238e+02] [ 1.88427839e-03 -1.27871616e-04 -9.99998217e-01 2.92766258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.15762800000005 meters Centerline goodness [0,1] 0.996644660871081 Centerline is valid? [True, True] Translation: X:0.30, Y:-200.28, Z:2.92 [[-9.97152158e-01 -7.54014936e-02 -1.47966790e-03 2.99791619e-01] [-7.54012648e-02 9.97153251e-01 -2.09883496e-04 -2.00279708e+02] [ 1.49128119e-03 -9.77169496e-05 -9.99998883e-01 2.92456106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.187628 meters Centerline goodness [0,1] 0.9957912641472403 Centerline is valid? [True, True] Translation: X:0.27, Y:-200.26, Z:2.92 [[-9.89103053e-01 -1.47221537e-01 -9.84995961e-04 2.69552910e-01] [-1.47221397e-01 9.89103541e-01 -2.13165890e-04 -2.00260067e+02] [ 1.00564560e-03 -6.58305509e-05 -9.99999492e-01 2.92452213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.21762800000005 meters Centerline goodness [0,1] 0.9946492530794094 Centerline is valid? [True, True] Translation: X:0.22, Y:-200.24, Z:2.93 [[-9.75690288e-01 -2.19143647e-01 -2.12688107e-03 2.15280593e-01] [-2.19142800e-01 9.75692595e-01 -6.26376268e-04 -2.00244691e+02] [ 2.21244849e-03 -1.45058568e-04 -9.99997542e-01 2.92656799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.247628 meters Centerline goodness [0,1] 0.9955802307859787 Centerline is valid? [True, True] Translation: X:0.15, Y:-200.23, Z:2.93 [[-9.56526251e-01 -2.91629183e-01 -3.15433191e-03 1.50245356e-01] [-2.91626844e-01 9.56531428e-01 -1.18786208e-03 -2.00234663e+02] [ 3.36363285e-03 -2.16333404e-04 -9.99994320e-01 2.92501973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.27762800000005 meters Centerline goodness [0,1] 0.9970968305247533 Centerline is valid? [True, True] Translation: X:0.07, Y:-200.23, Z:2.92 [[-9.32601176e-01 -3.60883541e-01 -4.25647262e-03 7.49608533e-02] [-3.60878264e-01 9.32610839e-01 -1.97548769e-03 -2.00231512e+02] [ 4.68255349e-03 -3.06273699e-04 -9.99988990e-01 2.92463482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.307628 meters Centerline goodness [0,1] 0.9966042664344797 Centerline is valid? [True, True] Translation: X:-0.01, Y:-200.24, Z:2.92 [[-9.02859956e-01 -4.29897003e-01 -5.69799850e-03 -7.54600458e-03] [-4.29885433e-01 9.02877836e-01 -3.18229403e-03 -2.00243230e+02] [ 6.51265522e-03 -4.23679300e-04 -9.99978703e-01 2.92420130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.33762800000005 meters Centerline goodness [0,1] 0.9971459073182423 Centerline is valid? [True, True] Translation: X:-0.10, Y:-200.26, Z:2.92 [[-8.67629817e-01 -4.97151982e-01 -7.64255821e-03 -9.52043077e-02] [-4.97126604e-01 8.67663276e-01 -5.05755961e-03 -2.00262475e+02] [ 9.14554288e-03 -5.88770509e-04 -9.99958005e-01 2.92276257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.367628 meters Centerline goodness [0,1] 0.9974487014544582 Centerline is valid? [True, True] Translation: X:-0.19, Y:-200.29, Z:2.92 [[-8.27009108e-01 -5.62125820e-01 -8.39630414e-03 -1.88836258e-01] [-5.62088426e-01 8.27051456e-01 -6.51845659e-03 -2.00294714e+02] [ 1.06083683e-02 -6.71357596e-04 -9.99943504e-01 2.92207519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.39762800000005 meters Centerline goodness [0,1] 0.9974038440561118 Centerline is valid? [True, True] Translation: X:-0.28, Y:-200.34, Z:2.92 [[-7.81226226e-01 -6.24191741e-01 -8.38174848e-03 -2.80269282e-01] [-6.24145943e-01 7.81270874e-01 -7.59361910e-03 -2.00335711e+02] [ 1.12882903e-02 -7.00900080e-04 -9.99936040e-01 2.92121819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.427628 meters Centerline goodness [0,1] 0.9977560890593002 Centerline is valid? [True, True] Translation: X:-0.37, Y:-200.39, Z:2.92 [[-7.29381051e-01 -6.84060750e-01 -8.01083195e-03 -3.73730107e-01] [-6.84008860e-01 7.29424718e-01 -8.45337825e-03 -2.00387523e+02] [ 1.16259231e-02 -6.86253877e-04 -9.99932181e-01 2.91994199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.45762800000006 meters Centerline goodness [0,1] 0.9978559551938392 Centerline is valid? [True, True] Translation: X:-0.47, Y:-200.45, Z:2.92 [[-6.73244353e-01 -7.39381144e-01 -7.58714191e-03 -4.68117042e-01] [-7.39322456e-01 6.73286761e-01 -9.34044738e-03 -2.00450431e+02] [ 1.20144729e-02 -6.79059064e-04 -9.99927593e-01 2.92090680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.48762800000003 meters Centerline goodness [0,1] 0.9986901565262951 Centerline is valid? [True, True] Translation: X:-0.56, Y:-200.52, Z:2.92 [[-6.13740633e-01 -7.89474908e-01 -7.19757031e-03 -5.58073660e-01] [-7.89406777e-01 6.13782439e-01 -1.03950590e-02 -2.00520564e+02] [ 1.26243805e-02 -6.98059292e-04 -9.99920066e-01 2.92133185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.517628 meters Centerline goodness [0,1] 0.9985143431430382 Centerline is valid? [True, True] Translation: X:-0.64, Y:-200.60, Z:2.92 [[-5.50676646e-01 -8.34691724e-01 -6.70503721e-03 -6.41915293e-01] [-8.34613173e-01 5.50716991e-01 -1.14737408e-02 -2.00598111e+02] [ 1.32696144e-02 -7.22208729e-04 -9.99911694e-01 2.92180504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.54762800000003 meters Centerline goodness [0,1] 0.9987522437721641 Centerline is valid? [True, True] Translation: X:-0.72, Y:-200.69, Z:2.92 [[-4.84798351e-01 -8.74602753e-01 -6.37043830e-03 -7.21181166e-01] [-8.74504681e-01 4.84839561e-01 -1.31211064e-02 -2.00688506e+02] [ 1.45643963e-02 -7.90112657e-04 -9.99893621e-01 2.92111453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.577628 meters Centerline goodness [0,1] 0.9992119089316988 Centerline is valid? [True, True] Translation: X:-0.79, Y:-200.78, Z:2.92 [[-4.16579634e-01 -9.09084717e-01 -5.13676632e-03 -7.91595182e-01] [-9.08991339e-01 4.16610596e-01 -1.30521227e-02 -2.00782793e+02] [ 1.40055166e-02 -7.67972416e-04 -9.99901623e-01 2.92021587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.60762800000003 meters Centerline goodness [0,1] 0.9994526666082845 Centerline is valid? [True, True] Translation: X:-0.86, Y:-200.89, Z:2.92 [[-3.45713427e-01 -9.38331596e-01 -4.00528703e-03 -8.59940527e-01] [-9.38241137e-01 3.45735806e-01 -1.30507551e-02 -2.00885079e+02] [ 1.36307070e-02 -7.53896206e-04 -9.99906813e-01 2.91963260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.637628 meters Centerline goodness [0,1] 0.9986421077991195 Centerline is valid? [True, True] Translation: X:-0.91, Y:-200.99, Z:2.92 [[-2.74869824e-01 -9.61477136e-01 -2.88038361e-03 -9.14898230e-01] [-9.61391605e-01 2.74883859e-01 -1.28469934e-02 -2.00994779e+02] [ 1.31438614e-02 -7.62074190e-04 -9.99913325e-01 2.92191274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.66762800000004 meters Centerline goodness [0,1] 0.9991487318286987 Centerline is valid? [True, True] Translation: X:-0.97, Y:-201.10, Z:2.92 [[-2.01153509e-01 -9.79558144e-01 -1.76332147e-03 -9.67030906e-01] [-9.79482219e-01 2.01159911e-01 -1.22177512e-02 -2.01104557e+02] [ 1.23227072e-02 -7.30501486e-04 -9.99923806e-01 2.92364949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.697628 meters Centerline goodness [0,1] 0.9985603036450494 Centerline is valid? [True, True] Translation: X:-1.01, Y:-201.22, Z:2.92 [[-1.26913303e-01 -9.91913512e-01 -7.73047407e-04 -1.00624298e+00] [-9.91844846e-01 1.26913630e-01 -1.16932825e-02 -2.01223530e+02] [ 1.16968352e-02 -7.17290015e-04 -9.99931332e-01 2.92439616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.72762800000004 meters Centerline goodness [0,1] 0.9975502526301975 Centerline is valid? [True, True] Translation: X:-1.03, Y:-201.34, Z:2.92 [[-5.20249750e-02 -9.98645775e-01 1.31760170e-04 -1.03387103e+00] [-9.98578205e-01 5.20199191e-02 -1.16402836e-02 -2.01343116e+02] [ 1.16176659e-02 -7.37158296e-04 -9.99932241e-01 2.92373417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.757628 meters Centerline goodness [0,1] 0.9984741809621379 Centerline is valid? [True, True] Translation: X:-1.06, Y:-201.47, Z:2.92 [[ 2.15733205e-02 -9.99766684e-01 1.08187715e-03 -1.05809867e+00] [-9.99692910e-01 -2.15849011e-02 -1.21728062e-02 -2.01469380e+02] [ 1.21933183e-02 -8.18937066e-04 -9.99925323e-01 2.92375278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.78762800000004 meters Centerline goodness [0,1] 0.9978180707381467 Centerline is valid? [True, True] Translation: X:-1.07, Y:-201.59, Z:2.92 [[ 9.72898274e-02 -9.95254097e-01 1.99304008e-03 -1.06809690e+00] [-9.95183297e-01 -9.73067363e-02 -1.18997380e-02 -2.01592595e+02] [ 1.20371992e-02 -8.25716747e-04 -9.99927209e-01 2.92222083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.817628 meters Centerline goodness [0,1] 0.9987377034909027 Centerline is valid? [True, True] Translation: X:-1.08, Y:-201.71, Z:2.93 [[ 1.68306352e-01 -9.85730962e-01 2.72823048e-03 -1.07658604e+00] [-9.85670001e-01 -1.68326373e-01 -1.09945747e-02 -2.01714971e+02] [ 1.12969258e-02 -8.38678185e-04 -9.99935836e-01 2.92522424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.84762800000004 meters Centerline goodness [0,1] 0.9986920125566795 Centerline is valid? [True, True] Translation: X:-1.07, Y:-201.84, Z:2.93 [[ 2.40926877e-01 -9.70536330e-01 3.67044410e-03 -1.07122823e+00] [-9.70473719e-01 -2.40953164e-01 -1.10604313e-02 -2.01837756e+02] [ 1.16189556e-02 -8.97314349e-04 -9.99932095e-01 2.92530130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.877628 meters Centerline goodness [0,1] 0.998498400470066 Centerline is valid? [True, True] Translation: X:-1.05, Y:-201.96, Z:2.93 [[ 3.11982068e-01 -9.50077089e-01 4.55135360e-03 -1.05499660e+00] [-9.50015733e-01 -3.12013841e-01 -1.08383391e-02 -2.01958417e+02] [ 1.17173430e-02 -9.42490087e-04 -9.99930905e-01 2.92535086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.90762800000005 meters Centerline goodness [0,1] 0.9977380486319544 Centerline is valid? [True, True] Translation: X:-1.03, Y:-202.08, Z:2.93 [[ 3.82462953e-01 -9.23951973e-01 5.90265200e-03 -1.03042749e+00] [-9.23881152e-01 -3.82507032e-01 -1.14886079e-02 -2.02075221e+02] [ 1.28727278e-02 -1.05938203e-03 -9.99916582e-01 2.92519249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.937628 meters Centerline goodness [0,1] 0.9969337827552462 Centerline is valid? [True, True] Translation: X:-1.00, Y:-202.19, Z:2.92 [[ 4.51217408e-01 -8.92381811e-01 7.58645623e-03 -9.95113111e-01] [-8.92297441e-01 -4.51279569e-01 -1.23299361e-02 -2.02191118e+02] [ 1.44266234e-02 -1.20589365e-03 -9.99895204e-01 2.92394344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.96762800000005 meters Centerline goodness [0,1] 0.996871945259042 Centerline is valid? [True, True] Translation: X:-0.95, Y:-202.30, Z:2.92 [[ 5.18739037e-01 -8.54891213e-01 8.41575742e-03 -9.53056286e-01] [-8.54813584e-01 -5.18805943e-01 -1.15814010e-02 -2.02303566e+02] [ 1.42669829e-02 -1.18617894e-03 -9.99897518e-01 2.92337621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.997628 meters Centerline goodness [0,1] 0.9992165226664346 Centerline is valid? [True, True] Translation: X:-0.91, Y:-202.41, Z:2.92 [[ 5.83090285e-01 -8.12348675e-01 9.76471954e-03 -9.12198433e-01] [-8.12268584e-01 -5.83170721e-01 -1.14742211e-02 -2.02409251e+02] [ 1.50155668e-02 -1.24106806e-03 -9.99886490e-01 2.92369227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.02762800000005 meters Centerline goodness [0,1] 0.9990439355091043 Centerline is valid? [True, True] Translation: X:-0.86, Y:-202.51, Z:2.92 [[ 6.44123359e-01 -7.64847739e-01 1.06317518e-02 -8.58627496e-01] [-7.64773684e-01 -6.44209922e-01 -1.07139672e-02 -2.02509093e+02] [ 1.50436336e-02 -1.22976741e-03 -9.99886082e-01 2.92349584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.057628 meters Centerline goodness [0,1] 0.9994125837612045 Centerline is valid? [True, True] Translation: X:-0.80, Y:-202.60, Z:2.92 [[ 7.02325594e-01 -7.11771974e-01 1.09278163e-02 -8.03789696e-01] [-7.11710154e-01 -7.02409678e-01 -9.44991044e-03 -2.02602872e+02] [ 1.44019853e-02 -1.14052386e-03 -9.99895636e-01 2.92437680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.08762800000005 meters Centerline goodness [0,1] 0.9994125837612045 Centerline is valid? [True, True] Translation: X:-0.81, Y:-202.61, Z:2.92 [[ 7.55807805e-01 -6.54690181e-01 1.16330660e-02 -8.09095578e-01] [-6.54635123e-01 -7.55896465e-01 -8.56682481e-03 -2.02609572e+02] [ 1.44020095e-02 -1.14054053e-03 -9.99895635e-01 2.92437654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.117628 meters Centerline goodness [0,1] 0.999086241406318 Centerline is valid? [True, True] Translation: X:-0.81, Y:-202.61, Z:2.93 [[ 8.05626969e-01 -5.92298164e-01 1.21685035e-02 -8.13215670e-01] [-5.92250826e-01 -8.05718100e-01 -7.56986802e-03 -2.02613394e+02] [ 1.42880025e-02 -1.10831642e-03 -9.99897307e-01 2.92507464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.14762800000005 meters Centerline goodness [0,1] 0.9997176613673877 Centerline is valid? [True, True] Translation: X:-0.82, Y:-202.62, Z:2.92 [[ 8.50607169e-01 -5.25631534e-01 1.33766564e-02 -8.17726927e-01] [-5.25587018e-01 -8.50711589e-01 -6.93388764e-03 -2.02621158e+02] [ 1.50243466e-02 -1.13258242e-03 -9.99886487e-01 2.92258141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.177628 meters Centerline goodness [0,1] 0.9997606666521616 Centerline is valid? [True, True] Translation: X:-0.82, Y:-202.63, Z:2.92 [[ 8.90445643e-01 -4.54861373e-01 1.44114092e-02 -8.22681188e-01] [-4.54821969e-01 -8.90561539e-01 -6.09270242e-03 -2.02630493e+02] [ 1.56055818e-02 -1.12940521e-03 -9.99877588e-01 2.92490365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.20762800000006 meters Centerline goodness [0,1] 0.9994782722114737 Centerline is valid? [True, True] Translation: X:-0.83, Y:-202.63, Z:2.92 [[ 9.24347292e-01 -3.81230978e-01 1.56532919e-02 -8.25139270e-01] [-3.81196989e-01 -9.24479114e-01 -5.21761916e-03 -2.02633072e+02] [ 1.64602595e-02 -1.14409560e-03 -9.99863866e-01 2.92276957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.23762800000003 meters Centerline goodness [0,1] 0.99978280228492 Centerline is valid? [True, True] Translation: X:-0.83, Y:-202.64, Z:2.92 [[ 9.52638457e-01 -3.03687119e-01 1.59406491e-02 -8.27962518e-01] [-3.03663178e-01 -9.52771218e-01 -3.96001123e-03 -2.02640943e+02] [ 1.63903960e-02 -1.06812916e-03 -9.99865098e-01 2.92292725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.267628 meters Centerline goodness [0,1] 0.9997172929714684 Centerline is valid? [True, True] Translation: X:-0.83, Y:-202.64, Z:2.92 [[ 9.73721301e-01 -2.27124409e-01 1.67728968e-02 -8.32583636e-01] [-2.27109817e-01 -9.73865144e-01 -2.79496420e-03 -2.02644147e+02] [ 1.69693441e-02 -1.08777334e-03 -9.99855419e-01 2.92323320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.29762800000003 meters Centerline goodness [0,1] 0.999739045340872 Centerline is valid? [True, True] Translation: X:-0.84, Y:-202.65, Z:2.92 [[ 9.88765587e-01 -1.48369548e-01 1.81408956e-02 -8.37566632e-01] [-1.48365473e-01 -9.88931341e-01 -1.57774426e-03 -2.02646054e+02] [ 1.81741894e-02 -1.13146332e-03 -9.99834196e-01 2.92183841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.327628 meters Centerline goodness [0,1] 0.9998046620653731 Centerline is valid? [True, True] Translation: X:-0.84, Y:-202.65, Z:2.92 [[ 9.97441407e-01 -6.87596094e-02 1.95641211e-02 -8.41246503e-01] [-6.87695693e-02 -9.97632557e-01 -1.64024945e-04 -2.02648394e+02] [ 1.95290824e-02 -1.18181091e-03 -9.99808591e-01 2.92021211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.35762800000003 meters Centerline goodness [0,1] 0.9998047256395235 Centerline is valid? [True, True] Translation: X:-0.84, Y:-202.67, Z:2.92 [[ 9.99727131e-01 9.02647234e-03 2.15449675e-02 -8.44442128e-01] [ 8.99602323e-03 -9.99958395e-01 1.50978636e-03 -2.02665435e+02] [ 2.15576992e-02 -1.31555536e-03 -9.99766740e-01 2.92271127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.387628 meters Centerline goodness [0,1] 0.9998263587428373 Centerline is valid? [True, True] Translation: X:-0.85, Y:-202.68, Z:2.92 [[ 9.96060532e-01 8.59999290e-02 2.16200911e-02 -8.46230178e-01] [ 8.59499765e-02 -9.96294215e-01 3.23090202e-03 -2.02675934e+02] [ 2.18178290e-02 -1.35992767e-03 -9.99761038e-01 2.92255798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.41762800000004 meters Centerline goodness [0,1] 0.999869828390428 Centerline is valid? [True, True] Translation: X:-0.85, Y:-202.69, Z:2.92 [[ 9.86491876e-01 1.62323756e-01 2.20176509e-02 -8.47048706e-01] [ 1.62250641e-01 -9.86736504e-01 5.07941751e-03 -2.02689010e+02] [ 2.25501300e-02 -1.43842614e-03 -9.99744679e-01 2.92246396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.447628 meters Centerline goodness [0,1] 0.9998698368622007 Centerline is valid? [True, True] Translation: X:-0.85, Y:-202.70, Z:2.92 [[ 9.71107454e-01 2.37658056e-01 2.16555305e-02 -8.47526420e-01] [ 2.37564778e-01 -9.71347756e-01 6.82010602e-03 -2.02699130e+02] [ 2.26559041e-02 -1.47846451e-03 -9.99742229e-01 2.92279390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.47762800000004 meters Centerline goodness [0,1] 0.9998481759423936 Centerline is valid? [True, True] Translation: X:-0.85, Y:-202.71, Z:2.92 [[ 9.49926853e-01 3.11778141e-01 2.08174081e-02 -8.49161639e-01] [ 3.11668546e-01 -9.50153761e-01 8.39929933e-03 -2.02707728e+02] [ 2.23984565e-02 -1.49058868e-03 -9.99748012e-01 2.92212790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.507628 meters Centerline goodness [0,1] 0.999869786015018 Centerline is valid? [True, True] Translation: X:-0.85, Y:-202.72, Z:2.92 [[ 9.23142417e-01 3.83916792e-01 2.03954646e-02 -8.47262459e-01] [ 3.83785664e-01 -9.23366403e-01 1.01513729e-02 -2.02718684e+02] [ 2.27297693e-02 -1.54367600e-03 -9.99740454e-01 2.92202893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.53762800000004 meters Centerline goodness [0,1] 0.9990457394434926 Centerline is valid? [True, True] Translation: X:-0.85, Y:-202.72, Z:2.92 [[ 8.90674166e-01 4.54231478e-01 1.93208057e-02 -8.51998304e-01] [ 4.54086314e-01 -8.90882356e-01 1.15865132e-02 -2.02720385e+02] [ 2.24755240e-02 -1.54649456e-03 -9.99746197e-01 2.91715983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.567628 meters Centerline goodness [0,1] 0.9998480474092083 Centerline is valid? [True, True] Translation: X:-0.84, Y:-202.74, Z:2.92 [[ 8.53266212e-01 5.21199357e-01 1.69705991e-02 -8.43182302e-01] [ 5.21061421e-01 -8.53433704e-01 1.20792884e-02 -2.02741642e+02] [ 2.07789986e-02 -1.46412416e-03 -9.99783021e-01 2.92439506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.59762800000004 meters Centerline goodness [0,1] 0.9998267873381544 Centerline is valid? [True, True] Translation: X:-0.84, Y:-202.76, Z:2.93 [[ 8.09903689e-01 5.86382000e-01 1.45658988e-02 -8.36903252e-01] [ 5.86256722e-01 -8.10033558e-01 1.21939019e-02 -2.02755836e+02] [ 1.89491514e-02 -1.33653005e-03 -9.99819555e-01 2.92690289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.627628 meters Centerline goodness [0,1] 0.9999783591940964 Centerline is valid? [True, True] Translation: X:-0.83, Y:-202.77, Z:2.93 [[ 7.61220354e-01 6.48369266e-01 1.26833336e-02 -8.31528028e-01] [ 6.48251262e-01 -7.61324999e-01 1.24317272e-02 -2.02766709e+02] [ 1.77164888e-02 -1.24129676e-03 -9.99842280e-01 2.92588842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.65762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.83, Y:-202.78, Z:2.93 [[ 7.08467662e-01 7.05668274e-01 1.02887766e-02 -8.27571660e-01] [ 7.05570443e-01 -7.08541512e-01 1.18015554e-02 -2.02777403e+02] [ 1.56180085e-02 -1.10156371e-03 -9.99877425e-01 2.92843449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.687628 meters Centerline goodness [0,1] 0.9999350677459851 Centerline is valid? [True, True] Translation: X:-0.82, Y:-202.79, Z:2.93 [[ 6.51343498e-01 7.58730638e-01 8.91442618e-03 -8.20015953e-01] [ 7.58636362e-01 -6.51403638e-01 1.20070855e-02 -2.02788703e+02] [ 1.49170333e-02 -1.05792922e-03 -9.99888175e-01 2.93112003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.71762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.81, Y:-202.80, Z:2.93 [[ 5.89828224e-01 8.07492119e-01 7.69053789e-03 -8.13898273e-01] [ 8.07399682e-01 -5.89877473e-01 1.22605052e-02 -2.02797575e+02] [ 1.44367364e-02 -1.02225415e-03 -9.99895262e-01 2.92945173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.747628 meters Centerline goodness [0,1] 0.9998480968707956 Centerline is valid? [True, True] Translation: X:-0.80, Y:-202.81, Z:2.93 [[ 5.24358744e-01 8.51475626e-01 6.09634048e-03 -8.02999537e-01] [ 8.51396328e-01 -5.24393371e-01 1.16569978e-02 -2.02808496e+02] [ 1.31225300e-02 -9.22046811e-04 -9.99913471e-01 2.93290088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.77762800000005 meters Centerline goodness [0,1] 0.9998699891657639 Centerline is valid? [True, True] Translation: X:-0.80, Y:-202.82, Z:2.93 [[ 4.53850585e-01 8.91065902e-01 4.60475564e-03 -7.95353183e-01] [ 8.91000956e-01 -4.53873252e-01 1.07874128e-02 -2.02817869e+02] [ 1.17022711e-02 -7.93031940e-04 -9.99931212e-01 2.93308249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.807628 meters Centerline goodness [0,1] 0.9998264416192997 Centerline is valid? [True, True] Translation: X:-0.79, Y:-202.83, Z:2.93 [[ 3.80972042e-01 9.24579746e-01 3.54912138e-03 -7.88569121e-01] [ 9.24520058e-01 -3.80987872e-01 1.05310778e-02 -2.02826271e+02] [ 1.10889935e-02 -7.30812311e-04 -9.99938248e-01 2.93409490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.83762800000005 meters Centerline goodness [0,1] 0.999913359902963 Centerline is valid? [True, True] Translation: X:-0.78, Y:-202.83, Z:2.93 [[ 3.03112699e-01 9.52950900e-01 2.69712699e-03 -7.75945185e-01] [ 9.52890936e-01 -3.03123943e-01 1.07116186e-02 -2.02834821e+02] [ 1.10252104e-02 -6.76759769e-04 -9.99938992e-01 2.93342273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.867628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.77, Y:-202.84, Z:2.93 [[ 2.25484328e-01 9.74244441e-01 2.14163473e-03 -7.65420667e-01] [ 9.74163184e-01 -2.25493231e-01 1.26053281e-02 -2.02841400e+02] [ 1.27635950e-02 -7.56002227e-04 -9.99918256e-01 2.93056919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.89762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.76, Y:-202.85, Z:2.93 [[ 1.47563361e-01 9.89051792e-01 1.26772166e-03 -7.57809661e-01] [ 9.88952175e-01 -1.47566521e-01 1.40612222e-02 -2.02848014e+02] [ 1.40943503e-02 -8.21205121e-04 -9.99900333e-01 2.92883768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.927628 meters Centerline goodness [0,1] 0.9999782962561041 Centerline is valid? [True, True] Translation: X:-0.74, Y:-202.85, Z:2.93 [[ 6.75825398e-02 9.97713670e-01 1.83642567e-04 -7.41535284e-01] [ 9.97585951e-01 -6.75768314e-02 1.59888445e-02 -2.02852756e+02] [ 1.59646987e-02 -8.97367476e-04 -9.99872153e-01 2.92820830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.95762800000006 meters Centerline goodness [0,1] 0.9998698368622007 Centerline is valid? [True, True] Translation: X:-0.73, Y:-202.86, Z:2.93 [[-1.29633658e-02 9.99915239e-01 -1.21041718e-03 -7.32276114e-01] [ 9.99752737e-01 1.29831123e-02 1.80528057e-02 -2.02857712e+02] [ 1.80669905e-02 -9.76092761e-04 -9.99836302e-01 2.92702835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.98762800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-0.72, Y:-202.86, Z:2.92 [[-9.17135156e-02 9.95781660e-01 -2.74172243e-03 -7.23371160e-01] [ 9.95606005e-01 9.17489080e-02 1.87302318e-02 -2.02862077e+02] [ 1.89027713e-02 -1.01185992e-03 -9.99820815e-01 2.92318305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.017628 meters Centerline goodness [0,1] 0.9998913657497936 Centerline is valid? [True, True] Translation: X:-0.71, Y:-202.86, Z:2.93 [[-1.69699134e-01 9.85486248e-01 -4.36557004e-03 -7.08309600e-01] [ 9.85300139e-01 1.69752052e-01 1.91801014e-02 -2.02864027e+02] [ 1.96427907e-02 -1.04655016e-03 -9.99806514e-01 2.92646068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.04762800000003 meters Centerline goodness [0,1] 0.9998478955259555 Centerline is valid? [True, True] Translation: X:-0.70, Y:-202.86, Z:2.93 [[-2.47110215e-01 9.68967888e-01 -6.14596433e-03 -6.96010975e-01] [ 9.68767965e-01 2.47184260e-01 1.97122298e-02 -2.02864842e+02] [ 2.06197033e-02 -1.08292001e-03 -9.99786805e-01 2.92678873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.077628 meters Centerline goodness [0,1] 0.9998263059620478 Centerline is valid? [True, True] Translation: X:-0.68, Y:-202.87, Z:2.93 [[-3.23746017e-01 9.46111110e-01 -7.89202411e-03 -6.84463554e-01] [ 9.45906189e-01 3.23840392e-01 1.97201126e-02 -2.02865205e+02] [ 2.12131738e-02 -1.08080653e-03 -9.99774391e-01 2.92704559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.10762800000003 meters Centerline goodness [0,1] 0.9998480869810543 Centerline is valid? [True, True] Translation: X:-0.67, Y:-202.86, Z:2.93 [[-3.97620570e-01 9.17500317e-01 -9.54207017e-03 -6.71678291e-01] [ 9.17297865e-01 3.97733589e-01 1.93033300e-02 -2.02863934e+02] [ 2.15060132e-02 -1.07751951e-03 -9.99768138e-01 2.92691325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.137628 meters Centerline goodness [0,1] 0.9998698453328706 Centerline is valid? [True, True] Translation: X:-0.66, Y:-202.86, Z:2.93 [[-4.68598022e-01 8.83340664e-01 -1.11876682e-02 -6.60588408e-01] [ 8.83141881e-01 4.68730300e-01 1.87702853e-02 -2.02862580e+02] [ 2.18245554e-02 -1.08457974e-03 -9.99761228e-01 2.92629499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.16762800000004 meters Centerline goodness [0,1] 0.999934893007509 Centerline is valid? [True, True] Translation: X:-0.65, Y:-202.86, Z:2.93 [[-5.36875564e-01 8.43569924e-01 -1.24262944e-02 -6.50212061e-01] [ 8.43387831e-01 5.37018318e-01 1.75582547e-02 -2.02861161e+02] [ 2.14847633e-02 -1.05358757e-03 -9.99768621e-01 2.92501617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.197628 meters Centerline goodness [0,1] 0.9997831273042724 Centerline is valid? [True, True] Translation: X:-0.64, Y:-202.86, Z:2.93 [[-6.01691572e-01 7.98624858e-01 -1.28680999e-02 -6.40265476e-01] [ 7.98475875e-01 6.01828369e-01 1.54561043e-02 -2.02858643e+02] [ 2.00880167e-02 -9.75059626e-04 -9.99797740e-01 2.92747368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.22762800000004 meters Centerline goodness [0,1] 0.9998477896888386 Centerline is valid? [True, True] Translation: X:-0.63, Y:-202.85, Z:2.93 [[-6.64239253e-01 7.47401327e-01 -1.33218184e-02 -6.30076395e-01] [ 7.47276908e-01 6.64372249e-01 1.36652190e-02 -2.02854327e+02] [ 1.90640493e-02 -8.78112373e-04 -9.99817879e-01 2.92580487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.257628 meters Centerline goodness [0,1] 0.9999782722058057 Centerline is valid? [True, True] Translation: X:-0.62, Y:-202.85, Z:2.92 [[-7.21605222e-01 6.92167027e-01 -1.38097857e-02 -6.21022666e-01] [ 6.92061652e-01 7.21736885e-01 1.21053083e-02 -2.02851910e+02] [ 1.83459270e-02 -8.21969456e-04 -9.99831361e-01 2.92289205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.28762800000004 meters Centerline goodness [0,1] 0.9998480078167409 Centerline is valid? [True, True] Translation: X:-0.60, Y:-202.83, Z:2.93 [[-7.69166723e-01 6.38915946e-01 -1.29986794e-02 -5.98553496e-01] [ 6.38840263e-01 7.69276216e-01 9.86018445e-03 -2.02829871e+02] [ 1.62994039e-02 -7.19953972e-04 -9.99866897e-01 2.92814426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.317628 meters Centerline goodness [0,1] 0.9998915801114556 Centerline is valid? [True, True] Translation: X:-0.14, Y:-202.24, Z:1.93 [[-7.82180211e-01 -6.22959761e-01 -1.07356583e-02 -1.38906101e-01] [ 6.22887629e-01 -7.82253522e-01 9.50946146e-03 -2.02237720e+02] [-1.43220184e-02 7.51003820e-04 9.99897153e-01 1.93097619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.34762800000004 meters Centerline goodness [0,1] 0.9998914930555556 Centerline is valid? [True, True] Translation: X:-0.63, Y:-202.81, Z:2.93 [[-7.70183430e-01 6.37763831e-01 -8.64748646e-03 -6.31632237e-01] [ 6.37730793e-01 7.70231813e-01 6.51084293e-03 -2.02806709e+02] [ 1.08129493e-02 -5.00225055e-04 -9.99941413e-01 2.93328412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.377628 meters Centerline goodness [0,1] 0.9998915283653325 Centerline is valid? [True, True] Translation: X:-0.61, Y:-202.79, Z:2.93 [[-8.12303773e-01 5.83181587e-01 -7.86244207e-03 -6.14860588e-01] [ 5.83159551e-01 8.12341698e-01 5.08959721e-03 -2.02785370e+02] [ 9.35514891e-03 -4.50759178e-04 -9.99956138e-01 2.93405247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.40762800000005 meters Centerline goodness [0,1] 0.9998482220294883 Centerline is valid? [True, True] Translation: X:-0.60, Y:-202.76, Z:2.93 [[-8.50296202e-01 5.26250345e-01 -7.54607686e-03 -5.96629702e-01] [ 5.26234101e-01 8.50329574e-01 4.15773915e-03 -2.02764669e+02] [ 8.60466398e-03 -4.35693160e-04 -9.99962884e-01 2.93475259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.437628 meters Centerline goodness [0,1] 0.9998045050720072 Centerline is valid? [True, True] Translation: X:-0.58, Y:-202.74, Z:2.93 [[-8.82543654e-01 4.70152240e-01 -8.57734759e-03 -5.75519325e-01] [ 4.70135854e-01 8.82585171e-01 3.96173173e-03 -2.02742230e+02] [ 9.43285683e-03 -5.36117439e-04 -9.99955366e-01 2.93311893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.46762800000005 meters Centerline goodness [0,1] 0.999804886508986 Centerline is valid? [True, True] Translation: X:-0.56, Y:-202.72, Z:2.93 [[-9.11658938e-01 4.10835732e-01 -9.59072450e-03 -5.63177913e-01] [ 4.10820184e-01 9.11709166e-01 3.62955537e-03 -2.02723880e+02] [ 1.02351025e-02 -6.31146609e-04 -9.99947421e-01 2.93065156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.497628 meters Centerline goodness [0,1] 0.9998262908759282 Centerline is valid? [True, True] Translation: X:-0.54, Y:-202.70, Z:2.93 [[-9.36377661e-01 3.50850661e-01 -1.00344407e-02 -5.44802250e-01] [ 3.50838518e-01 9.36431157e-01 3.00360482e-03 -2.02699353e+02] [ 1.04503796e-02 -7.07959839e-04 -9.99945143e-01 2.92978154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.52762800000005 meters Centerline goodness [0,1] 0.9998049837486457 Centerline is valid? [True, True] Translation: X:-0.54, Y:-202.67, Z:2.93 [[-9.57421121e-01 2.88473498e-01 -1.13065320e-02 -5.39943786e-01] [ 2.88463665e-01 9.57487509e-01 2.52648689e-03 -2.02672736e+02] [ 1.15546877e-02 -8.42611766e-04 -9.99932887e-01 2.92893889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.557628 meters Centerline goodness [0,1] 0.9998264001909598 Centerline is valid? [True, True] Translation: X:-0.36, Y:-201.92, Z:1.93 [[-9.78791663e-01 -2.04489816e-01 -1.22798830e-02 -3.55636902e-01] [ 2.04462589e-01 -9.78868311e-01 3.44654655e-03 -2.01920538e+02] [-1.27251720e-02 8.62674341e-04 9.99918660e-01 1.93404049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.58762800000005 meters Centerline goodness [0,1] 0.9998478260869565 Centerline is valid? [True, True] Translation: X:-0.58, Y:-202.67, Z:2.93 [[-9.55176686e-01 2.95749638e-01 -1.30250242e-02 -5.84755628e-01] [ 2.95738007e-01 9.55264824e-01 2.85421350e-03 -2.02669096e+02] [ 1.32864800e-02 -1.12571649e-03 -9.99911097e-01 2.92566007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.617628 meters Centerline goodness [0,1] 0.9995002498750625 Centerline is valid? [True, True] Translation: X:-0.41, Y:-201.91, Z:1.94 [[-9.80697395e-01 -1.95079021e-01 -1.32964367e-02 -4.08743097e-01] [ 1.95045247e-01 -9.80786869e-01 3.80382042e-03 -2.01906522e+02] [-1.37830161e-02 1.13699000e-03 9.99904363e-01 1.93543215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.64762800000005 meters Centerline goodness [0,1] 0.9987818672235274 Centerline is valid? [True, True] Translation: X:-0.64, Y:-202.66, Z:2.92 [[-9.55294977e-01 2.95282502e-01 -1.48240172e-02 -6.41136734e-01] [ 2.95268356e-01 9.55409054e-01 3.18390384e-03 -2.02662389e+02] [ 1.51031514e-02 -1.33549585e-03 -9.99885049e-01 2.92251696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.677628 meters Centerline goodness [0,1] 0.9994560487380331 Centerline is valid? [True, True] Translation: X:-0.64, Y:-202.63, Z:2.92 [[-9.73917564e-01 2.26364269e-01 -1.56140018e-02 -6.36108545e-01] [ 2.26357717e-01 9.74041737e-01 2.20888234e-03 -2.02633193e+02] [ 1.57087015e-02 -1.38308050e-03 -9.99875654e-01 2.92232547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.70762800000006 meters Centerline goodness [0,1] 0.9997828258697824 Centerline is valid? [True, True] Translation: X:-0.52, Y:-201.86, Z:1.94 [[-9.92448882e-01 -1.21679153e-01 -1.54725804e-02 -5.22322111e-01] [ 1.21642512e-01 -9.92568521e-01 3.29109994e-03 -2.01856481e+02] [-1.57580545e-02 1.38412491e-03 9.99874876e-01 1.93740056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.73762800000003 meters Centerline goodness [0,1] 0.9993483360848032 Centerline is valid? [True, True] Translation: X:-0.71, Y:-202.62, Z:2.92 [[-9.75910559e-01 2.17654378e-01 -1.50050628e-02 -7.05606356e-01] [ 2.17648365e-01 9.76025090e-01 2.05240221e-03 -2.02623253e+02] [ 1.50920321e-02 -1.26286640e-03 -9.99885311e-01 2.92303693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.767628 meters Centerline goodness [0,1] 0.98791718372412 Centerline is valid? [True, True] Translation: X:-0.71, Y:-202.60, Z:2.92 [[-9.89460993e-01 1.43991774e-01 -1.52745792e-02 -7.12705755e-01] [ 1.43993517e-01 9.89578134e-01 9.91369467e-04 -2.02602408e+02] [ 1.52581387e-02 -1.21851897e-03 -9.99882845e-01 2.92019819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.79762800000003 meters Centerline goodness [0,1] 0.9998480243161094 Centerline is valid? [True, True] Translation: X:-0.66, Y:-201.81, Z:1.94 [[-9.98283259e-01 -5.67364020e-02 -1.45435951e-02 -6.57758741e-01] [ 5.67126512e-02 -9.98388457e-01 2.04066570e-03 -2.01811476e+02] [-1.46359375e-02 1.21235656e-03 9.99892154e-01 1.93721969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.827628 meters Centerline goodness [0,1] 0.9997824336966691 Centerline is valid? [True, True] Translation: X:-0.79, Y:-202.58, Z:2.92 [[-9.92130140e-01 1.24306669e-01 -1.50212315e-02 -7.94947052e-01] [ 1.24307262e-01 9.92243367e-01 8.97856692e-04 -2.02582666e+02] [ 1.50163269e-02 -9.76457473e-04 -9.99886772e-01 2.92265021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.85762800000003 meters Centerline goodness [0,1] 0.9998258673980236 Centerline is valid? [True, True] Translation: X:-0.75, Y:-201.81, Z:1.94 [[-9.97618369e-01 -6.71069657e-02 -1.59450442e-02 -7.50383450e-01] [ 6.70828097e-02 -9.97745314e-01 2.04561065e-03 -2.01807762e+02] [-1.60463678e-02 9.71100397e-04 9.99870777e-01 1.93908071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.887628 meters Centerline goodness [0,1] 0.9998261663153778 Centerline is valid? [True, True] Translation: X:-0.88, Y:-202.57, Z:2.92 [[-9.93824159e-01 1.09611405e-01 -1.72881527e-02 -8.79693346e-01] [ 1.09611519e-01 9.93974056e-01 9.43816649e-04 -2.02571914e+02] [ 1.72874284e-02 -9.56992895e-04 -9.99850103e-01 2.92143379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.91762800000004 meters Centerline goodness [0,1] 0.9998259469573353 Centerline is valid? [True, True] Translation: X:-0.89, Y:-202.54, Z:2.92 [[-9.99224344e-01 3.50269512e-02 -1.79950919e-02 -8.85083414e-01] [ 3.50380075e-02 9.99385936e-01 -2.99394221e-04 -2.02540232e+02] [ 1.79735549e-02 -9.29674158e-04 -9.99838030e-01 2.92196802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.947628 meters Centerline goodness [0,1] 0.9998259469573353 Centerline is valid? [True, True] Translation: X:-0.89, Y:-201.78, Z:1.94 [[-9.99837790e-01 8.34054815e-04 -1.79916046e-02 -8.93035723e-01] [-8.50641254e-04 -9.99999220e-01 9.14265750e-04 -2.01779678e+02] [-1.79908280e-02 9.29421848e-04 9.99837720e-01 1.93812784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.97762800000004 meters Centerline goodness [0,1] 0.9998045093183892 Centerline is valid? [True, True] Translation: X:-0.98, Y:-202.53, Z:2.92 [[-9.99484718e-01 2.47042642e-02 -2.04938612e-02 -9.78663797e-01] [ 2.47189428e-02 9.99694333e-01 -4.63193169e-04 -2.02534872e+02] [ 2.04761540e-02 -9.69541075e-04 -9.99789872e-01 2.92336439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.007628 meters Centerline goodness [0,1] 0.9998263851212049 Centerline is valid? [True, True] Translation: X:-0.99, Y:-201.78, Z:1.94 [[-9.99751598e-01 1.23631889e-03 -2.22534119e-02 -9.93477252e-01] [-1.25679668e-03 -9.99998800e-01 9.06246712e-04 -2.01783020e+02] [-2.22522648e-02 9.33989612e-04 9.99751951e-01 1.93994921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.03762800000004 meters Centerline goodness [0,1] 0.999804916113929 Centerline is valid? [True, True] Translation: X:-1.08, Y:-202.54, Z:2.92 [[-9.99547603e-01 1.72338001e-02 -2.46492470e-02 -1.07627340e+00] [ 1.72563883e-02 9.99850850e-01 -7.03952356e-04 -2.02538815e+02] [ 2.46334388e-02 -1.12899087e-03 -9.99695913e-01 2.92002166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.067628 meters Centerline goodness [0,1] 0.9998046154180145 Centerline is valid? [True, True] Translation: X:-1.09, Y:-201.79, Z:1.94 [[-9.99613632e-01 6.12384444e-03 -2.71124476e-02 -1.09051262e+00] [-6.15077730e-03 -9.99980670e-01 9.10090199e-04 -2.01789535e+02] [-2.71063503e-02 1.07650120e-03 9.99631976e-01 1.93957361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.09762800000004 meters Centerline goodness [0,1] 0.9998696870316878 Centerline is valid? [True, True] Translation: X:-1.17, Y:-202.54, Z:2.92 [[-9.99493869e-01 9.82391010e-03 -3.02571659e-02 -1.16748975e+00] [ 9.85984207e-03 9.99950851e-01 -1.03857839e-03 -2.02537900e+02] [ 3.02454759e-02 -1.33638361e-03 -9.99541608e-01 2.91724437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.127628 meters Centerline goodness [0,1] 0.999804347826087 Centerline is valid? [True, True] Translation: X:-1.19, Y:-201.79, Z:1.94 [[-9.99440950e-01 1.13354132e-02 -3.14530843e-02 -1.18674624e+00] [-1.13710134e-02 -9.99934894e-01 9.53202633e-04 -2.01789013e+02] [-3.14402316e-02 1.31032319e-03 9.99504775e-01 1.94424403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.15762800000005 meters Centerline goodness [0,1] 0.9998264453845319 Centerline is valid? [True, True] Translation: X:-1.26, Y:-202.54, Z:2.91 [[-9.99433351e-01 4.42554512e-03 -3.33675295e-02 -1.26340813e+00] [ 4.47253438e-03 9.99989109e-01 -1.33372491e-03 -2.02542729e+02] [ 3.33612636e-02 -1.48220658e-03 -9.99442259e-01 2.91462881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.187628 meters Centerline goodness [0,1] 0.9997830002386997 Centerline is valid? [True, True] Translation: X:-1.26, Y:-202.52, Z:2.91 [[-9.97183397e-01 -6.65358475e-02 -3.46157942e-02 -1.26248552e+00] [-6.64415663e-02 9.97782820e-01 -3.86813951e-03 -2.02515018e+02] [ 3.47964147e-02 -1.55731691e-03 -9.99393208e-01 2.91377548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.21762800000005 meters Centerline goodness [0,1] 0.9998044625980402 Centerline is valid? [True, True] Translation: X:-1.28, Y:-202.49, Z:2.91 [[-9.89781154e-01 -1.37890249e-01 -3.63255750e-02 -1.27579918e+00] [-1.37736532e-01 9.90446156e-01 -6.71271619e-03 -2.02486596e+02] [ 3.69041443e-02 -1.64076125e-03 -9.99317463e-01 2.91394475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.247628 meters Centerline goodness [0,1] 0.9999349847214095 Centerline is valid? [True, True] Translation: X:-1.30, Y:-202.46, Z:2.91 [[-9.76887986e-01 -2.10700513e-01 -3.59882826e-02 -1.29901800e+00] [-2.10497952e-01 9.77549386e-01 -9.37074246e-03 -2.02462000e+02] [ 3.71547438e-02 -1.57870594e-03 -9.99308277e-01 2.91119860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.27762800000005 meters Centerline goodness [0,1] 0.9998265244166884 Centerline is valid? [True, True] Translation: X:-1.35, Y:-202.44, Z:2.92 [[-9.59043755e-01 -2.81087657e-01 -3.49972059e-02 -1.34660958e+00] [-2.80840729e-01 9.59680817e-01 -1.18833853e-02 -2.02444228e+02] [ 3.69264201e-02 -1.56804561e-03 -9.99316757e-01 2.91507032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.307628 meters Centerline goodness [0,1] 0.9998480869810543 Centerline is valid? [True, True] Translation: X:-1.41, Y:-202.44, Z:2.92 [[-9.35921584e-01 -3.50627294e-01 -3.33360140e-02 -1.40607314e+00] [-3.50345746e-01 9.36513803e-01 -1.41334982e-02 -2.02435531e+02] [ 3.61752274e-02 -1.54871534e-03 -9.99344262e-01 2.91619144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.33762800000005 meters Centerline goodness [0,1] 0.9998484586075511 Centerline is valid? [True, True] Translation: X:-1.47, Y:-202.43, Z:2.92 [[-9.07980827e-01 -4.17781602e-01 -3.20835138e-02 -1.47431341e+00] [-4.17458367e-01 9.08546084e-01 -1.65083324e-02 -2.02434830e+02] [ 3.60462284e-02 -1.59571802e-03 -9.99348850e-01 2.91772277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.367628 meters Centerline goodness [0,1] 0.9998052074540614 Centerline is valid? [True, True] Translation: X:-1.55, Y:-202.45, Z:2.92 [[-8.74717837e-01 -4.83630145e-01 -3.11542569e-02 -1.55484173e+00] [-4.83255857e-01 8.75270912e-01 -1.90946659e-02 -2.02447693e+02] [ 3.65031709e-02 -1.64696776e-03 -9.99332180e-01 2.91855343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.39762800000005 meters Centerline goodness [0,1] 0.9998918404430216 Centerline is valid? [True, True] Translation: X:-1.64, Y:-202.47, Z:2.92 [[-8.36763972e-01 -5.46769962e-01 -2.94731035e-02 -1.63785154e+00] [-5.46358971e-01 8.37281169e-01 -2.12631081e-02 -2.02470870e+02] [ 3.63033034e-02 -1.68930832e-03 -9.99339390e-01 2.91794029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.427628 meters Centerline goodness [0,1] 0.9997833199713982 Centerline is valid? [True, True] Translation: X:-1.72, Y:-202.50, Z:2.92 [[-7.95101242e-01 -6.05856228e-01 -2.74271130e-02 -1.72324568e+00] [-6.05417275e-01 7.95572152e-01 -2.31273369e-02 -2.02501429e+02] [ 3.58320884e-02 -1.78372626e-03 -9.99356233e-01 2.92052925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.45762800000006 meters Centerline goodness [0,1] 0.999870124247803 Centerline is valid? [True, True] Translation: X:-1.81, Y:-202.55, Z:2.92 [[-7.49419419e-01 -6.61611763e-01 -2.53063011e-02 -1.81355773e+00] [-6.61147525e-01 7.49844176e-01 -2.48528137e-02 -2.02545098e+02] [ 3.54186964e-02 -1.89398289e-03 -9.99370766e-01 2.92067395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.48762800000003 meters Centerline goodness [0,1] 0.999826779837173 Centerline is valid? [True, True] Translation: X:-1.90, Y:-202.60, Z:2.92 [[-6.98751017e-01 -7.14986760e-01 -2.32583197e-02 -1.90200132e+00] [-7.14494286e-01 6.99135209e-01 -2.66059154e-02 -2.02596196e+02] [ 3.52835874e-02 -1.97297395e-03 -9.99375393e-01 2.92230243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.517628 meters Centerline goodness [0,1] 0.9998269409652367 Centerline is valid? [True, True] Translation: X:-2.00, Y:-202.66, Z:2.92 [[-6.43403724e-01 -7.65231486e-01 -2.12702036e-02 -1.99737983e+00] [-7.64705598e-01 6.43752007e-01 -2.84376793e-02 -2.02663924e+02] [ 3.54541438e-02 -2.03146501e-03 -9.99369240e-01 2.92436367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.54762800000003 meters Centerline goodness [0,1] 0.999870261854823 Centerline is valid? [True, True] Translation: X:-2.08, Y:-202.73, Z:2.92 [[-5.83426160e-01 -8.11943255e-01 -1.90280577e-02 -2.07955397e+00] [-8.11392502e-01 5.83732784e-01 -2.99707327e-02 -2.02731703e+02] [ 3.54418353e-02 -2.04648612e-03 -9.99369645e-01 2.92433959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.577628 meters Centerline goodness [0,1] 0.9997839146030512 Centerline is valid? [True, True] Translation: X:-2.16, Y:-202.81, Z:2.93 [[-5.20729495e-01 -8.53559322e-01 -1.66516304e-02 -2.15952403e+00] [-8.52988213e-01 5.20991476e-01 -3.12888258e-02 -2.02811239e+02] [ 3.53822265e-02 -2.08936999e-03 -9.99371669e-01 2.92609096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.60762800000003 meters Centerline goodness [0,1] 0.9998279125795905 Centerline is valid? [True, True] Translation: X:-2.24, Y:-202.90, Z:2.93 [[-4.52437001e-01 -8.91683501e-01 -1.41877925e-02 -2.23557109e+00] [-8.91095706e-01 4.52654840e-01 -3.24351509e-02 -2.02901963e+02] [ 3.53440619e-02 -2.03218140e-03 -9.99373137e-01 2.92554177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.637628 meters Centerline goodness [0,1] 0.9998486846371674 Centerline is valid? [True, True] Translation: X:-2.30, Y:-203.00, Z:2.93 [[-3.82399891e-01 -9.23924949e-01 -1.15330947e-02 -2.30442909e+00] [-9.23335021e-01 3.82568554e-01 -3.30717636e-02 -2.02999552e+02] [ 3.49680269e-02 -1.99772855e-03 -9.99386435e-01 2.92556633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.66762800000004 meters Centerline goodness [0,1] 0.9998487696329423 Centerline is valid? [True, True] Translation: X:-2.37, Y:-203.10, Z:2.93 [[-3.09919290e-01 -9.50719441e-01 -9.08727226e-03 -2.37385375e+00] [-9.50100963e-01 3.10045967e-01 -3.43461438e-02 -2.03103274e+02] [ 3.54710187e-02 -2.01070635e-03 -9.99368683e-01 2.93106923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.697628 meters Centerline goodness [0,1] 0.9998919853100021 Centerline is valid? [True, True] Translation: X:-2.43, Y:-203.22, Z:2.93 [[-2.35965832e-01 -9.71739256e-01 -6.55322456e-03 -2.42828590e+00] [-9.71086906e-01 2.36047905e-01 -3.56596188e-02 -2.03217033e+02] [ 3.61987264e-02 -2.05070107e-03 -9.99342507e-01 2.93076633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.72762800000004 meters Centerline goodness [0,1] 0.9998489914788049 Centerline is valid? [True, True] Translation: X:-2.47, Y:-203.33, Z:2.93 [[-1.60514227e-01 -9.87025991e-01 -3.85694211e-03 -2.47019999e+00] [-9.86345278e-01 1.60546978e-01 -3.67104918e-02 -2.03330346e+02] [ 3.68534299e-02 -2.08827956e-03 -9.99318500e-01 2.92908953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.757628 meters Centerline goodness [0,1] 0.9998273666947196 Centerline is valid? [True, True] Translation: X:-2.51, Y:-203.44, Z:2.93 [[-8.40303823e-02 -9.96462650e-01 -1.04058332e-03 -2.51236681e+00] [-9.95750905e-01 8.40097478e-02 -3.77160211e-02 -2.03441041e+02] [ 3.76700255e-02 -2.13312990e-03 -9.99287956e-01 2.93348097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.78762800000004 meters Centerline goodness [0,1] 0.9998704970753923 Centerline is valid? [True, True] Translation: X:-2.54, Y:-203.57, Z:2.93 [[-5.33800991e-03 -9.99983810e-01 1.97096491e-03 -2.54125633e+00] [-9.99191537e-01 5.25522083e-03 -3.98579273e-02 -2.03569854e+02] [ 3.98469242e-02 -2.18213347e-03 -9.99203413e-01 2.93381554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.817628 meters Centerline goodness [0,1] 0.9997843293721828 Centerline is valid? [True, True] Translation: X:-2.56, Y:-203.69, Z:2.93 [[ 7.18941796e-02 -9.97399581e-01 5.03028964e-03 -2.55760741e+00] [-9.96617841e-01 -7.20372532e-02 -3.95412793e-02 -2.03686174e+02] [ 3.98008236e-02 -2.17048857e-03 -9.99205276e-01 2.93428739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.84762800000004 meters Centerline goodness [0,1] 0.9998272324802937 Centerline is valid? [True, True] Translation: X:-2.57, Y:-203.82, Z:2.94 [[ 1.48582498e-01 -9.88865225e-01 8.29509531e-03 -2.56511227e+00] [-9.88051203e-01 -1.48797214e-01 -4.01772152e-02 -2.03818059e+02] [ 4.09641380e-02 -2.22634788e-03 -9.99158137e-01 2.93512160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.877628 meters Centerline goodness [0,1] 0.9998705026654868 Centerline is valid? [True, True] Translation: X:-2.57, Y:-203.93, Z:2.94 [[ 2.23744377e-01 -9.74577436e-01 1.17164100e-02 -2.56695897e+00] [-9.73732243e-01 -2.24038979e-01 -4.06454858e-02 -2.03934002e+02] [ 4.22371059e-02 -2.31444724e-03 -9.99104935e-01 2.93595541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.90762800000005 meters Centerline goodness [0,1] 0.9997838679000605 Centerline is valid? [True, True] Translation: X:-2.55, Y:-204.06, Z:2.94 [[ 2.96393681e-01 -9.54938828e-01 1.55762684e-02 -2.55493786e+00] [-9.54031992e-01 -2.96792107e-01 -4.16821779e-02 -2.04060662e+02] [ 4.44268436e-02 -2.50592426e-03 -9.99009497e-01 2.93785022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.937628 meters Centerline goodness [0,1] 0.9998485471342954 Centerline is valid? [True, True] Translation: X:-2.54, Y:-204.17, Z:2.94 [[ 3.67912991e-01 -9.29669449e-01 1.88347007e-02 -2.53732999e+00] [-9.28787015e-01 -3.68385856e-01 -4.05776122e-02 -2.04174918e+02] [ 4.46622038e-02 -2.56439477e-03 -9.98998855e-01 2.93922017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.96762800000005 meters Centerline goodness [0,1] 0.999913528470751 Centerline is valid? [True, True] Translation: X:-2.51, Y:-204.29, Z:2.94 [[ 4.37109903e-01 -8.99132912e-01 2.22472464e-02 -2.51013276e+00] [-8.98262599e-01 -4.37667624e-01 -3.96403152e-02 -2.04290758e+02] [ 4.53788115e-02 -2.65669508e-03 -9.98966319e-01 2.93983768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.997628 meters Centerline goodness [0,1] 0.9998054180269388 Centerline is valid? [True, True] Translation: X:-2.47, Y:-204.41, Z:2.94 [[ 5.03592741e-01 -8.63559673e-01 2.56718297e-02 -2.47196656e+00] [-8.62705805e-01 -5.04239088e-01 -3.84920410e-02 -2.04405721e+02] [ 4.61849143e-02 -2.76292413e-03 -9.98929087e-01 2.94269997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.02762800000005 meters Centerline goodness [0,1] 0.9998489817052123 Centerline is valid? [True, True] Translation: X:-2.43, Y:-204.51, Z:2.94 [[ 5.67437578e-01 -8.22927246e-01 2.83785724e-02 -2.42850216e+00] [-8.22135231e-01 -5.68139927e-01 -3.62034055e-02 -2.04514734e+02] [ 4.59157688e-02 -2.78785149e-03 -9.98941425e-01 2.94420439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.057628 meters Centerline goodness [0,1] 0.9998054180269388 Centerline is valid? [True, True] Translation: X:-2.38, Y:-204.61, Z:2.95 [[ 6.28244256e-01 -7.77398823e-01 3.09875015e-02 -2.38127965e+00] [-7.76666697e-01 -6.29001761e-01 -3.38471092e-02 -2.04614093e+02] [ 4.58038958e-02 -2.80270851e-03 -9.98946519e-01 2.94662637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.08762800000005 meters Centerline goodness [0,1] 0.9998062265857124 Centerline is valid? [True, True] Translation: X:-2.32, Y:-204.71, Z:2.95 [[ 6.85256439e-01 -7.27540064e-01 3.33026672e-02 -2.32483326e+00] [-7.26875278e-01 -6.86059434e-01 -3.12215156e-02 -2.04713259e+02] [ 4.55625125e-02 -2.81214083e-03 -9.98957531e-01 2.94876641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.117628 meters Centerline goodness [0,1] 0.9997843247207006 Centerline is valid? [True, True] Translation: X:-2.33, Y:-204.73, Z:2.95 [[ 7.39499793e-01 -6.72180690e-01 3.62377582e-02 -2.32932058e+00] [-6.71560917e-01 -7.40381508e-01 -2.90027252e-02 -2.04725143e+02] [ 4.63248379e-02 -2.88835281e-03 -9.98922253e-01 2.95299567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.14762800000005 meters Centerline goodness [0,1] 0.9997409885603281 Centerline is valid? [True, True] Translation: X:-2.33, Y:-204.74, Z:2.96 [[ 7.89098977e-01 -6.13027163e-01 3.89936213e-02 -2.33200992e+00] [-6.12461651e-01 -7.90056225e-01 -2.64931629e-02 -2.04736439e+02] [ 4.70481817e-02 -2.97636995e-03 -9.98888187e-01 2.95720720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.177628 meters Centerline goodness [0,1] 0.9999783113193225 Centerline is valid? [True, True] Translation: X:-2.34, Y:-204.75, Z:2.96 [[ 8.34691863e-01 -5.49122328e-01 4.18827236e-02 -2.33539542e+00] [-5.48610317e-01 -8.35736502e-01 -2.39002022e-02 -2.04748912e+02] [ 4.81270556e-02 -3.02798995e-03 -9.98836632e-01 2.95850264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.20762800000006 meters Centerline goodness [0,1] 0.9997827645384832 Centerline is valid? [True, True] Translation: X:-2.34, Y:-204.76, Z:2.96 [[ 8.74645135e-01 -4.82841331e-01 4.31293091e-02 -2.33766826e+00] [-4.82423085e-01 -8.75702602e-01 -2.03204270e-02 -2.04757201e+02] [ 4.75799902e-02 -3.03341171e-03 -9.98862825e-01 2.96168610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.23762800000003 meters Centerline goodness [0,1] 0.9998051652847834 Centerline is valid? [True, True] Translation: X:-2.34, Y:-204.77, Z:2.96 [[ 9.08981187e-01 -4.14522664e-01 4.38652737e-02 -2.33853356e+00] [-4.14200931e-01 -9.10033821e-01 -1.66142782e-02 -2.04765373e+02] [ 4.68058775e-02 -3.06697079e-03 -9.98899296e-01 2.96468346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.267628 meters Centerline goodness [0,1] 0.9997826181470371 Centerline is valid? [True, True] Translation: X:-2.34, Y:-204.77, Z:2.96 [[ 9.38343988e-01 -3.42489270e-01 4.70282873e-02 -2.33963517e+00] [-3.42229591e-01 -9.39516215e-01 -1.37181902e-02 -2.04773823e+02] [ 4.88821714e-02 -3.22209023e-03 -9.98799355e-01 2.96226465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.29762800000003 meters Centerline goodness [0,1] 0.9998041008227766 Centerline is valid? [True, True] Translation: X:-2.34, Y:-204.79, Z:2.97 [[ 9.61344409e-01 -2.70835440e-01 4.96496832e-02 -2.33986685e+00] [-2.70659986e-01 -9.62619348e-01 -1.03519356e-02 -2.04785222e+02] [ 5.05974167e-02 -3.48640712e-03 -9.98713045e-01 2.96741635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.327628 meters Centerline goodness [0,1] 0.9982784545315871 Centerline is valid? [True, True] Translation: X:-2.34, Y:-204.79, Z:2.96 [[ 9.79216863e-01 -1.96284259e-01 5.10570733e-02 -2.34255154e+00] [-1.96209060e-01 -9.80540341e-01 -6.53022587e-03 -2.04785687e+02] [ 5.13453006e-02 -3.62335307e-03 -9.98674387e-01 2.96283222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.35762800000003 meters Centerline goodness [0,1] 0.9989541800117655 Centerline is valid? [True, True] Translation: X:-2.35, Y:-204.79, Z:2.96 [[ 9.91342784e-01 -1.20307238e-01 5.25894713e-02 -2.34524806e+00] [-1.20339174e-01 -9.92729508e-01 -2.57033983e-03 -2.04792895e+02] [ 5.25163504e-02 -3.78048572e-03 -9.98612908e-01 2.96210296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.387628 meters Centerline goodness [0,1] 0.9996070469578885 Centerline is valid? [True, True] Translation: X:-2.35, Y:-204.81, Z:2.97 [[ 9.97485082e-01 -4.57710272e-02 5.41158415e-02 -2.34783123e+00] [-4.59245715e-02 -9.98943634e-01 1.59655027e-03 -2.04807254e+02] [ 5.39855996e-02 -4.07778190e-03 -9.98533388e-01 2.96763873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.41762800000004 meters Centerline goodness [0,1] 0.9969266315009373 Centerline is valid? [True, True] Translation: X:-2.35, Y:-204.81, Z:2.96 [[ 9.97967424e-01 3.19571087e-02 5.51340626e-02 -2.35065667e+00] [ 3.16758065e-02 -9.99480374e-01 5.96872255e-03 -2.04814145e+02] [ 5.52961566e-02 -4.21017476e-03 -9.98461121e-01 2.96212023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.447628 meters Centerline goodness [0,1] 0.9928143452587704 Centerline is valid? [True, True] Translation: X:-2.35, Y:-204.82, Z:2.96 [[ 9.92528566e-01 1.08890407e-01 5.50447526e-02 -2.35372561e+00] [ 1.08481590e-01 -9.94044368e-01 1.03700893e-02 -2.04820269e+02] [ 5.58461296e-02 -4.32126757e-03 -9.98430036e-01 2.96154009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.47762800000004 meters Centerline goodness [0,1] 0.9987187282835303 Centerline is valid? [True, True] Translation: X:-2.35, Y:-204.84, Z:2.97 [[ 9.81198881e-01 1.85165140e-01 5.44300117e-02 -2.35228854e+00] [ 1.84629825e-01 -9.82697472e-01 1.47480749e-02 -2.04836472e+02] [ 5.62190643e-02 -4.42139113e-03 -9.98408668e-01 2.96746822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.507628 meters Centerline goodness [0,1] 0.998734839891807 Centerline is valid? [True, True] Translation: X:-2.35, Y:-204.85, Z:2.97 [[ 9.64169884e-01 2.59952645e-01 5.29250086e-02 -2.35089162e+00] [ 2.59303908e-01 -9.65610901e-01 1.88963183e-02 -2.04847127e+02] [ 5.60171132e-02 -4.49559947e-03 -9.98419688e-01 2.96867243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.53762800000004 meters Centerline goodness [0,1] 0.9992142654473231 Centerline is valid? [True, True] Translation: X:-2.35, Y:-204.86, Z:2.97 [[ 9.41548993e-01 3.33193805e-01 4.96727529e-02 -2.34841934e+00] [ 3.32479013e-01 -9.42847882e-01 2.22615694e-02 -2.04857899e+02] [ 5.42512669e-02 -4.44521038e-03 -9.98517421e-01 2.97200533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.567628 meters Centerline goodness [0,1] 0.9980062660210767 Centerline is valid? [True, True] Translation: X:-2.35, Y:-204.86, Z:2.97 [[ 9.12534898e-01 4.06280300e-01 4.70784242e-02 -2.34847502e+00] [ 4.05490097e-01 -9.13738085e-01 2.57000843e-02 -2.04864799e+02] [ 5.34587871e-02 -4.36238900e-03 -9.98560528e-01 2.97279997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.59762800000004 meters Centerline goodness [0,1] 0.9994748818484159 Centerline is valid? [True, True] Translation: X:-2.34, Y:-204.88, Z:2.98 [[ 8.77044904e-01 4.78251076e-01 4.54768695e-02 -2.34167520e+00] [ 4.77349354e-01 -8.78212562e-01 2.96696844e-02 -2.04880401e+02] [ 5.41279166e-02 -4.31329121e-03 -9.98524694e-01 2.97577937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.627628 meters Centerline goodness [0,1] 0.9998250371795994 Centerline is valid? [True, True] Translation: X:-2.33, Y:-204.89, Z:2.97 [[ 8.34893772e-01 5.48735324e-01 4.29177450e-02 -2.33449944e+00] [ 5.47753562e-01 -8.35986099e-01 3.30647519e-02 -2.04894126e+02] [ 5.40224356e-02 -4.09720775e-03 -9.98531316e-01 2.97397595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.65762800000005 meters Centerline goodness [0,1] 0.9991261987460952 Centerline is valid? [True, True] Translation: X:-2.33, Y:-204.90, Z:2.97 [[ 7.86201747e-01 6.16775285e-01 3.84065054e-02 -2.33074848e+00] [ 6.15808713e-01 -7.87130883e-01 3.47073657e-02 -2.04904223e+02] [ 5.16375919e-02 -3.63593087e-03 -9.98659271e-01 2.97275518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.687628 meters Centerline goodness [0,1] 0.9996722457719704 Centerline is valid? [True, True] Translation: X:-2.32, Y:-204.92, Z:2.98 [[ 7.34248387e-01 6.77985746e-01 3.48516050e-02 -2.32053269e+00] [ 6.76992573e-01 -7.35066904e-01 3.68470213e-02 -2.04917736e+02] [ 5.06000166e-02 -3.46058821e-03 -9.98713003e-01 2.97832930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.71762800000005 meters Centerline goodness [0,1] 0.9999346746799059 Centerline is valid? [True, True] Translation: X:-2.31, Y:-204.93, Z:2.98 [[ 6.77756878e-01 7.34622424e-01 3.12331397e-02 -2.31173382e+00] [ 7.33610451e-01 -6.78468091e-01 3.86879186e-02 -2.04927482e+02] [ 4.96117012e-02 -3.30804521e-03 -9.98763103e-01 2.97834192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.747628 meters Centerline goodness [0,1] 0.9998471415469276 Centerline is valid? [True, True] Translation: X:-2.31, Y:-204.93, Z:2.98 [[ 6.18983880e-01 7.84930223e-01 2.72672115e-02 -2.30713987e+00] [ 7.83927924e-01 -6.19575635e-01 3.97874653e-02 -2.04933737e+02] [ 4.81244840e-02 -3.25227115e-03 -9.98836051e-01 2.97882147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.77762800000005 meters Centerline goodness [0,1] 0.9989745827424458 Centerline is valid? [True, True] Translation: X:-2.31, Y:-204.94, Z:2.98 [[ 5.59665296e-01 8.28414544e-01 2.24521721e-02 -2.30631485e+00] [ 8.27502545e-01 -5.60106069e-01 3.89965329e-02 -2.04938266e+02] [ 4.48808929e-02 -3.24577658e-03 -9.98987072e-01 2.98084056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.807628 meters Centerline goodness [0,1] 0.999846900835484 Centerline is valid? [True, True] Translation: X:-2.29, Y:-204.95, Z:2.98 [[ 4.94827567e-01 8.68789255e-01 1.87325719e-02 -2.29462738e+00] [ 8.67902110e-01 -4.95171480e-01 3.93844233e-02 -2.04947770e+02] [ 4.34925991e-02 -3.23045967e-03 -9.99048526e-01 2.98274575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.83762800000005 meters Centerline goodness [0,1] 0.9998907079936173 Centerline is valid? [True, True] Translation: X:-2.28, Y:-204.95, Z:2.98 [[ 4.26517221e-01 9.04347157e-01 1.54686817e-02 -2.28477755e+00] [ 9.03449773e-01 -4.26785182e-01 4.04093509e-02 -2.04954324e+02] [ 4.31458858e-02 -3.26010705e-03 -9.99063464e-01 2.98327997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.867628 meters Centerline goodness [0,1] 0.9994977288609365 Centerline is valid? [True, True] Translation: X:-2.28, Y:-204.96, Z:2.98 [[ 3.54204941e-01 9.35087201e-01 1.22795340e-02 -2.27772115e+00] [ 9.34168238e-01 -3.54402787e-01 4.15736408e-02 -2.04960154e+02] [ 4.32268805e-02 -3.25443829e-03 -9.99059981e-01 2.98230744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.89762800000005 meters Centerline goodness [0,1] 0.9994977288609365 Centerline is valid? [True, True] Translation: X:-2.27, Y:-204.97, Z:2.98 [[ 2.79960458e-01 9.59969475e-01 8.98609322e-03 -2.26844803e+00] [ 9.59037842e-01 -2.80085731e-01 4.24075668e-02 -2.04965974e+02] [ 4.32268461e-02 -3.25443836e-03 -9.99059982e-01 2.98230774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.927628 meters Centerline goodness [0,1] 0.9998470380001311 Centerline is valid? [True, True] Translation: X:-2.25, Y:-204.97, Z:2.98 [[ 2.02128259e-01 9.79343222e-01 5.56953628e-03 -2.25311747e+00] [ 9.78427345e-01 -2.02180703e-01 4.24605004e-02 -2.04971546e+02] [ 4.27094560e-02 -3.13308040e-03 -9.99082622e-01 2.98302291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.95762800000006 meters Centerline goodness [0,1] 0.999978206385529 Centerline is valid? [True, True] Translation: X:-2.24, Y:-204.98, Z:2.98 [[ 1.23770119e-01 9.92308337e-01 2.26306433e-03 -2.23981243e+00] [ 9.91361516e-01 -1.23751117e-01 4.34511803e-02 -2.04975618e+02] [ 4.33970253e-02 -3.13444286e-03 -9.99052988e-01 2.98091216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.98762800000003 meters Centerline goodness [0,1] 0.9998690442412205 Centerline is valid? [True, True] Translation: X:-2.23, Y:-204.98, Z:2.98 [[ 4.60076671e-02 9.98940428e-01 -1.14728074e-03 -2.23091422e+00] [ 9.97999596e-01 -4.59144233e-02 4.34588658e-02 -2.04979496e+02] [ 4.33601413e-02 -3.14442675e-03 -9.99054558e-01 2.97921132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.017628 meters Centerline goodness [0,1] 0.9999563299707411 Centerline is valid? [True, True] Translation: X:-2.22, Y:-204.98, Z:2.98 [[-3.29098870e-02 9.99447937e-01 -4.55641575e-03 -2.21713642e+00] [ 9.98513665e-01 3.30766045e-02 4.33174232e-02 -2.04981678e+02] [ 4.34442200e-02 -3.12407188e-03 -9.99050970e-01 2.98027755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.04762800000003 meters Centerline goodness [0,1] 0.9999347187465999 Centerline is valid? [True, True] Translation: X:-2.21, Y:-204.98, Z:2.98 [[-1.13278243e-01 9.93530958e-01 -8.01716371e-03 -2.20508859e+00] [ 9.92592921e-01 1.13520463e-01 4.32712214e-02 -2.04983273e+02] [ 4.39014102e-02 -3.05609201e-03 -9.99031194e-01 2.97863198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.077628 meters Centerline goodness [0,1] 0.9999782755099824 Centerline is valid? [True, True] Translation: X:-2.19, Y:-204.99, Z:2.98 [[-1.94329892e-01 9.80873278e-01 -1.11132842e-02 -2.19480612e+00] [ 9.79999055e-01 1.94626883e-01 4.14997438e-02 -2.04985286e+02] [ 4.28689336e-02 -2.82636733e-03 -9.99076707e-01 2.97640769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.10762800000003 meters Centerline goodness [0,1] 0.9999782320033087 Centerline is valid? [True, True] Translation: X:-2.18, Y:-204.99, Z:2.98 [[-2.71679055e-01 9.62287162e-01 -1.39251528e-02 -2.18379692e+00] [ 9.61485476e-01 2.72022349e-01 3.93639491e-02 -2.04985132e+02] [ 4.16673756e-02 -2.69447175e-03 -9.99127905e-01 2.97594183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.137628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.17, Y:-204.98, Z:2.98 [[-3.47172685e-01 9.37648335e-01 -1.69330018e-02 -2.16923073e+00] [ 9.36878535e-01 3.47575327e-01 3.80789131e-02 -2.04982074e+02] [ 4.15901231e-02 -2.64420735e-03 -9.99131258e-01 2.97712733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.16762800000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.16, Y:-204.98, Z:2.98 [[-4.19546662e-01 9.07505723e-01 -2.03460235e-02 -2.15567176e+00] [ 9.06733634e-01 4.20031004e-01 3.75243069e-02 -2.04978080e+02] [ 4.25994839e-02 -2.70522607e-03 -9.99088568e-01 2.97710051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.197628 meters Centerline goodness [0,1] 0.9999782726778924 Centerline is valid? [True, True] Translation: X:-2.14, Y:-204.97, Z:2.97 [[-4.88717735e-01 8.72070844e-01 -2.54444153e-02 -2.14451119e+00] [ 8.71192615e-01 4.89370524e-01 3.92417826e-02 -2.04974141e+02] [ 4.66733613e-02 -2.98883166e-03 -9.98905733e-01 2.97485343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.22762800000004 meters Centerline goodness [0,1] 0.9998482549317147 Centerline is valid? [True, True] Translation: X:-2.14, Y:-204.98, Z:2.97 [[-5.54932550e-01 8.31364004e-01 -2.97280684e-02 -2.14098866e+00] [ 8.30463648e-01 5.55719319e-01 3.88093773e-02 -2.04975609e+02] [ 4.87851812e-02 -3.15149345e-03 -9.98804322e-01 2.96581752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.257628 meters Centerline goodness [0,1] 0.9995233245942843 Centerline is valid? [True, True] Translation: X:-2.14, Y:-204.98, Z:2.96 [[-6.18604688e-01 7.84978044e-01 -3.37299602e-02 -2.13644954e+00] [ 7.84086796e-01 6.19515173e-01 3.75346038e-02 -2.04977483e+02] [ 5.03600620e-02 -3.22813456e-03 -9.98725910e-01 2.96274565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.28762800000004 meters Centerline goodness [0,1] 0.9998696926919318 Centerline is valid? [True, True] Translation: X:-2.12, Y:-204.97, Z:2.97 [[-6.78352468e-01 7.33719695e-01 -3.86437351e-02 -2.12419500e+00] [ 7.32806424e-01 6.79443846e-01 3.67533001e-02 -2.04969038e+02] [ 5.32228681e-02 -3.38668550e-03 -9.98576916e-01 2.96920334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.317628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.10, Y:-204.95, Z:2.97 [[-7.29568276e-01 6.82684562e-01 -4.08891117e-02 -2.10399042e+00] [ 6.81859539e-01 7.30705823e-01 3.37130393e-02 -2.04949069e+02] [ 5.28932835e-02 -3.28466686e-03 -9.98594768e-01 2.96534400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.34762800000004 meters Centerline goodness [0,1] 0.9999131812558332 Centerline is valid? [True, True] Translation: X:-2.09, Y:-204.93, Z:2.97 [[-7.76192500e-01 6.28984370e-01 -4.36333025e-02 -2.08516783e+00] [ 6.28225491e-01 7.77410941e-01 3.10638123e-02 -2.04929551e+02] [ 5.34596592e-02 -3.30005479e-03 -9.98564557e-01 2.96610835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.377628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.07, Y:-204.90, Z:2.97 [[-8.19376931e-01 5.71452435e-01 -4.54264246e-02 -2.06813490e+00] [ 5.70788758e-01 8.20628890e-01 2.77203549e-02 -2.04903567e+02] [ 5.31191007e-02 -3.21547316e-03 -9.98583007e-01 2.96537804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.40762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.05, Y:-204.88, Z:2.96 [[-8.57651336e-01 5.12085840e-01 -4.69284305e-02 -2.05202762e+00] [ 5.11520525e-01 8.58928343e-01 2.42663120e-02 -2.04883584e+02] [ 5.27345938e-02 -3.19282047e-03 -9.98603459e-01 2.96393986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.437628 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-2.04, Y:-204.86, Z:2.97 [[-8.91044617e-01 4.51310224e-01 -4.85651311e-02 -2.03983795e+00] [ 4.50838070e-01 8.92361113e-01 2.08968462e-02 -2.04855694e+02] [ 5.27685948e-02 -3.27498771e-03 -9.98601397e-01 2.96591350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.46762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.75, Y:-204.19, Z:1.90 [[-9.15478572e-01 -3.99569895e-01 -4.73590993e-02 -1.74836542e+00] [ 3.98849172e-01 -9.16696881e-01 2.42108817e-02 -2.04188082e+02] [-5.30878780e-02 3.27540584e-03 9.98584473e-01 1.89524766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.497628 meters Centerline goodness [0,1] 0.9999351659751037 Centerline is valid? [True, True] Translation: X:-2.08, Y:-204.84, Z:2.96 [[-8.91760775e-01 4.49732108e-01 -5.00375049e-02 -2.07679470e+00] [ 4.49240244e-01 8.93156744e-01 2.13127622e-02 -2.04843919e+02] [ 5.42763684e-02 -3.47297553e-03 -9.98519912e-01 2.96112303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.52762800000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-1.78, Y:-204.17, Z:1.90 [[-9.18029075e-01 -3.93201660e-01 -5.11377678e-02 -1.78429582e+00] [ 3.92379368e-01 -9.19445651e-01 2.56539925e-02 -2.04172943e+02] [-5.71055906e-02 3.48570604e-03 9.98362059e-01 1.89966128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.557628 meters Centerline goodness [0,1] 0.999870505460353 Centerline is valid? [True, True] Translation: X:-2.13, Y:-204.82, Z:2.96 [[-8.91262409e-01 4.50015494e-01 -5.60122618e-02 -2.12614558e+00] [ 4.49414218e-01 8.93011230e-01 2.36178813e-02 -2.04820992e+02] [ 6.06479913e-02 -4.12297701e-03 -9.98150701e-01 2.96183059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.58762800000005 meters Centerline goodness [0,1] 0.9997843805252491 Centerline is valid? [True, True] Translation: X:-1.82, Y:-204.15, Z:1.90 [[-9.22091159e-01 -3.83078232e-01 -5.47627823e-02 -1.82156399e+00] [ 3.82135740e-01 -9.23706683e-01 2.71705540e-02 -2.04154808e+02] [-6.09931958e-02 4.12691127e-03 9.98129650e-01 1.90085783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.617628 meters Centerline goodness [0,1] 0.9998491509352642 Centerline is valid? [True, True] Translation: X:-2.16, Y:-204.82, Z:2.96 [[-8.89335726e-01 4.53724275e-01 -5.67119904e-02 -2.15549231e+00] [ 4.53130310e-01 8.91130002e-01 2.36694280e-02 -2.04816611e+02] [ 6.12771502e-02 -4.64785384e-03 -9.98109968e-01 2.95652335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.64762800000005 meters Centerline goodness [0,1] 0.9983815976867636 Centerline is valid? [True, True] Translation: X:-2.14, Y:-204.80, Z:2.95 [[-9.17978575e-01 3.92164818e-01 -5.93472058e-02 -2.14158527e+00] [ 3.91687435e-01 9.19881801e-01 1.99606024e-02 -2.04795710e+02] [ 6.24202606e-02 -4.92214946e-03 -9.98037817e-01 2.95260127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.677628 meters Centerline goodness [0,1] 0.9999354130336499 Centerline is valid? [True, True] Translation: X:-1.90, Y:-204.09, Z:1.90 [[-9.50455041e-01 -3.05308685e-01 -5.84963476e-02 -1.90192810e+00] [ 3.04409740e-01 -9.52240656e-01 2.39257715e-02 -2.04093673e+02] [-6.30073463e-02 4.93351213e-03 9.98000869e-01 1.90136231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.70762800000006 meters Centerline goodness [0,1] 0.9988584474885844 Centerline is valid? [True, True] Translation: X:-2.19, Y:-204.78, Z:2.96 [[-9.16637129e-01 3.95007551e-01 -6.11997370e-02 -2.19271660e+00] [ 3.94522735e-01 9.18661333e-01 2.03264957e-02 -2.04776733e+02] [ 6.42509513e-02 -5.51266704e-03 -9.97918547e-01 2.95506998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.73762800000003 meters Centerline goodness [0,1] 0.9999784603454961 Centerline is valid? [True, True] Translation: X:-1.94, Y:-204.08, Z:1.90 [[-9.52997889e-01 -2.96783413e-01 -6.09477612e-02 -1.94444127e+00] [ 2.95802827e-01 -9.54928726e-01 2.47349136e-02 -2.04082514e+02] [-6.55416800e-02 5.54380045e-03 9.97834432e-01 1.90149084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.767628 meters Centerline goodness [0,1] 0.9990588436610982 Centerline is valid? [True, True] Translation: X:-2.23, Y:-204.76, Z:2.96 [[-9.16833115e-01 3.94277727e-01 -6.29453239e-02 -2.22509076e+00] [ 3.93780259e-01 9.18972677e-01 2.06476989e-02 -2.04763520e+02] [ 6.59859605e-02 -5.85613188e-03 -9.97803367e-01 2.95593691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.79762800000003 meters Centerline goodness [0,1] 0.9990804696020358 Centerline is valid? [True, True] Translation: X:-2.21, Y:-204.74, Z:2.96 [[-9.42405321e-01 3.28193384e-01 -6.45082480e-02 -2.21332366e+00] [ 3.27846204e-01 9.44592233e-01 1.61981479e-02 -2.04735103e+02] [ 6.62501150e-02 -5.88356344e-03 -9.97785701e-01 2.95864730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.827628 meters Centerline goodness [0,1] 0.998631220993648 Centerline is valid? [True, True] Translation: X:-2.04, Y:-204.02, Z:1.90 [[-9.72770854e-01 -2.23061250e-01 -6.29328510e-02 -2.03540073e+00] [ 2.22202806e-01 -9.74786729e-01 2.04143409e-02 -2.04022772e+02] [-6.58997564e-02 5.87461972e-03 9.97808955e-01 1.90476313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.85762800000003 meters Centerline goodness [0,1] 0.995722931502748 Centerline is valid? [True, True] Translation: X:-2.27, Y:-204.72, Z:2.96 [[-9.43477808e-01 3.24926647e-01 -6.53628302e-02 -2.26786798e+00] [ 3.24580546e-01 9.45720286e-01 1.61434288e-02 -2.04723316e+02] [ 6.70603847e-02 -5.98453628e-03 -9.97730971e-01 2.95630699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.887628 meters Centerline goodness [0,1] 0.9962731322823852 Centerline is valid? [True, True] Translation: X:-2.26, Y:-204.69, Z:2.96 [[-9.63971240e-01 2.57815912e-01 -6.55011845e-02 -2.25926743e+00] [ 2.57636491e-01 9.66175637e-01 1.13171169e-02 -2.04694068e+02] [ 6.62033815e-02 -5.96612020e-03 -9.97788313e-01 2.95785197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.91762800000004 meters Centerline goodness [0,1] 0.9974280386651521 Centerline is valid? [True, True] Translation: X:-2.27, Y:-204.66, Z:2.96 [[-9.79718274e-01 1.89557062e-01 -6.49632541e-02 -2.26519597e+00] [ 1.89537314e-01 9.81851848e-01 6.52340650e-03 -2.04658310e+02] [ 6.50208488e-02 -5.92186010e-03 -9.97866334e-01 2.96280076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.947628 meters Centerline goodness [0,1] 0.9955243377518899 Centerline is valid? [True, True] Translation: X:-2.26, Y:-204.63, Z:2.96 [[-9.90657941e-01 1.20067751e-01 -6.46574027e-02 -2.25705466e+00] [ 1.20198808e-01 9.92748073e-01 1.87333882e-03 -2.04630464e+02] [ 6.44134396e-02 -5.91590472e-03 -9.97905763e-01 2.96262187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.97762800000004 meters Centerline goodness [0,1] 0.9932286197955729 Centerline is valid? [True, True] Translation: X:-2.26, Y:-204.60, Z:2.96 [[-9.96627507e-01 4.98383265e-02 -6.51901398e-02 -2.25978037e+00] [ 5.01242097e-02 9.98739189e-01 -2.75618929e-03 -2.04600605e+02] [ 6.49705834e-02 -6.01449829e-03 -9.97869054e-01 2.96265450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.007628 meters Centerline goodness [0,1] 0.9968883452434601 Centerline is valid? [True, True] Translation: X:-2.27, Y:-204.57, Z:2.97 [[-9.97650177e-01 -2.09442643e-02 -6.52339066e-02 -2.27242564e+00] [-2.05023587e-02 9.99762149e-01 -7.43633025e-03 -2.04569482e+02] [ 6.53741391e-02 -6.08140724e-03 -9.97842291e-01 2.96510320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.03762800000004 meters Centerline goodness [0,1] 0.9844258783204799 Centerline is valid? [True, True] Translation: X:-2.28, Y:-204.55, Z:2.96 [[-9.93687284e-01 -9.16685754e-02 -6.46718971e-02 -2.28252843e+00] [-9.10727227e-02 9.95770630e-01 -1.21083308e-02 -2.04545941e+02] [ 6.55083291e-02 -6.14204856e-03 -9.97833119e-01 2.96121282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.067628 meters Centerline goodness [0,1] 0.9893737815198064 Centerline is valid? [True, True] Translation: X:-2.32, Y:-204.52, Z:2.96 [[-9.84676468e-01 -1.61783778e-01 -6.51019440e-02 -2.31683367e+00] [-1.61002431e-01 9.86805700e-01 -1.71092981e-02 -2.04522376e+02] [ 6.70109763e-02 -6.36555189e-03 -9.97731932e-01 2.95964158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.09762800000004 meters Centerline goodness [0,1] 0.9606132075471698 Centerline is valid? [True, True] Translation: X:-2.36, Y:-204.51, Z:2.96 [[-9.70721888e-01 -2.31519984e-01 -6.40118272e-02 -2.36438732e+00] [-2.30571023e-01 9.72808198e-01 -2.19365648e-02 -2.04512698e+02] [ 6.73499834e-02 -6.53503112e-03 -9.97708010e-01 2.95807974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.127628 meters Centerline goodness [0,1] 0.9674239177025289 Centerline is valid? [True, True] Translation: X:-2.43, Y:-204.51, Z:2.95 [[-9.51234500e-01 -3.01821564e-01 -6.36919942e-02 -2.42898779e+00] [-3.00667718e-01 9.53340638e-01 -2.72130935e-02 -2.04505557e+02] [ 6.89336648e-02 -6.73590684e-03 -9.97598505e-01 2.95482970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.15762800000005 meters Centerline goodness [0,1] 0.9362859529265629 Centerline is valid? [True, False] Translation: X:-1.83, Y:-204.20, Z:1.47 [[ 8.67636592e-01 -4.88278888e-01 9.37575177e-02 -1.82995515e+00] [ 4.89633001e-01 8.71876333e-01 9.54908229e-03 -2.04202852e+02] [-8.64075760e-02 3.76216415e-02 9.95549267e-01 1.47017486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.187628 meters Centerline goodness [0,1] 0.9478676029802175 Centerline is valid? [False, False] Translation: X:-1.87, Y:-204.24, Z:1.48 [[ 8.68142547e-01 -4.89789664e-01 8.02159753e-02 -1.87392593e+00] [ 4.88251074e-01 8.71825190e-01 3.91372827e-02 -2.04238063e+02] [-8.91033444e-02 5.18879581e-03 9.96008871e-01 1.48225941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.21762800000005 meters Centerline goodness [0,1] 0.9296546996829749 Centerline is valid? [False, False] Translation: X:-1.92, Y:-204.27, Z:1.49 [[ 8.66928505e-01 -4.93267448e-01 7.15694847e-02 -1.92062745e+00] [ 4.89851879e-01 8.69703831e-01 6.05010932e-02 -2.04269824e+02] [-9.20874749e-02 -1.73916757e-02 9.95599029e-01 1.49091336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.247628 meters Centerline goodness [0,1] 0.9970546804968626 Centerline is valid? [False, True] Translation: X:-1.96, Y:-204.29, Z:1.49 [[ 8.65602610e-01 -4.95561488e-01 7.17700044e-02 -1.96400127e+00] [ 4.91429991e-01 8.68249878e-01 6.81081005e-02 -2.04290717e+02] [-9.60660492e-02 -2.36846170e-02 9.95093138e-01 1.49449234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.27762800000005 meters Centerline goodness [0,1] 0.9807966314356804 Centerline is valid? [True, True] Translation: X:-1.94, Y:-204.26, Z:1.49 [[ 8.62203503e-01 -4.98494231e-01 9.00478778e-02 -1.94499823e+00] [ 4.97052518e-01 8.66825816e-01 3.93928853e-02 -2.04264287e+02] [-9.76929512e-02 1.07938407e-02 9.95158068e-01 1.48612260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.307628 meters Centerline goodness [0,1] 0.8840229665882752 Centerline is valid? [True, False] Translation: X:-2.00, Y:-204.30, Z:1.50 [[ 8.61371713e-01 -5.01187252e-01 8.27653880e-02 -1.99570791e+00] [ 4.96862683e-01 8.65163440e-01 6.79683517e-02 -2.04299324e+02] [-1.05670459e-01 -1.74229829e-02 9.94248557e-01 1.49852688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.33762800000005 meters Centerline goodness [0,1] 0.9413682850911554 Centerline is valid? [False, False] Translation: X:-2.05, Y:-204.32, Z:1.50 [[ 8.60629002e-01 -5.01935608e-01 8.58974173e-02 -2.04500536e+00] [ 4.96580051e-01 8.64587504e-01 7.67899783e-02 -2.04321841e+02] [-1.12809458e-01 -2.34327384e-02 9.93340291e-01 1.50316793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.367628 meters Centerline goodness [0,1] 0.9349620893007582 Centerline is valid? [False, False] Translation: X:-2.10, Y:-204.34, Z:1.51 [[ 8.60723569e-01 -5.00976680e-01 9.04284464e-02 -2.09784882e+00] [ 4.94397476e-01 8.64961260e-01 8.60996769e-02 -2.04344440e+02] [-1.21351033e-01 -2.94004255e-02 9.92174149e-01 1.50933415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.39762800000005 meters Centerline goodness [0,1] 0.970813064628214 Centerline is valid? [False, True] Translation: X:-2.15, Y:-204.37, Z:1.51 [[ 8.63467049e-01 -4.96056071e-01 9.13949076e-02 -2.15341155e+00] [ 4.89153764e-01 8.67718061e-01 8.82834219e-02 -2.04368893e+02] [-1.23098539e-01 -3.15236627e-02 9.91893648e-01 1.51337039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.427628 meters Centerline goodness [0,1] 0.9721642310368824 Centerline is valid? [True, True] Translation: X:-2.14, Y:-204.33, Z:1.50 [[ 8.62771431e-01 -4.93001074e-01 1.12140089e-01 -2.13639563e+00] [ 4.90803322e-01 8.69926891e-01 4.83663466e-02 -2.04334738e+02] [-1.21398340e-01 1.33096261e-02 9.92514633e-01 1.50033142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.45762800000006 meters Centerline goodness [0,1] 0.9721668310908671 Centerline is valid? [True, True] Translation: X:-2.11, Y:-204.32, Z:1.51 [[ 8.63442166e-01 -4.90507598e-01 1.17770637e-01 -2.10879134e+00] [ 4.88057163e-01 8.71330823e-01 5.08212865e-02 -2.04323439e+02] [-1.27545413e-01 1.35975614e-02 9.91739519e-01 1.50740702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.48762800000003 meters Centerline goodness [0,1] 0.9797098402018503 Centerline is valid? [True, True] Translation: X:-2.08, Y:-204.31, Z:1.51 [[ 8.61648899e-01 -4.93146833e-01 1.19863988e-01 -2.08141999e+00] [ 4.90631982e-01 8.69829682e-01 5.17356931e-02 -2.04312826e+02] [-1.29774548e-01 1.42311032e-02 9.91441396e-01 1.50652824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.517628 meters Centerline goodness [0,1] 0.9364999264071995 Centerline is valid? [True, False] Translation: X:-2.13, Y:-204.35, Z:1.52 [[ 8.59995321e-01 -4.98187702e-01 1.10530813e-01 -2.12780123e+00] [ 4.92483005e-01 8.67000798e-01 7.59612167e-02 -2.04349954e+02] [-1.33673247e-01 -1.08917439e-02 9.90965606e-01 1.51759658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.54762800000003 meters Centerline goodness [0,1] 0.9484030001685488 Centerline is valid? [False, False] Translation: X:-2.18, Y:-204.39, Z:1.53 [[ 8.59710735e-01 -4.99830509e-01 1.05199402e-01 -2.18447722e+00] [ 4.92036450e-01 8.65689180e-01 9.20998103e-02 -2.04385877e+02] [-1.37104279e-01 -2.74172552e-02 9.90177111e-01 1.52500812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.577628 meters Centerline goodness [0,1] 0.9530254944408247 Centerline is valid? [False, True] Translation: X:-2.23, Y:-204.41, Z:1.53 [[ 8.59167626e-01 -5.00201630e-01 1.07839321e-01 -2.23136344e+00] [ 4.91743535e-01 8.65399409e-01 9.62920492e-02 -2.04407343e+02] [-1.41489524e-01 -2.97017226e-02 9.89494074e-01 1.52521108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.60762800000003 meters Centerline goodness [0,1] 0.9341693448442456 Centerline is valid? [True, False] Translation: X:-2.28, Y:-204.43, Z:1.52 [[ 8.61126201e-01 -4.96398567e-01 1.09773082e-01 -2.28351457e+00] [ 4.87621647e-01 8.67549118e-01 9.78961541e-02 -2.04430198e+02] [-1.43829051e-01 -3.07732123e-02 9.89123963e-01 1.52492593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.637628 meters Centerline goodness [0,1] 0.9278841114442045 Centerline is valid? [False, False] Translation: X:-2.34, Y:-204.45, Z:1.52 [[ 8.67082472e-01 -4.86375853e-01 1.07733542e-01 -2.33667522e+00] [ 4.77471685e-01 8.73080891e-01 9.87448600e-02 -2.04450622e+02] [-1.42087212e-01 -3.41802217e-02 9.89263836e-01 1.52134379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.66762800000004 meters Centerline goodness [0,1] 0.986652440427624 Centerline is valid? [False, True] Translation: X:-2.39, Y:-204.47, Z:1.52 [[ 8.71490319e-01 -4.78813353e-01 1.06030167e-01 -2.39003909e+00] [ 4.70090639e-01 8.77212504e-01 9.75346852e-02 -2.04470567e+02] [-1.39711898e-01 -3.51567449e-02 9.89567880e-01 1.51844946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.697628 meters Centerline goodness [0,1] 0.9283597044211581 Centerline is valid? [True, False] Translation: X:-2.44, Y:-204.49, Z:1.52 [[ 8.76121430e-01 -4.70619717e-01 1.04538612e-01 -2.44179821e+00] [ 4.61856949e-01 8.81541541e-01 9.78400186e-02 -2.04490113e+02] [-1.38200571e-01 -3.74378524e-02 9.89696423e-01 1.51508799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.72762800000004 meters Centerline goodness [0,1] 0.9465212768175468 Centerline is valid? [False, False] Translation: X:-2.50, Y:-204.50, Z:1.50 [[ 8.82368252e-01 -4.59084137e-01 1.03286126e-01 -2.49549507e+00] [ 4.50606564e-01 8.87586970e-01 9.56195378e-02 -2.04504763e+02] [-1.35572832e-01 -3.78302382e-02 9.90044888e-01 1.50479725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.757628 meters Centerline goodness [0,1] 0.9770737110493427 Centerline is valid? [False, True] Translation: X:-2.54, Y:-204.52, Z:1.50 [[ 8.85917525e-01 -4.52828986e-01 1.00479098e-01 -2.54326913e+00] [ 4.44701607e-01 8.90778363e-01 9.35648941e-02 -2.04521135e+02] [-1.31873502e-01 -3.82075633e-02 9.90529940e-01 1.49993614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.78762800000004 meters Centerline goodness [0,1] 0.9770737110493427 Centerline is valid? [True, True] Translation: X:-2.53, Y:-204.49, Z:1.48 [[ 8.83445126e-01 -4.53209400e-01 1.18852634e-01 -2.52706405e+00] [ 4.50712369e-01 8.91341409e-01 4.86708583e-02 -2.04487225e+02] [-1.27996365e-01 1.05703199e-02 9.91718306e-01 1.48326693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.817628 meters Centerline goodness [0,1] 0.992314760671623 Centerline is valid? [True, True] Translation: X:-2.50, Y:-204.47, Z:1.47 [[ 8.85285183e-01 -4.50396226e-01 1.15816162e-01 -2.50403735e+00] [ 4.48000857e-01 8.92773962e-01 4.74329525e-02 -2.04465886e+02] [-1.24761277e-01 9.89404988e-03 9.92137456e-01 1.46927013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.84762800000004 meters Centerline goodness [0,1] 0.9950172720611327 Centerline is valid? [True, True] Translation: X:-2.48, Y:-204.45, Z:1.46 [[ 8.87167763e-01 -4.47673811e-01 1.11899599e-01 -2.47961470e+00] [ 4.45415819e-01 8.94149826e-01 4.58348742e-02 -2.04445775e+02] [-1.20574080e-01 9.17862863e-03 9.92661898e-01 1.45876654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.877628 meters Centerline goodness [0,1] 0.9867942663713486 Centerline is valid? [True, True] Translation: X:-2.46, Y:-204.43, Z:1.46 [[ 8.88890520e-01 -4.44989333e-01 1.08895076e-01 -2.45513975e+00] [ 4.42830548e-01 8.95494874e-01 4.46098270e-02 -2.04429927e+02] [-1.17365879e-01 8.56881376e-03 9.93051774e-01 1.45568396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.90762800000005 meters Centerline goodness [0,1] 0.993942052599695 Centerline is valid? [True, True] Translation: X:-2.43, Y:-204.41, Z:1.44 [[ 8.90049547e-01 -4.43653605e-01 1.04801159e-01 -2.43085796e+00] [ 4.41644608e-01 8.96162030e-01 4.29378089e-02 -2.04411220e+02] [-1.12968333e-01 8.06808936e-03 9.93565832e-01 1.44382510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.937628 meters Centerline goodness [0,1] 0.9874225682236732 Centerline is valid? [True, True] Translation: X:-2.41, Y:-204.40, Z:1.44 [[ 8.91846385e-01 -4.41604164e-01 9.79580977e-02 -2.40610330e+00] [ 4.39836670e-01 8.97180383e-01 4.01380614e-02 -2.04395450e+02] [-1.05611219e-01 7.28857861e-03 9.94380786e-01 1.43660913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.96762800000005 meters Centerline goodness [0,1] 0.9950968118844934 Centerline is valid? [True, True] Translation: X:-2.38, Y:-204.38, Z:1.43 [[ 8.92406756e-01 -4.41337392e-01 9.39759972e-02 -2.38143003e+00] [ 4.39709023e-01 8.97314288e-01 3.85103108e-02 -2.04377723e+02] [-1.01322045e-01 6.95523236e-03 9.94829366e-01 1.42719105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 5488.36 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%| | 0/11466 [00:00